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/component/error_detect/error_detect.c

@@ -0,0 +1,67 @@
+/*
+  错误检测。
+*/
+
+#include "error_detect.h"
+
+#include <stddef.h>
+#include <string.h>
+
+#include "bsp/mm.h"
+
+static ErrorDetect_t ged;
+static bool inited = false;
+
+int8_t ErrorDetect_Init(void) {
+  if (inited) return -1;
+
+  memset(&ged, 0x00, sizeof(ged));
+
+  for (uint8_t i = 0; i < ERROR_DETECT_UNIT_NUM; i++) {
+    ged.error[i].enable = true;
+    ged.error[i].priority = i;
+    ged.error[i].patient_lost = 500;
+    ged.error[i].patient_work = 500;
+  }
+  return 0;
+}
+
+void ErrorDetect_Processing(uint32_t sys_time) {
+  for (uint8_t i = 0; i < ERROR_DETECT_UNIT_NUM; i++) {
+    if (!ged.error[i].enable) continue;
+
+    if (sys_time - ged.error[i].showup > ged.error[i].patient_lost) {
+      ged.error[i].is_lost = true;
+      ged.error[i].found_lost = sys_time;
+    } else if (sys_time - ged.error[i].showup > ged.error[i].patient_lost) {
+    } else {
+      ged.error[i].cycle_time = ged.error[i].showup - ged.error[i].showup_last;
+    }
+  }
+}
+
+bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit) {
+  if (unit == ERROR_DETECT_UNIT_NO_DEV) {
+    for (uint8_t i = ERROR_DETECT_UNIT_NUM; i > 0; i--) {
+      if (ged.error[i].error_exist) return true;
+    }
+    return false;
+  } else {
+    return ged.error[unit].error_exist;
+  }
+}
+
+ErrorDetect_Unit_t ErrorDetect_GetErrorUnit(void) {
+  for (uint8_t i = ERROR_DETECT_UNIT_NUM; i > 0; i--) {
+    if (ged.error[i].error_exist) return i;
+  }
+  return ERROR_DETECT_UNIT_NO_DEV;
+}
+
+const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit) {
+  return &ged.error[unit];
+}
+
+void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current) {
+  ged.error[unit].showup = time_current;
+}

assets/User_code/component/error_detect/error_detect.h

@@ -0,0 +1,82 @@
+/*
+  错误检测。
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+typedef enum {
+  /* Low priority */
+  ERROR_DETECT_UNIT_NO_DEV = 0,
+  ERROR_DETECT_UNIT_REFEREE,
+  ERROR_DETECT_UNIT_CHASSIS_M1,
+  ERROR_DETECT_UNIT_CHASSIS_M2,
+  ERROR_DETECT_UNIT_CHASSIS_M3,
+  ERROR_DETECT_UNIT_CHASSIS_M4,
+  ERROR_DETECT_UNIT_TRIGGER,
+  ERROR_DETECT_UNIT_FEED,
+  ERROR_DETECT_UNIT_GIMBAL_YAW,
+  ERROR_DETECT_UNIT_GIMBAL_PIT,
+  ERROR_DETECT_UNIT_GYRO,
+  ERROR_DETECT_UNIT_ACCL,
+  ERROR_DETECT_UNIT_MAGN,
+  ERROR_DETECT_UNIT_DBUS,
+  ERROR_DETECT_UNIT_NUM,
+  /* High priority */
+} ErrorDetect_Unit_t;
+
+typedef struct {
+  bool enable;
+  uint8_t priority;
+  uint32_t patient_lost;
+  uint32_t patient_work;
+
+  uint32_t showup;
+  uint32_t showup_last;
+  uint32_t cycle_time;
+  uint32_t duration_lost;
+  uint32_t duration_work;
+  uint32_t found_lost;
+  bool error_exist;
+  bool is_lost;
+  uint8_t data_is_error;
+
+} ErrorDetect_Error_t;
+
+typedef struct {
+  ErrorDetect_Error_t error[ERROR_DETECT_UNIT_NUM];
+} ErrorDetect_t;
+
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+int8_t ErrorDetect_Init(void);
+void ErrorDetect_Processing(uint32_t sys_time);
+bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit);
+ErrorDetect_Unit_t ErrorDetect_GetErrorUnit(void);
+const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit);
+
+void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current);
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+#ifdef __cplusplus
+}
+#endif