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/ui/ui.c

@@ -0,0 +1,301 @@
+/*
+  UI相关命令
+*/
+#include "component/ui.h"
+
+#include <stdio.h>
+
+/**
+ * @brief UI_绘制直线段
+ *
+ * @param grapic_line 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param width 线条宽度
+ * @param x_start 起点x坐标
+ * @param y_start 起点y坐标
+ * @param x_end 终点x坐标
+ * @param y_end 终点y坐标
+ * @return int8_t
+ */
+int8_t UI_DrawLine(UI_Ele_t *grapic_line, const char *name, uint8_t type_op,
+                   uint8_t layer, uint8_t color, uint16_t width,
+                   uint16_t x_start, uint16_t y_start, uint16_t x_end,
+                   uint16_t y_end) {
+  if (grapic_line == NULL) return -1;
+  snprintf((char *)grapic_line->name, 2, "%s", name);
+  grapic_line->layer = layer;
+  grapic_line->type_op = type_op;
+  grapic_line->type_ele = 0;
+  grapic_line->color = color;
+  grapic_line->width = width;
+  grapic_line->x_start = x_start;
+  grapic_line->y_start = y_start;
+  grapic_line->x_end = x_end;
+  grapic_line->y_end = y_end;
+  return 0;
+}
+
+/**
+ * @brief UI_绘制矩形
+ *
+ * @param grapic_rectangle 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param width 线条宽度
+ * @param x_start 起点x坐标
+ * @param y_start 起点y坐标
+ * @param x_end 对角顶点x坐标
+ * @param y_end 对角顶点y坐标
+ * @return int8_t
+ */
+int8_t UI_DrawRectangle(UI_Ele_t *grapic_rectangle, const char *name,
+                        uint8_t type_op, uint8_t layer, uint8_t color,
+                        uint16_t width, uint16_t x_start, uint16_t y_start,
+                        uint16_t x_end, uint16_t y_end) {
+  if (grapic_rectangle == NULL) return -1;
+  snprintf((char *)grapic_rectangle->name, 2, "%s", name);
+  grapic_rectangle->type_op = type_op;
+  grapic_rectangle->type_ele = 1;
+  grapic_rectangle->layer = layer;
+  grapic_rectangle->color = color;
+  grapic_rectangle->width = width;
+  grapic_rectangle->x_start = x_start;
+  grapic_rectangle->y_start = y_start;
+  grapic_rectangle->x_end = x_end;
+  grapic_rectangle->y_end = y_end;
+  return 0;
+}
+
+/**
+ * @brief UI_绘制正圆
+ *
+ * @param grapic_cycle 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param width 线条宽度
+ * @param x_center 圆心x坐标
+ * @param y_center 圆心y坐标
+ * @param radius 半径
+ * @return int8_t
+ */
+int8_t UI_DrawCycle(UI_Ele_t *grapic_cycle, const char *name, uint8_t type_op,
+                    uint8_t layer, uint8_t color, uint16_t width,
+                    uint16_t x_center, uint16_t y_center, uint16_t radius) {
+  if (grapic_cycle == NULL) return -1;
+  snprintf((char *)grapic_cycle->name, 2, "%s", name);
+  grapic_cycle->type_op = type_op;
+  grapic_cycle->layer = layer;
+  grapic_cycle->type_ele = 2;
+  grapic_cycle->color = color;
+  grapic_cycle->width = width;
+  grapic_cycle->x_start = x_center;
+  grapic_cycle->y_start = y_center;
+  grapic_cycle->radius = radius;
+  return 0;
+}
+
+/**
+ * @brief UI_绘制椭圆
+ *
+ * @param grapic_oval 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param width 线条宽度
+ * @param x_center 圆心x坐标
+ * @param y_center 圆心y坐标
+ * @param x_semiaxis x半轴长度
+ * @param y_semiaxis y半轴长度
+ * @return int8_t
+ */
+int8_t UI_DrawOval(UI_Ele_t *grapic_oval, const char *name, uint8_t type_op,
+                   uint8_t layer, uint8_t color, uint16_t width,
+                   uint16_t x_center, uint16_t y_center, uint16_t x_semiaxis,
+                   uint16_t y_semiaxis) {
+  if (grapic_oval == NULL) return -1;
+  snprintf((char *)grapic_oval->name, 2, "%s", name);
+  grapic_oval->type_op = type_op;
+  grapic_oval->type_ele = 3;
+  grapic_oval->layer = layer;
+  grapic_oval->color = color;
+  grapic_oval->width = width;
+  grapic_oval->x_start = x_center;
+  grapic_oval->y_start = y_center;
+  grapic_oval->x_end = x_semiaxis;
+  grapic_oval->y_end = y_semiaxis;
+  return 0;
+}
+
+/**
+ * @brief UI_绘制圆弧
+ *
+ * @param grapic_arc 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param angle_start 起始角度
+ * @param angle_end 终止角度
+ * @param width 线条宽度
+ * @param x_center 圆心x坐标
+ * @param y_center 圆心y坐标
+ * @param x_semiaxis x半轴长度
+ * @param y_semiaxis y半轴长度
+ * @return int8_t
+ */
+int8_t UI_DrawArc(UI_Ele_t *grapic_arc, const char *name, uint8_t type_op,
+                  uint8_t layer, uint8_t color, uint16_t angle_start,
+                  uint16_t angle_end, uint16_t width, uint16_t x_center,
+                  uint16_t y_center, uint16_t x_semiaxis, uint16_t y_semiaxis) {
+  if (grapic_arc == NULL) return -1;
+  snprintf((char *)grapic_arc->name, 2, "%s", name);
+  grapic_arc->type_op = type_op;
+  grapic_arc->type_ele = 4;
+  grapic_arc->layer = layer;
+  grapic_arc->color = color;
+  grapic_arc->angle_start = angle_start;
+  grapic_arc->angle_end = angle_end;
+  grapic_arc->width = width;
+  grapic_arc->x_start = x_center;
+  grapic_arc->y_start = y_center;
+  grapic_arc->x_end = x_semiaxis;
+  grapic_arc->y_end = y_semiaxis;
+  return 0;
+}
+
+/**
+ * @brief UI_绘制浮点数
+ *
+ * @param grapic_float 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param font_size 字体大小
+ * @param digits 小数点后有效位数
+ * @param width 线条宽度
+ * @param x_start 起点x坐标
+ * @param y_start 起点y坐标
+ * @param float_high 32位浮点数
+ * @param float_middle 32位浮点数
+ * @param float_low 32位浮点数
+ * @return int8_t
+ */
+int8_t UI_DrawFloating(UI_Ele_t *grapic_floating, const char *name,
+                       uint8_t type_op, uint8_t layer, uint8_t color,
+                       uint16_t font_size, uint16_t digits, uint16_t width,
+                       uint16_t x_start, uint16_t y_start, uint16_t float_high,
+                       uint16_t float_middle, uint16_t float_low) {
+  if (grapic_floating == NULL) return -1;
+  snprintf((char *)grapic_floating->name, 2, "%s", name);
+  grapic_floating->type_op = type_op;
+  grapic_floating->type_ele = 5;
+  grapic_floating->layer = layer;
+  grapic_floating->color = color;
+  grapic_floating->angle_start = font_size;
+  grapic_floating->angle_end = digits;
+  grapic_floating->width = width;
+  grapic_floating->x_start = x_start;
+  grapic_floating->y_start = y_start;
+  grapic_floating->radius = float_high;
+  grapic_floating->x_end = float_middle;
+  grapic_floating->y_end = float_low;
+  return 0;
+}
+
+/**
+ * @brief UI_绘制整型数
+ *
+ * @param grapic_integer 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param font_size 字体大小
+ * @param width 线条宽度
+ * @param x_start 起点x坐标
+ * @param y_start 起点y坐标
+ * @param int32_t_high 32位整型数
+ * @param int32_t_middle 32位整型数
+ * @param int32_t_low 32位整型数
+ * @return int8_t
+ */
+int8_t UI_DrawInteger(UI_Ele_t *grapic_integer, const char *name,
+                      uint8_t type_op, uint8_t layer, uint8_t color,
+                      uint16_t font_size, uint16_t width, uint16_t x_start,
+                      uint16_t y_start, uint16_t int32_t_high,
+                      uint16_t int32_t_middle, uint16_t int32_t_low) {
+  if (grapic_integer == NULL) return -1;
+  snprintf((char *)grapic_integer->name, 2, "%s", name);
+  grapic_integer->type_op = type_op;
+  grapic_integer->type_ele = 6;
+  grapic_integer->layer = layer;
+  grapic_integer->color = color;
+  grapic_integer->angle_start = font_size;
+  grapic_integer->width = width;
+  grapic_integer->x_start = x_start;
+  grapic_integer->y_start = y_start;
+  grapic_integer->radius = int32_t_high;
+  grapic_integer->x_end = int32_t_middle;
+  grapic_integer->y_end = int32_t_low;
+  return 0;
+}
+
+/**
+ * @brief UI_绘制字符
+ *
+ * @param grapic_character 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param font_size 字体大小
+ * @param length 字符长度
+ * @param width 线条宽度
+ * @param x_start 起点x坐标
+ * @param y_start 起点y坐标
+ * @param character 字符串首地址
+ * @return int8_t
+ */
+int8_t UI_DrawCharacter(UI_Drawcharacter_t *grapic_character, const char *name,
+                        uint8_t type_op, uint8_t layer, uint8_t color,
+                        uint16_t font_size, uint16_t length, uint16_t width,
+                        uint16_t x_start, uint16_t y_start,
+                        const char *character) {
+  if (grapic_character == NULL) return -1;
+  snprintf((char *)grapic_character->grapic.name, 2, "%s", name);
+  grapic_character->grapic.type_op = type_op;
+  grapic_character->grapic.type_ele = 7;
+  grapic_character->grapic.layer = layer;
+  grapic_character->grapic.color = color;
+  grapic_character->grapic.angle_start = font_size;
+  grapic_character->grapic.angle_end = length;
+  grapic_character->grapic.width = width;
+  grapic_character->grapic.x_start = x_start;
+  grapic_character->grapic.y_start = y_start;
+  snprintf((char *)grapic_character->character, 29, "%s", character);
+  return 0;
+}
+
+/**
+ * @brief UI_删除图层
+ *
+ * @param del 结构体
+ * @param opt 操作
+ * @param layer 图层
+ * @return int8_t
+ */
+int8_t UI_DelLayer(UI_Del_t *del, uint8_t opt, uint8_t layer) {
+  if (del == NULL) return -1;
+  del->del_operation = opt;
+  del->layer = layer;
+  return 0;
+}

assets/User_code/component/ui/ui.h

@@ -0,0 +1,284 @@
+/*
+  UI相关命令
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <string.h>
+
+#include "component/user_math.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+#define UI_DEL_OPERATION_NOTHING (0)
+#define UI_DEL_OPERATION_DEL (1)
+#define UI_DEL_OPERATION_DEL_ALL (2)
+
+#define UI_GRAPIC_OPERATION_NOTHING (0)
+#define UI_GRAPIC_OPERATION_ADD (1)
+#define UI_GRAPIC_OPERATION_REWRITE (2)
+#define UI_GRAPIC_OPERATION_DEL (3)
+
+#define UI_GRAPIC_LAYER_CONST (0)
+#define UI_GRAPIC_LAYER_AUTOAIM (1)
+#define UI_GRAPIC_LAYER_CHASSIS (2)
+#define UI_GRAPIC_LAYER_CAP (3)
+#define UI_GRAPIC_LAYER_GIMBAL (4)
+#define UI_GRAPIC_LAYER_SHOOT (5)
+#define UI_GRAPIC_LAYER_CMD (6)
+
+#define UI_DEFAULT_WIDTH (0x01)
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+#define UI_CHAR_DEFAULT_WIDTH (0x02)
+
+typedef enum {
+  RED_BLUE,
+  YELLOW,
+  GREEN,
+  ORANGE,
+  PURPLISH_RED,
+  PINK,
+  CYAN,
+  BLACK,
+  WHITE
+} UI_Color_t;
+
+typedef struct __packed {
+  uint8_t op;
+  uint8_t num_layer;
+} UI_InterStudent_UIDel_t;
+
+typedef struct __packed {
+  uint8_t name[3];
+  uint8_t type_op : 3;
+  uint8_t type_ele : 3;
+  uint8_t layer : 4;
+  uint8_t color : 4;
+  uint16_t angle_start : 9;
+  uint16_t angle_end : 9;
+  uint16_t width : 10;
+  uint16_t x_start : 11;
+  uint16_t y_start : 11;
+  uint16_t radius : 10;
+  uint16_t x_end : 11;
+  uint16_t y_end : 11;
+} UI_Ele_t;
+
+typedef struct __packed {
+  UI_Ele_t grapic;
+} UI_Drawgrapic_1_t;
+
+typedef struct __packed {
+  UI_Ele_t grapic[2];
+} UI_Drawgrapic_2_t;
+
+typedef struct __packed {
+  UI_Ele_t grapic[5];
+} UI_Drawgrapic_5_t;
+
+typedef struct __packed {
+  UI_Ele_t grapic[7];
+} UI_Drawgrapic_7_t;
+
+typedef struct __packed {
+  UI_Ele_t grapic;
+  uint8_t character[30];
+} UI_Drawcharacter_t;
+
+typedef struct __packed {
+  uint8_t del_operation;
+  uint8_t layer;
+} UI_Del_t;
+
+/**
+ * @brief UI_绘制直线段
+ *
+ * @param grapic_line 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param width 线条宽度
+ * @param x_start 起点x坐标
+ * @param y_start 起点y坐标
+ * @param x_end 终点x坐标
+ * @param y_end 终点y坐标
+ * @return int8_t
+ */
+int8_t UI_DrawLine(UI_Ele_t *grapic_line, const char *name, uint8_t type_op,
+                   uint8_t layer, uint8_t color, uint16_t width,
+                   uint16_t x_start, uint16_t y_start, uint16_t x_end,
+                   uint16_t y_end);
+
+/**
+ * @brief UI_绘制矩形
+ *
+ * @param grapic_rectangle 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param width 线条宽度
+ * @param x_start 起点x坐标
+ * @param y_start 起点y坐标
+ * @param x_end 对角顶点x坐标
+ * @param y_end 对角顶点y坐标
+ * @return int8_t
+ */
+int8_t UI_DrawRectangle(UI_Ele_t *grapic_rectangle, const char *name,
+                        uint8_t type_op, uint8_t layer, uint8_t color,
+                        uint16_t width, uint16_t x_start, uint16_t y_start,
+                        uint16_t x_end, uint16_t y_end);
+
+/**
+ * @brief UI_绘制正圆
+ *
+ * @param grapic_cycle 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param width 线条宽度
+ * @param x_center 圆心x坐标
+ * @param y_center 圆心y坐标
+ * @param radius 半径
+ * @return int8_t
+ */
+int8_t UI_DrawCycle(UI_Ele_t *grapic_cycle, const char *name, uint8_t type_op,
+                    uint8_t layer, uint8_t color, uint16_t width,
+                    uint16_t x_center, uint16_t y_center, uint16_t radius);
+
+/**
+ * @brief UI_绘制椭圆
+ *
+ * @param grapic_oval 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param width 线条宽度
+ * @param x_center 圆心x坐标
+ * @param y_center 圆心y坐标
+ * @param x_semiaxis x半轴长度
+ * @param y_semiaxis y半轴长度
+ * @return int8_t
+ */
+int8_t UI_DrawOval(UI_Ele_t *grapic_oval, const char *name, uint8_t type_op,
+                   uint8_t layer, uint8_t color, uint16_t width,
+                   uint16_t x_center, uint16_t y_center, uint16_t x_semiaxis,
+                   uint16_t y_semiaxis);
+
+/**
+ * @brief UI_绘制圆弧
+ *
+ * @param grapic_arc 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param angle_start 起始角度
+ * @param angle_end 终止角度
+ * @param width 线条宽度
+ * @param x_center 圆心x坐标
+ * @param y_center 圆心y坐标
+ * @param x_semiaxis x半轴长度
+ * @param y_semiaxis y半轴长度
+ * @return int8_t
+ */
+int8_t UI_DrawArc(UI_Ele_t *grapic_arc, const char *name, uint8_t type_op,
+                  uint8_t layer, uint8_t color, uint16_t angle_start,
+                  uint16_t angle_end, uint16_t width, uint16_t x_center,
+                  uint16_t y_center, uint16_t x_semiaxis, uint16_t y_semiaxis);
+
+/**
+ * @brief UI_绘制浮点数
+ *
+ * @param grapic_float 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param font_size 字体大小
+ * @param digits 小数点后有效位数
+ * @param width 线条宽度
+ * @param x_start 起点x坐标
+ * @param y_start 起点y坐标
+ * @param float_high 32位浮点数
+ * @param float_middle 32位浮点数
+ * @param float_low 32位浮点数
+ * @return int8_t
+ */
+int8_t UI_DrawFloating(UI_Ele_t *grapic_floating, const char *name,
+                       uint8_t type_op, uint8_t layer, uint8_t color,
+                       uint16_t font_size, uint16_t digits, uint16_t width,
+                       uint16_t x_start, uint16_t y_start, uint16_t float_high,
+                       uint16_t float_middle, uint16_t float_low);
+
+/**
+ * @brief UI_绘制整型数
+ *
+ * @param grapic_integer 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param font_size 字体大小
+ * @param width 线条宽度
+ * @param x_start 起点x坐标
+ * @param y_start 起点y坐标
+ * @param int32_t_high 32位整型数
+ * @param int32_t_middle 32位整型数
+ * @param int32_t_low 32位整型数
+ * @return int8_t
+ */
+int8_t UI_DrawInteger(UI_Ele_t *grapic_integer, const char *name,
+                      uint8_t type_op, uint8_t layer, uint8_t color,
+                      uint16_t font_size, uint16_t width, uint16_t x_start,
+                      uint16_t y_start, uint16_t int32_t_high,
+                      uint16_t int32_t_middle, uint16_t int32_t_low);
+
+/**
+ * @brief UI_绘制字符
+ *
+ * @param grapic_character 结构体
+ * @param name 图形名首地址
+ * @param type_op 操作类型
+ * @param layer 图层数
+ * @param color 颜色
+ * @param font_size 字体大小
+ * @param length 字符长度
+ * @param width 线条宽度
+ * @param x_start 起点x坐标
+ * @param y_start 起点y坐标
+ * @param character 字符串首地址
+ * @return int8_t
+ */
+int8_t UI_DrawCharacter(UI_Drawcharacter_t *grapic_character, const char *name,
+                        uint8_t type_op, uint8_t layer, uint8_t color,
+                        uint16_t font_size, uint16_t length, uint16_t width,
+                        uint16_t x_start, uint16_t y_start,
+                        const char *character);
+
+/**
+ * @brief UI_删除图层
+ *
+ * @param del 结构体
+ * @param opt 操作
+ * @param layer 图层
+ * @return int8_t
+ */
+int8_t UI_DelLayer(UI_Del_t *del, uint8_t opt, uint8_t layer);
+
+#ifdef __cplusplus
+}
+#endif