Unify some naming and declaration
Unify some naming and declaration
Replace all global r/c var to new style structure
Add one safety switch, it could let motor be minimum speed

WARNING: This code still have some type casting bug, need to fix it
Change PWM3~5 counter variable to uint32_t
Because TIM2 CCR is 32bit register, it is more reasonalbe
to use uint32_t
Handl more condition and fix some error
Change param init to be 0 and add prefix to protect gloabal variable