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/motor/motor.c

@@ -0,0 +1,52 @@
+/*
+    电机通用函数
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "motor.h"
+
+#include <string.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  -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+/* Exported functions ------------------------------------------------------- */
+float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {
+  if (motor == NULL) return DEVICE_ERR_NULL;
+  return motor->feedback.rotor_abs_angle;
+}
+
+float MOTOR_GetRotorSpeed(const MOTOR_t *motor) {
+  if (motor == NULL) return DEVICE_ERR_NULL;
+  return motor->feedback.rotor_speed;
+}
+
+float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) {
+  if (motor == NULL) return DEVICE_ERR_NULL;
+  return motor->feedback.torque_current;
+}
+
+float MOTOR_GetTemp(const MOTOR_t *motor) {
+  if (motor == NULL) return DEVICE_ERR_NULL;
+  return motor->feedback.temp;
+}

assets/User_code/device/motor/motor.h

@@ -0,0 +1,68 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/device.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef struct {
+    float rotor_abs_angle; /* 转子绝对角度 */
+    float rotor_speed; /* 实际转子转速 */
+    float torque_current; /* 转矩电流 */
+    float temp; /* 温度 */
+} MOTOR_Feedback_t;
+
+/**
+ * @brief mit电机输出参数结构体
+ */
+typedef struct {
+    float torque;      /* 目标力矩 */
+    float velocity;    /* 目标速度 */
+    float angle;       /* 目标位置 */
+    float kp;         /* 位置环增益 */
+    float kd;         /* 速度环增益 */
+} MOTOR_MIT_Output_t;
+
+/**
+ * @brief 转矩电流控制模式参数结构体
+ */
+typedef struct {
+    float current;    /* 目标电流 */
+} MOTOR_Current_Output_t;
+
+typedef struct {
+    DEVICE_Header_t header;
+    bool reverse; /* 是否反装 true表示反装 */
+    MOTOR_Feedback_t feedback;
+} MOTOR_t;
+
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Exported functions prototypes -------------------------------------------- */
+float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor);
+float MOTOR_GetRotorSpeed(const MOTOR_t *motor);
+float MOTOR_GetTorqueCurrent(const MOTOR_t *motor);
+float MOTOR_GetTemp(const MOTOR_t *motor);
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+#ifdef __cplusplus
+}
+#endif