重构User_code目录结构：将文件组织到子文件夹中

主要更改：
- 将所有BSP外设文件移动到独立子文件夹（can/, fdcan/, uart/等）
- 将所有Component文件移动到独立子文件夹（pid/, filter/, cmd/等）
- 将所有Device文件移动到独立子文件夹（dr16/, bmi088/等）
- 更新代码生成器以支持新的文件夹结构
- 保持向后兼容性，支持从子文件夹或根目录加载模板
- 添加STRUCTURE.md文档说明新的目录结构

优势：
✅ 更好的代码组织和管理
✅ 便于添加、删除、修改模板
✅ 清晰的模块划分
✅ 向后兼容现有结构

assets/User_code/bsp/time/time.c

@@ -0,0 +1,81 @@
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/time.h"
+#include "bsp.h"
+
+#include <cmsis_os2.h>
+#include "FreeRTOS.h"
+#include "main.h"
+#include "task.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+/* Private define ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+uint32_t BSP_TIME_Get_ms() { return xTaskGetTickCount(); }
+
+uint64_t BSP_TIME_Get_us() {
+  uint32_t tick_freq = osKernelGetTickFreq();
+  uint32_t ticks_old = xTaskGetTickCount()*(1000/tick_freq);
+  uint32_t tick_value_old = SysTick->VAL;
+  uint32_t ticks_new = xTaskGetTickCount()*(1000/tick_freq);
+  uint32_t tick_value_new = SysTick->VAL;
+  if (ticks_old == ticks_new) {
+    return ticks_new * 1000 + 1000 - tick_value_old * 1000 / (SysTick->LOAD + 1);
+  } else {
+    return ticks_new * 1000 + 1000 - tick_value_new * 1000 / (SysTick->LOAD + 1);
+  }
+}
+
+uint64_t BSP_TIME_Get() __attribute__((alias("BSP_TIME_Get_us")));
+
+int8_t BSP_TIME_Delay_ms(uint32_t ms) {
+  uint32_t tick_period = 1000u / osKernelGetTickFreq();
+  uint32_t ticks = ms / tick_period;
+
+  switch (osKernelGetState()) {
+    case osKernelError:
+    case osKernelReserved:
+    case osKernelLocked:
+    case osKernelSuspended:
+      return BSP_ERR;
+
+    case osKernelRunning:
+      osDelay(ticks ? ticks : 1);
+      break;
+
+    case osKernelInactive:
+    case osKernelReady:
+      HAL_Delay(ms);
+      break;
+  }
+  return BSP_OK;
+}
+
+/*阻塞us延迟*/
+int8_t BSP_TIME_Delay_us(uint32_t us) {
+    uint64_t start = BSP_TIME_Get_us();
+    while (BSP_TIME_Get_us() - start < us) {
+        // 等待us时间
+    }
+    return BSP_OK;
+}
+
+int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms")));
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */