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/device/buzzer/buzzer.c

@@ -0,0 +1,171 @@
+#include "device/buzzer.h"
+#include "bsp/time.h"
+#include <math.h>
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+#define MUSIC_DEFAULT_VOLUME 0.5f
+#define MUSIC_A4_FREQ 440.0f  // A4音符频率
+
+/* USER MUSIC MENU BEGIN */
+// RM音乐
+const Tone_t RM[] = {
+    {NOTE_B, 5, 200},
+    {NOTE_G, 4, 200},
+    {NOTE_B, 5, 400},
+    {NOTE_G, 4, 200},
+    {NOTE_B, 5, 400},
+    {NOTE_G, 4, 200},
+    {NOTE_D, 5, 400},
+    {NOTE_G, 4, 200},
+    {NOTE_C, 5, 200},
+    {NOTE_C, 5, 200},
+    {NOTE_G, 4, 200},
+    {NOTE_B, 5, 200},
+    {NOTE_C, 5, 200}
+};
+
+// Nokia 经典铃声音符
+const Tone_t NOKIA[] = {
+    {NOTE_E, 5, 125}, {NOTE_D, 5, 125}, {NOTE_FS, 4, 250}, {NOTE_GS, 4, 250},
+    {NOTE_CS, 5, 125}, {NOTE_B, 4, 125}, {NOTE_D, 4, 250}, {NOTE_E, 4, 250},
+    {NOTE_B, 4, 125}, {NOTE_A, 4, 125}, {NOTE_CS, 4, 250}, {NOTE_E, 4, 250},
+    {NOTE_A, 4, 500}
+};
+/* USER MUSIC MENU END */
+
+static void BUZZER_Update(BUZZER_t *buzzer){
+    buzzer->header.online = true;
+    buzzer->header.last_online_time = BSP_TIME_Get_ms();
+}
+
+// 根据音符和八度计算频率的辅助函数
+static float BUZZER_CalcFreq(NOTE_t note, uint8_t octave) {
+    if (note == NOTE_REST) {
+        return 0.0f; // 休止符返回0频率
+    }
+    
+    // 将音符和八度转换为MIDI音符编号
+    int midi_num = (int)note + (int)((octave + 1) * 12);
+    
+    // 使用A4 (440Hz) 作为参考，计算频率
+    // 公式: freq = 440 * 2^((midi_num - 69)/12)
+    float freq = 440.0f * powf(2.0f, ((float)midi_num - 69.0f) / 12.0f);
+    
+    return freq;
+}
+
+// 播放单个音符
+static int8_t BUZZER_PlayTone(BUZZER_t *buzzer, NOTE_t note, uint8_t octave, uint16_t duration_ms) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    
+    float freq = BUZZER_CalcFreq(note, octave);
+    
+    if (freq > 0.0f) {
+        // 播放音符
+        if (BUZZER_Set(buzzer, freq, MUSIC_DEFAULT_VOLUME) != DEVICE_OK) 
+            return DEVICE_ERR;
+        
+        if (BUZZER_Start(buzzer) != DEVICE_OK) 
+            return DEVICE_ERR;
+    } else {
+        // 休止符，停止播放
+        BUZZER_Stop(buzzer);
+    }
+    
+    // 等待指定时间
+    BSP_TIME_Delay_ms(duration_ms);
+    
+    // 停止当前音符，为下一个音符做准备
+    BUZZER_Stop(buzzer);
+    BSP_TIME_Delay_ms(20); // 短暂间隔
+    
+    return DEVICE_OK;
+}
+
+int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) {
+    if (buzzer == NULL) return DEVICE_ERR;
+    
+    buzzer->channel = channel;
+    buzzer->header.online = true;
+    
+    BUZZER_Stop(buzzer);
+    
+    return DEVICE_OK ;
+}
+
+int8_t BUZZER_Start(BUZZER_t *buzzer) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    BUZZER_Update(buzzer);
+    return (BSP_PWM_Start(buzzer->channel) == BSP_OK) ? 
+           DEVICE_OK  : DEVICE_ERR;
+}
+
+int8_t BUZZER_Stop(BUZZER_t *buzzer) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    BUZZER_Update(buzzer);
+    return (BSP_PWM_Stop(buzzer->channel) == BSP_OK) ? 
+           DEVICE_OK  : DEVICE_ERR;
+}
+
+int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    
+    int result = DEVICE_OK ;
+    BUZZER_Update(buzzer);
+    if (BSP_PWM_SetFreq(buzzer->channel, freq) != BSP_OK) 
+        result = DEVICE_ERR;
+    
+    if (BSP_PWM_SetComp(buzzer->channel, duty_cycle) != BSP_OK) 
+        result = DEVICE_ERR;
+    
+    return result;
+}
+
+int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    
+    const Tone_t *melody = NULL;
+    size_t melody_length = 0;
+    
+    // 根据音乐类型选择对应的音符数组
+    switch (music) {
+        case MUSIC_RM:
+            melody = RM;
+            melody_length = sizeof(RM) / sizeof(Tone_t);
+            break;
+        case MUSIC_NOKIA:
+            melody = NOKIA;
+            melody_length = sizeof(NOKIA) / sizeof(Tone_t);
+            break;
+        default:
+            return DEVICE_ERR;
+    }
+    
+    // 播放整首音乐
+    for (size_t i = 0; i < melody_length; i++) {
+        if (BUZZER_PlayTone(buzzer, melody[i].note, melody[i].octave, melody[i].duration_ms) != DEVICE_OK) {
+            BUZZER_Stop(buzzer); // 出错时停止播放
+            return DEVICE_ERR;
+        }
+    }
+    
+    // 音乐播放完成后停止
+    BUZZER_Stop(buzzer);
+    return DEVICE_OK;
+}
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */