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/dr16/dr16.c

@@ -0,0 +1,169 @@
+/*
+    DR16接收机
+    Example：
+
+  DR16_Init(&dr16);
+  
+  while (1) {
+    DR16_StartDmaRecv(&dr16);
+    if (DR16_WaitDmaCplt(20)) {
+      DR16_ParseData(&dr16);
+    } else {
+      DR16_Offline(&dr16);
+    }
+}
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "dr16.h"
+#include "bsp/uart.h"
+#include "bsp/time.h"
+#include "device.h"
+
+#include <string.h>
+#include <stdbool.h>
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+/* Private define ----------------------------------------------------------- */
+#define DR16_CH_VALUE_MIN (364u)
+#define DR16_CH_VALUE_MID (1024u)
+#define DR16_CH_VALUE_MAX (1684u)
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+
+static osThreadId_t thread_alert;
+static bool inited = false;
+
+/* Private function  -------------------------------------------------------- */
+static void DR16_RxCpltCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
+}
+
+static bool DR16_DataCorrupted(const DR16_t *dr16) {
+  if (dr16 == NULL) return DEVICE_ERR_NULL;
+
+  if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
+
+  if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
+
+  if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
+
+  if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
+
+  if (dr16->raw_data.sw_l == 0) return DEVICE_ERR;
+
+  if (dr16->raw_data.sw_r == 0) return DEVICE_ERR;
+
+  return DEVICE_OK;
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t DR16_Init(DR16_t *dr16) {
+  if (dr16 == NULL) return DEVICE_ERR_NULL;
+  if (inited) return DEVICE_ERR_INITED;
+  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
+
+  BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB,
+                            DR16_RxCpltCallback);
+
+  inited = true;
+  return DEVICE_OK;
+}
+
+int8_t DR16_Restart(void) {
+  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16));
+  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16));
+  return DEVICE_OK;
+}
+
+int8_t DR16_StartDmaRecv(DR16_t *dr16) {
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
+                           (uint8_t *)&(dr16->raw_data),
+                           sizeof(dr16->raw_data)) == HAL_OK)
+    return DEVICE_OK;
+  return DEVICE_ERR;
+}
+
+bool DR16_WaitDmaCplt(uint32_t timeout) {
+  return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
+          SIGNAL_DR16_RAW_REDY);
+}
+
+int8_t DR16_ParseData(DR16_t *dr16){
+  if (dr16 == NULL) return DEVICE_ERR_NULL;
+
+  if (DR16_DataCorrupted(dr16)) {
+    return DEVICE_ERR;
+  }
+
+  dr16->header.online = true;
+  dr16->header.last_online_time = BSP_TIME_Get_us();
+  
+  memset(&(dr16->data), 0, sizeof(dr16->data));
+
+  float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
+
+  // 解析摇杆数据
+  dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
+  dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
+  dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
+  dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
+
+  // 解析拨杆位置
+  dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l;
+  dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r;
+
+  // 解析鼠标数据
+  dr16->data.mouse.x = dr16->raw_data.x;
+  dr16->data.mouse.y = dr16->raw_data.y;
+  dr16->data.mouse.z = dr16->raw_data.z;
+
+  dr16->data.mouse.l_click = dr16->raw_data.press_l;
+  dr16->data.mouse.r_click = dr16->raw_data.press_r;
+
+  // 解析键盘按键 - 使用union简化代码
+  uint16_t key_value = dr16->raw_data.key;
+  
+  // 解析键盘位映射（W-B键，位0-15）
+  for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) {
+    dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
+  }
+
+  // 解析鼠标点击
+  dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click;
+  dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click;
+
+  // 解析第五通道
+  dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
+  
+  return DEVICE_OK;
+}
+
+int8_t DR16_Offline(DR16_t *dr16){
+  if (dr16 == NULL) return DEVICE_ERR_NULL;
+
+  dr16->header.online = false;
+  memset(&(dr16->data), 0, sizeof(dr16->data));
+
+  return DEVICE_OK;
+}
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

assets/User_code/device/dr16/dr16.h

@@ -0,0 +1,117 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+
+#include "component/user_math.h"
+#include "device.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef struct __packed {
+  uint16_t ch_r_x : 11;
+  uint16_t ch_r_y : 11;
+  uint16_t ch_l_x : 11;
+  uint16_t ch_l_y : 11;
+  uint8_t sw_r : 2;
+  uint8_t sw_l : 2;
+  int16_t x;
+  int16_t y;
+  int16_t z;
+  uint8_t press_l;
+  uint8_t press_r;
+  uint16_t key;
+  uint16_t res;
+} DR16_RawData_t;
+
+typedef enum {
+  DR16_SW_ERR = 0,
+  DR16_SW_UP = 1,
+  DR16_SW_MID = 3,
+  DR16_SW_DOWN = 2,
+} DR16_SwitchPos_t;
+
+/* 键盘按键值 */
+typedef enum {
+  DR16_KEY_W = 0,
+  DR16_KEY_S,
+  DR16_KEY_A,
+  DR16_KEY_D,
+  DR16_KEY_SHIFT,
+  DR16_KEY_CTRL,
+  DR16_KEY_Q,
+  DR16_KEY_E,
+  DR16_KEY_R,
+  DR16_KEY_F,
+  DR16_KEY_G,
+  DR16_KEY_Z,
+  DR16_KEY_X,
+  DR16_KEY_C,
+  DR16_KEY_V,
+  DR16_KEY_B,
+  DR16_L_CLICK,
+  DR16_R_CLICK,
+  DR16_KEY_NUM,
+} DR16_Key_t;
+
+typedef struct {
+  float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
+  float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
+  float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
+  float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
+
+  float ch_res; /* 第五通道值 */
+
+   DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */
+   DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */
+
+  struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+    bool l_click; /* 左键 */
+    bool r_click; /* 右键 */
+  } mouse;        /* 鼠标值 */
+
+  union {
+    bool key[DR16_KEY_NUM]; /* 键盘按键值 */
+    uint16_t value;        /* 键盘按键值的位映射 */
+  } keyboard;
+
+  uint16_t res; /* 保留，未启用 */
+} DR16_Data_t;
+
+typedef struct {
+  DEVICE_Header_t header;
+  DR16_RawData_t raw_data;
+  DR16_Data_t data;
+} DR16_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+int8_t DR16_Init(DR16_t *dr16);
+int8_t DR16_Restart(void);
+int8_t DR16_StartDmaRecv(DR16_t *dr16);
+bool DR16_WaitDmaCplt(uint32_t timeout);
+int8_t DR16_ParseData(DR16_t *dr16);
+int8_t DR16_Offline(DR16_t *dr16);
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+#ifdef __cplusplus
+}
+#endif