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_odrive/motor_odrive.c

@@ -0,0 +1,327 @@
+/*
+  Odrive电机驱动
+*/
+/* Includes ----------------------------------------------------------------- */
+#include "motor_odrive.h"
+#include <stdbool.h>
+#include <string.h>
+#include "bsp/can.h"
+#include "bsp/mm.h"
+#include "bsp/time.h"
+#include "component/user_math.h"
+
+/* Private define ----------------------------------------------------------- */
+
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+static ODrive_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
+
+
+// 获取指定CAN总线的电机管理器指针
+static ODrive_CANManager_t* MOTOR_GetCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return NULL;
+    return can_managers[can];
+}
+
+// 为指定CAN总线创建电机管理器
+static int8_t MOTOR_CreateCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return DEVICE_ERR;
+    if (can_managers[can] != NULL) return DEVICE_OK;
+    can_managers[can] = (ODrive_CANManager_t*)BSP_Malloc(sizeof(ODrive_CANManager_t));
+    if (can_managers[can] == NULL) return DEVICE_ERR;
+    memset(can_managers[can], 0, sizeof(ODrive_CANManager_t));
+    can_managers[can]->can = can;
+    return DEVICE_OK;
+}
+
+// 解析CAN报文，更新电机反馈信息
+static void Motor_Decode(ODrive_t *motor, BSP_CAN_Message_t *msg)
+{
+    uint8_t axis_id = (msg->original_id >> 5) & 0x3F;   // 提取电机号（0~63）
+    uint8_t cmd_id  = msg->original_id & 0x1F;          // 提取命令 ID（低 5 位）
+
+    motor->param.id = axis_id; // 保存电机 ID
+
+    // 解析帧类型（数据帧或远程帧）
+    if (msg->frame_type == BSP_CAN_FRAME_STD_DATA) {
+        // 数据帧处理
+        switch (cmd_id)
+        {
+        case ODRIVE_HEARTBEAT_MESSAGE: // 0x001 ODrive心跳消息
+            // motor->motor.feedback.axis_error      = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24);
+            // motor->motor.feedback.axis_state      = msg->data[4];
+            // motor->motor.feedback.controller_status = msg->data[5];
+            break;
+
+        case ENCODER_ESTIMATES: // 0x009
+            {
+                uint32_t raw_pos = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24);
+                uint32_t raw_vel = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24);
+                memcpy(&motor->motor.feedback.rotor_abs_angle, &raw_pos, sizeof(float));
+                memcpy(&motor->motor.feedback.rotor_speed, &raw_vel, sizeof(float));
+            }
+            break;
+
+        case GET_ENCODER_COUNT: // 0x014
+            // motor->motor.feedback.encoder_shadow = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24);
+            // motor->motor.feedback.encoder_cpr    = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24);
+            break;
+
+        case GET_BUS_VOLTAGE_CURRENT: // 0x017
+            {
+                uint32_t raw_vbus, raw_ibus;
+                raw_vbus = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24);
+                raw_ibus = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24);
+                // memcpy(&motor->motor.feedback.bus_voltage, &raw_vbus, sizeof(float));
+                memcpy(&motor->motor.feedback.torque_current, &raw_ibus, sizeof(float));
+            }
+            break;
+
+        case GET_IQ: // 0x018
+            {
+                uint32_t raw_iq_set, raw_iq_meas;
+                raw_iq_set  = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24);
+                raw_iq_meas = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24);
+                // memcpy(&motor->motor.feedback.iq_setpoint, &raw_iq_set, sizeof(float));
+                // memcpy(&motor->motor.feedback.iq_measured, &raw_iq_meas, sizeof(float));
+            }
+            break;
+
+        default:
+            
+            break;
+        }
+    }
+}
+
+
+/* Exported functions ------------------------------------------------------- */
+
+// 注册一个新的电机实例到管理器
+int8_t ODrive_Register(ODrive_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    if (MOTOR_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR;
+    ODrive_CANManager_t *manager = MOTOR_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR;
+    // 检查是否已注册
+    for (int i = 0; i < manager->motor_count; i++) {
+        if (manager->motors[i] && manager->motors[i]->param.id == param->id) {
+            return DEVICE_ERR_INITED;
+        }
+    }
+    // 检查数量
+    if (manager->motor_count >= ODRIVE_MAX_MOTORS) return DEVICE_ERR;
+    // 创建新电机实例
+    ODrive_t *new_motor = (ODrive_t*)BSP_Malloc(sizeof(ODrive_t));
+    if (new_motor == NULL) return DEVICE_ERR;
+    memcpy(&new_motor->param, param, sizeof(ODrive_Param_t));
+    memset(&new_motor->motor, 0, sizeof(MOTOR_t));
+    new_motor->motor.reverse = param->reverse;
+    // 注册CAN接收ID
+    if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) {
+        BSP_Free(new_motor);
+        return DEVICE_ERR;
+    }
+    manager->motors[manager->motor_count] = new_motor;
+    manager->motor_count++;
+    return DEVICE_OK;
+}
+
+// 更新指定电机的反馈数据
+int8_t ODrive_Update(ODrive_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    ODrive_CANManager_t *manager = MOTOR_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR_NO_DEV;
+    for (int i = 0; i < manager->motor_count; i++) {
+        ODrive_t *motor = manager->motors[i];
+        if (motor && motor->param.id == param->id) {
+            BSP_CAN_Message_t rx_msg;
+            if (BSP_CAN_GetMessage(param->can, param->id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+                uint64_t now_time = BSP_TIME_Get();
+                if (now_time - motor->motor.header.last_online_time > 1000) {
+                    motor->motor.header.online = false;
+                    return DEVICE_ERR_NO_DEV;
+                }
+                return DEVICE_ERR;
+            }
+            motor->motor.header.online = true;
+            motor->motor.header.last_online_time = BSP_TIME_Get();
+            Motor_Decode(motor, &rx_msg);
+            return DEVICE_OK;
+        }
+    }
+    return DEVICE_ERR_NO_DEV;
+}
+
+// 更新所有CAN总线下所有电机的反馈数据
+int8_t ODrive_UpdateAll(void) {
+    int8_t ret = DEVICE_OK;
+    for (int can = 0; can < BSP_CAN_NUM; can++) {
+        ODrive_CANManager_t *manager = MOTOR_GetCANManager((BSP_CAN_t)can);
+        if (manager == NULL) continue;
+        for (int i = 0; i < manager->motor_count; i++) {
+            ODrive_t *motor = manager->motors[i];
+            if (motor != NULL) {
+                if (ODrive_Update(&motor->param) != DEVICE_OK) {
+                    ret = DEVICE_ERR;
+                }
+            }
+        }
+    }
+    return ret;
+}
+
+// 获取指定参数对应的电机实例指针
+ODrive_t* ODrive_GetMotor(ODrive_Param_t *param) {
+    if (param == NULL) return NULL;
+    ODrive_CANManager_t *manager = MOTOR_GetCANManager(param->can);
+    if (manager == NULL) return NULL;
+    for (int i = 0; i < manager->motor_count; i++) {
+        ODrive_t *motor = manager->motors[i];
+        if (motor && motor->param.id == param->id) {
+            return motor;
+        }
+    }
+    return NULL;
+}
+
+// 设置指定电机的输出值
+int8_t ODrive_SetOutput(ODrive_Param_t *param, float value) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    // 如果电机反转标志为 true，则反向值
+    if (param->reverse) {
+        value = -value;
+    }
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id;
+    uint8_t *pVal = (uint8_t *)&value;
+
+    // 选择命令 ID 和数据打包方式
+    switch (param->mode) {
+        case POSITION_CONTROL: {
+            command_id = SET_INPUT_POS;
+            float pos = value;
+            int16_t vel_ff = 0;     // 可扩展为参数传入  0就行
+            int16_t torque_ff = 0;  // 可扩展为参数传入  0就行
+            uint8_t *pPos = (uint8_t *)&pos;
+            uint8_t *pVel = (uint8_t *)&vel_ff;
+            uint8_t *pTor = (uint8_t *)&torque_ff;
+            memcpy(&tx_frame.data[0], pPos, 4);
+            memcpy(&tx_frame.data[4], pVel, 2);
+            memcpy(&tx_frame.data[6], pTor, 2);
+            tx_frame.dlc = 8;
+            break;
+        }
+        case VELOCITY_CONTROL: {
+            command_id = SET_INPUT_VEL;
+            float vel = value;
+            float torque_ff = 0.0f; // 可扩展为参数传入
+            uint8_t *pVel = (uint8_t *)&vel;
+            uint8_t *pTor = (uint8_t *)&torque_ff;
+            memcpy(&tx_frame.data[0], pVel, 4);
+            memcpy(&tx_frame.data[4], pTor, 4);
+            tx_frame.dlc = 8;
+            break;
+        }
+        case TORQUE_CONTROL: {
+            command_id = SET_INPUT_TORQUE;
+            memcpy(&tx_frame.data[0], pVal, 4);
+            tx_frame.dlc = 4;
+            break;
+        }
+        case VOLTAGE_CONTROL:
+        default:
+            return DEVICE_ERR; // 暂不支持电压模式
+    }
+
+    // 组装 CAN ID（标准帧）
+    tx_frame.id = (param->id << 5) | command_id;
+
+    // 标准数据帧
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+// 设置加速度和减速度
+int8_t ODrive_SetAccel(ODrive_Param_t *param, float accel, float decel) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id = SET_TRAJ_ACCEL_LIMITS;
+
+    uint8_t *pAccel = (uint8_t *)&accel;
+    uint8_t *pDecel = (uint8_t *)&decel;
+    memcpy(&tx_frame.data[0], pAccel, 4);
+    memcpy(&tx_frame.data[4], pDecel, 4);
+    tx_frame.dlc = 8;
+
+    tx_frame.id = (param->id << 5) | command_id;
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+// 获取位置和速度反馈
+int8_t ODrive_RequestEncoderEstimates(ODrive_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id = ENCODER_ESTIMATES;  // 请求编码器估计值命令
+    uint8_t zero_data[8] = {0};               // 发送全 0 数据（ODrive 协议要求）
+
+    memcpy(tx_frame.data, zero_data, 8);
+    tx_frame.dlc = 8;
+    tx_frame.id = (param->id << 5) | command_id;
+
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+// 设置轴请求状态（一般用来重启 ODrive 的某个轴）
+// ODrive_SetAxisRequestedState(odrive_axis[0], CLOSED_LOOP_CONTROL);
+int8_t ODrive_SetAxisRequestedState(ODrive_Param_t *param, Axis_State state) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id = SET_AXIS_REQUESTED_STATE;
+
+    // 将 state 转为 4 字节
+    memcpy(tx_frame.data, &state, 4);
+    memset(&tx_frame.data[4], 0, 4);  
+    tx_frame.dlc = 4;
+
+    // 组装 CAN ID
+    tx_frame.id = (param->id << 5) | command_id;
+
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+// 清除错误
+int8_t ODrive_ClearErrors(ODrive_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id = CLEAR_ERRORS;
+
+    memset(tx_frame.data, 0, 8);  
+    tx_frame.dlc = 0;
+
+    tx_frame.id = (param->id << 5) | command_id;
+
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+// 重启 ODrive
+int8_t ODrive_Reboot(ODrive_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id = REBOOT_ODRIVE;
+
+    memset(tx_frame.data, 0, 8); 
+    tx_frame.dlc = 0;
+
+    tx_frame.id = (param->id << 5) | command_id;
+
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}

assets/User_code/device/motor_odrive/motor_odrive.h

@@ -0,0 +1,162 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/device.h"
+#include "device/motor.h"
+#include "bsp/can.h"
+
+/* Private define ----------------------------------------------------------- */
+
+//ODrive型号根据实际情况调整
+#define ODRIVE_MAX_MOTORS 2
+
+//COMMAND ID
+#define ODRIVE_HEARTBEAT_MESSAGE		0x001 // ODrive心跳消息
+#define SET_AXIS_NODE_ID				0x006 // 设置电机节点ID
+#define GET_ENCODER_ESTIMATES			0x008 // 获取编码器估计值
+#define GET_ENCODER_COUNT				0x00A // 获取编码器计数
+#define SET_AXIS_REQUESTED_STATE 		0x007 // 设置电机请求状态
+#define ENCODER_ESTIMATES				0x009 // 编码器估计值
+#define GET_ENCODER_COUNT				0x00A // 获取编码器计数
+#define SET_CONTROLLER_MODES			0x00B // 设置控制器模式
+#define SET_INPUT_POS					0x00C // 设置输入位置
+#define SET_INPUT_VEL					0x00D // 设置输入速度
+#define SET_INPUT_TORQUE				0x00E // 设置输入转矩
+#define SET_LIMITS						0x00F // 设置限制
+#define GET_IQ							0x014 // 获取电流
+#define REBOOT_ODRIVE					0x016 // 重启ODrive
+#define GET_BUS_VOLTAGE_CURRENT			0x017 // 获取总线电压和电流
+#define CLEAR_ERRORS					0x018 // 清除错误
+#define SET_POSITION_GAIN				0x01A // 设置位置增益
+#define SET_VEL_GAINS					0x01B // 设置速度增益
+#define SET_TRAJ_ACCEL_LIMITS      0x012 // 设置轨迹加速度限制
+/* Exported constants ------------------------------------------------------- */
+
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+//Axis States
+typedef enum {
+    UNDEFINED = 0x0,
+    IDLE = 0x1,
+    STARTUP_SEQUENCE = 0x2,
+    FULL_CALIBRATION_SEQUENCE = 0x3,
+    MOTOR_CALIBRATION = 0x4,
+    ENCODER_INDEX_SEARCH = 0x6,
+    ENCODER_OFFSET_CALIBRATION = 0x7,
+    CLOSED_LOOP_CONTROL = 0x8,
+    LOCKIN_SPIN = 0x9,
+    ENCODER_DIR_FIND = 0xA,
+    HOMING = 0xB,
+    ENCODER_HALL_POLARITY_CALIBRATION = 0xC,
+    ENCODER_HALL_PHASE_CALIBRATION = 0xD
+} Axis_State;
+
+//Control Modes
+typedef enum{
+	VOLTAGE_CONTROL = 0x0,
+	TORQUE_CONTROL = 0x1,
+	VELOCITY_CONTROL = 0x2,
+	POSITION_CONTROL = 0x3
+} Control_Mode;
+
+
+/*每个电机需要的参数*/
+typedef struct {
+    BSP_CAN_t can;
+    uint16_t id;
+    uint16_t mode;
+    bool reverse;
+} ODrive_Param_t;
+
+/*电机实例*/
+typedef struct ODrive_t {
+    ODrive_Param_t param;
+    MOTOR_t motor;
+} ODrive_t;
+
+/*CAN管理器，管理一个CAN总线上所有的电机*/
+typedef struct {
+    BSP_CAN_t can;
+    ODrive_t *motors[ODRIVE_MAX_MOTORS];
+    uint8_t motor_count;
+} ODrive_CANManager_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 注册一个odrive电机
+ * @param param 电机参数
+ * @return 
+ */
+int8_t ODrive_Register(ODrive_Param_t *param);
+
+/**
+ * @brief 更新指定电机数据
+ * @param param 电机参数
+ * @return 
+ */
+
+int8_t ODrive_Update(ODrive_Param_t *param);
+
+/** * @brief 更新所有ODrive电机状态
+ * @return 
+ */
+int8_t ODrive_UpdateAll(void);
+
+/**
+ * @brief 设置一个电机的输出
+ * @param param 电机参数
+ * @param value 输出值
+ * @return 
+ */
+int8_t ODrive_SetOutput(ODrive_Param_t *param, float value);
+
+/** * @brief 设置电机加速度和减速度限制
+ * @param param 电机参数
+ * @param accel 加速度  
+ * @param decel 减速度
+ * @return 
+ */
+int8_t ODrive_SetAccel(ODrive_Param_t *param, float accel, float decel);
+
+/**
+ * @brief 获取指定电机的实例指针
+ * @param param 电机参数
+ * @return 
+ */
+ODrive_t* ODrive_GetMotor(ODrive_Param_t *param);
+
+/** * @brief 获取指定电机的编码器估计值
+ * @param param 电机参数
+ * @return 
+ */
+int8_t ODrive_RequestEncoderEstimates(ODrive_Param_t *param); 
+
+
+/** * @brief 设置轴请求状态（一般用来重启 ODrive 的某个轴）
+ * @param param 电机参数
+ * @return 
+ */
+int8_t ODrive_SetAxisRequestedState(ODrive_Param_t *param, Axis_State state);
+
+/** * @brief 清除错误
+ * @param param 电机参数
+ * @return 
+ */
+int8_t ODrive_ClearErrors(ODrive_Param_t *param); 
+
+/**  * @brief 重启 ODrive
+ * @param param 电机参数
+ * @return 
+ */
+int8_t ODrive_Reboot(ODrive_Param_t *param);
+
+#ifdef __cplusplus
+}
+#endif