diff --git a/encoder/ABI.c b/encoder/ABI.c
index 855f28c6..a080063b 100644
--- a/encoder/ABI.c
+++ b/encoder/ABI.c
@@ -17,11 +17,11 @@ void ABI_deinit(void) {
 
 	TIM_DeInit(HW_ENC_TIM);
 
-	palSetPadMode(ABI_config_now.port_A,
-			ABI_config_now.pin_A,
+	palSetPadMode(ABI_config_now.A_gpio,
+			ABI_config_now.A_pin,
 			PAL_MODE_INPUT_PULLUP);
-	palSetPadMode(ABI_config_now.port_B,
-			ABI_config_now.pin_B,
+	palSetPadMode(ABI_config_now.B_gpio,
+			ABI_config_now.B_pin,
 			PAL_MODE_INPUT_PULLUP);
 
 	last_enc_angle = 0.0;
@@ -36,11 +36,11 @@ encoder_ret_t ABI_init(ABI_config_t *abi_config) {
 	// Initialize variables
 	ABI_config_now = *abi_config;
 
-	palSetPadMode(ABI_config_now.port_A,
-			ABI_config_now.pin_A,
+	palSetPadMode(ABI_config_now.A_gpio,
+			ABI_config_now.A_pin,
 			PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
-	palSetPadMode(ABI_config_now.port_B,
-			ABI_config_now.pin_B,
+	palSetPadMode(ABI_config_now.B_gpio,
+			ABI_config_now.B_pin,
 			PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
 //	palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
 
diff --git a/encoder/MT6816.c b/encoder/MT6816.c
index 1cb94e69..ad99800d 100644
--- a/encoder/MT6816.c
+++ b/encoder/MT6816.c
@@ -68,7 +68,7 @@ encoder_ret_t MT6816_init(MT6816_config_t *mt6816_config) {
 	spi_bb_nss_init(&(MT6816_config_now.sw_spi));
 
 #if (MT6816_USE_HW_SPI_PINS)
-	palSetPadMode(mt6816_spi_config.gpio_mosi.port, mt6816_spi_config.gpio_mosi.pin, PAL_MODE_ALTERNATE(6) | PAL_STM32_OSPEED_HIGHEST);
+	palSetPadMode(MT6816_config_now.sw_spi.mosi_gpio, MT6816_config_now.sw_spi.mosi_pin, PAL_MODE_ALTERNATE(6) | PAL_STM32_OSPEED_HIGHEST);
 #endif
 
 	//Start driver with MT6816 SPI settings
diff --git a/encoder/TS5700N8501.c b/encoder/TS5700N8501.c
index 7b89f15e..22871e1e 100644
--- a/encoder/TS5700N8501.c
+++ b/encoder/TS5700N8501.c
@@ -34,14 +34,14 @@ void TS5700N8501_deinit(void) {
 		chThdSleepMilliseconds(1);
 	}
 
-	palSetPadMode(ts5700n8501_config_now.port_TX,
-			ts5700n8501_config_now.pin_TX,
+	palSetPadMode(ts5700n8501_config_now.TX_gpio,
+			ts5700n8501_config_now.TX_pin,
 			PAL_MODE_INPUT_PULLUP);
-	palSetPadMode(ts5700n8501_config_now.port_RX,
-			ts5700n8501_config_now.pin_RX,
+	palSetPadMode(ts5700n8501_config_now.RX_gpio,
+			ts5700n8501_config_now.RX_pin,
 			PAL_MODE_INPUT_PULLUP);
 #ifdef HW_ADC_EXT_GPIO
-	palSetPadMode(ts5700n8501_config_now.port_EXT, ts5700n8501_config_now.pin_EXT, PAL_MODE_INPUT_ANALOG);
+	palSetPadMode(ts5700n8501_config_now.EXT_gpio, ts5700n8501_config_now.EXT_pin, PAL_MODE_INPUT_ANALOG);
 #endif
 
 	ts5700n8501_config_now.is_init = 0;
@@ -122,11 +122,11 @@ static void TS5700N8501_delay_uart(void) {
 static void TS5700N8501_send_byte(uint8_t b) {
 	utils_sys_lock_cnt();
 #ifdef HW_ADC_EXT_GPIO
-	palSetPad(ts5700n8501_config_now.port_EXT, ts5700n8501_config_now.pin_EXT);
+	palSetPad(ts5700n8501_config_now.EXT_gpio, ts5700n8501_config_now.EXT_pin);
 #endif
 	TS5700N8501_delay_uart();
-	palWritePad(ts5700n8501_config_now.port_TX,
-			ts5700n8501_config_now.pin_TX, 0);
+	palWritePad(ts5700n8501_config_now.TX_gpio,
+			ts5700n8501_config_now.TX_pin, 0);
 	__NOP();
 	__NOP();
 	__NOP();
@@ -143,8 +143,8 @@ static void TS5700N8501_send_byte(uint8_t b) {
 	__NOP();
 	__NOP();
 	for (int i = 0; i < 8; i++) {
-		palWritePad(ts5700n8501_config_now.port_TX,
-				ts5700n8501_config_now.pin_TX,
+		palWritePad(ts5700n8501_config_now.TX_gpio,
+				ts5700n8501_config_now.TX_pin,
 				(b & (0x80 >> i)) ? PAL_HIGH : PAL_LOW);
 		TS5700N8501_delay_uart();
 	}
@@ -166,11 +166,11 @@ static void TS5700N8501_send_byte(uint8_t b) {
 	__NOP();
 	__NOP();
 	__NOP();
-	palWritePad(ts5700n8501_config_now.port_TX,
-			ts5700n8501_config_now.pin_TX, 1);
+	palWritePad(ts5700n8501_config_now.TX_gpio,
+			ts5700n8501_config_now.TX_pin, 1);
 	TS5700N8501_delay_uart();
 #ifdef HW_ADC_EXT_GPIO
-	palClearPad(ts5700n8501_config_now.port_EXT, ts5700n8501_config_now.pin_EXT);
+	palClearPad(ts5700n8501_config_now.EXT_gpio, ts5700n8501_config_now.EXT_pin);
 #endif
 	utils_sys_unlock_cnt();
 }
@@ -183,14 +183,14 @@ static THD_FUNCTION(ts5700n8501_thread, arg) {
 	SerialConfig sd_init = ts5700n8501_config_now.uart_param;
 
 	sdStart(&HW_UART_DEV, &sd_init);
-	palSetPadMode(ts5700n8501_config_now.port_TX,
-			ts5700n8501_config_now.pin_TX,
+	palSetPadMode(ts5700n8501_config_now.TX_gpio,
+			ts5700n8501_config_now.TX_pin,
 			PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_PULLUP);
-	palSetPadMode(ts5700n8501_config_now.port_RX,
-			ts5700n8501_config_now.pin_RX,
+	palSetPadMode(ts5700n8501_config_now.RX_gpio,
+			ts5700n8501_config_now.RX_pin,
 			PAL_MODE_ALTERNATE(HW_UART_GPIO_AF) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_PULLUP);
 #ifdef HW_ADC_EXT_GPIO
-	palSetPadMode(ts5700n8501_config_now.port_EXT, ts5700n8501_config_now.pin_EXT, PAL_MODE_OUTPUT_PUSHPULL |
+	palSetPadMode(ts5700n8501_config_now.EXT_gpio, ts5700n8501_config_now.EXT_pin, PAL_MODE_OUTPUT_PUSHPULL |
 			PAL_STM32_OSPEED_HIGHEST |
 			PAL_STM32_PUDR_PULLUP);
 #endif
diff --git a/encoder/encoder.c b/encoder/encoder.c
index faa6e353..824dafc7 100644
--- a/encoder/encoder.c
+++ b/encoder/encoder.c
@@ -453,8 +453,8 @@ void encoder_tim_isr(void) {
 }
 
 static bool encoder_is_uart_defined(void) {
-	if (!encoder_conf_TS5700N8501.port_RX
-			|| !encoder_conf_TS5700N8501.port_TX) {
+	if (!encoder_conf_TS5700N8501.RX_gpio
+			|| !encoder_conf_TS5700N8501.TX_gpio) {
 		return false;
 	}
 	return true;
@@ -470,8 +470,8 @@ static bool encoder_is_spi_defined(void) {
 }
 
 static bool encoder_is_incremental_defined(void) {
-	if (!encoder_conf_ABI.port_A
-			|| !encoder_conf_ABI.port_B) {
+	if (!encoder_conf_ABI.A_gpio
+			|| !encoder_conf_ABI.B_gpio) {
 		return false;
 	}
 	return true;
diff --git a/encoder/encoder_datatype.h b/encoder/encoder_datatype.h
index 27938495..5e916ba4 100644
--- a/encoder/encoder_datatype.h
+++ b/encoder/encoder_datatype.h
@@ -38,10 +38,10 @@ typedef ENCSPI_config_t AS504x_config_t;
 typedef struct {
 	bool is_init;
 	uint32_t counts;
-	stm32_gpio_t *port_A;
-	uint8_t pin_A;
-	stm32_gpio_t *port_B;
-	uint8_t pin_B;
+	stm32_gpio_t *A_gpio;
+	uint8_t A_pin;
+	stm32_gpio_t *B_gpio;
+	uint8_t B_pin;
 } ABI_config_t;
 
 typedef struct {
@@ -56,12 +56,12 @@ typedef struct {
 
 typedef struct {
 	bool is_init;
-	stm32_gpio_t *port_TX;
-	uint8_t pin_TX;
-	stm32_gpio_t *port_RX;
-	uint8_t pin_RX;
-	stm32_gpio_t *port_EXT;
-	uint8_t pin_EXT;
+	stm32_gpio_t *TX_gpio;
+	uint8_t TX_pin;
+	stm32_gpio_t *RX_gpio;
+	uint8_t RX_pin;
+	stm32_gpio_t *EXT_gpio;
+	uint8_t EXT_pin;
 	SerialConfig uart_param;
 } TS5700N8501_config_t;
 #endif /* ENCODER_ENCODER_DATATYPE_H_ */