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/servo/servo.c

@@ -0,0 +1,47 @@
+/*
+	pwm<77><6D><EFBFBD>ƶ<EFBFBD><C6B6>
+*/
+
+/*Includes   -----------------------------------------*/ 
+
+#include "bsp/pwm.h"
+#include "servo.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+#define SERVO_MIN_DUTY  0.025f   
+#define SERVO_MAX_DUTY  0.125f   
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */   
+
+/**
+ * @brief  
+ * @param  
+ * @retval BSP_OK / BSP_ERR
+ */
+
+int8_t SERVO_Init(SERVO_t *servo) {
+    if (servo == NULL) return BSP_ERR;
+    return BSP_PWM_Start(servo->pwm_ch);
+}
+
+int8_t SERVO_SetAngle(SERVO_t *servo, float angle) {
+    if (servo == NULL) return BSP_ERR;
+    
+	  /*<2A><><EFBFBD>ƽǶȷ<C7B6>Χ*/
+    if (angle < 0.0f)   angle = 0.0f;
+    if (angle > 180.0f) angle = 180.0f;
+    /*<2A>Ƕ<EFBFBD>ӳ<EFBFBD>䵽ռ<E4B5BD>ձ<EFBFBD>*/
+    float duty = servo->min_duty + (angle / 180.0f) * (servo->max_duty - servo->min_duty);
+
+    return BSP_PWM_Set(servo->pwm_ch, duty);
+}
+
+int8_t SERVO_Stop(SERVO_t *servo) {
+    if (servo == NULL) return BSP_ERR;
+    return BSP_PWM_Stop(servo->pwm_ch);
+}

assets/User_code/device/servo/servo.h

@@ -0,0 +1,68 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+	
+#include "bsp/pwm.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+	
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+/**
+ * @brief 
+ */
+typedef struct {
+   BSP_PWM_Channel_t pwm_ch;  
+   float min_duty;         
+   float max_duty;      
+} SERVO_t;
+
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/**
+ * @brief  
+ * @param  servo 
+ * @retval BSP_OK / BSP_ERR
+ */
+
+int8_t SERVO_Init(SERVO_t *servo);
+
+/**
+ * @brief 
+ * @param  servo
+ * @param  angle 
+ * @retval BSP_OK / BSP_ERR
+ */
+int8_t SERVO_SetAngle(SERVO_t *servo, float angle);
+
+/**
+ * @brief 
+ * @param  servo 
+ * @retval BSP_OK / BSP_ERR
+ */
+ 
+int8_t SERVO_Stop(SERVO_t *servo);
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+	
+#ifdef __cplusplus
+}
+#endif