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/ops9/ops9.c

@@ -0,0 +1,58 @@
+/*
+    ACTION全场定位码盘ops9
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/ops9.h"
+
+#include <string.h>
+
+#include "bsp/uart.h"
+#include "bsp/time.h"
+/* Private define ----------------------------------------------------------- */
+
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+static osThreadId_t thread_alert;
+static bool inited = false;
+
+/* Private function  -------------------------------------------------------- */
+static void OPS9_RxCpltCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_OPS9_RAW_REDY);
+
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t OPS9_init(OPS9_t *ops9) {
+  if (ops9 == 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_OPS9, BSP_UART_RX_CPLT_CB,
+                            OPS9_RxCpltCallback);
+
+  inited = true;
+  return DEVICE_OK;
+}
+
+int8_t OPS9_Restart(void) {
+  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_OPS9));
+  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_OPS9));
+  return DEVICE_OK;
+}
+
+int8_t OPS9_StartDmaRecv(OPS9_t *ops9) {
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_OPS9),
+                           (uint8_t *)&(ops9->data),
+                           sizeof(ops9->data)) == HAL_OK)
+    return DEVICE_OK;
+  return DEVICE_ERR;
+}
+
+bool OPS9_WaitDmaCplt(uint32_t timeout) {
+  return (osThreadFlagsWait(SIGNAL_OPS9_RAW_REDY, osFlagsWaitAll, timeout) ==
+          SIGNAL_OPS9_RAW_REDY);
+}
+

assets/User_code/device/ops9/ops9.h

@@ -0,0 +1,49 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+#include <stdint.h>
+
+#include "component/user_math.h"
+#include "device/device.h"
+/* Exported constants ------------------------------------------------------- */
+
+#define OPS9_HEADER 0x0D0A
+#define OPS9_TAIL   0x0A0D
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+// 数据包结构体
+typedef struct __packed {
+    uint16_t header; // 2字节
+    float yaw;                // 4字节
+    float pitch;              // 4字节
+    float roll;               // 4字节
+    float x;                  // 4字节
+    float y;                  // 4字节
+    float angular_velocity;   // 4字节
+    uint16_t tail;     // 2字节
+} OPS9_Data_t; // 共28字节
+
+typedef struct {
+    DEVICE_Header_t header; // 设备头
+    OPS9_Data_t data;          // 存储接收到的数据
+} OPS9_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+int8_t OPS9_init(OPS9_t *ops9);
+int8_t OPS9_Restart(void);
+int8_t OPS9_StartDmaRecv(OPS9_t *ops9);
+bool OPS9_WaitDmaCplt(uint32_t timeout);
+
+
+
+#ifdef __cplusplus
+}
+#endif