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/vofa/vofa.c

@@ -0,0 +1,106 @@
+/* Includes ----------------------------------------------------------------- */
+#include <stdio.h>
+#include <string.h>
+#include "device/vofa.h"
+#include "bsp/uart.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private define ----------------------------------------------------------- */
+
+#define MAX_CHANNEL  64u   		// 根据实际最大通道数调整
+
+#define JUSTFLOAT_TAIL 0x7F800000
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Private variables -------------------------------------------------------- */
+static uint8_t vofa_tx_buf[sizeof(float) * MAX_CHANNEL + sizeof(uint32_t)];
+static VOFA_Protocol_t current_protocol = VOFA_PROTOCOL_FIREWATER;  // 默认协议
+
+/* Private function  -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+/************************  RawData  *************************/
+void VOFA_RawData_Send(const char* data, bool dma) {
+    BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t*)data, strlen(data), dma);
+}
+
+/************************ FireWater *************************/
+void VOFA_FireWater_Send(float *channels, uint8_t channel_count, bool dma)
+{
+    if (channel_count == 0 || channel_count > MAX_CHANNEL)
+        return;
+
+    char *buf = (char *)vofa_tx_buf;
+    size_t len = 0;
+
+    for (uint8_t i = 0; i < channel_count; ++i) {
+        len += snprintf(buf + len,
+                        sizeof(vofa_tx_buf) - len,
+                        "%s%.2f",
+                        (i ? "," : ""),
+                        channels[i]);
+    }
+    snprintf(buf + len, sizeof(vofa_tx_buf) - len, "\n");
+
+    BSP_UART_Transmit(BSP_UART_VOFA, vofa_tx_buf, strlen(buf), dma);
+}
+
+/************************ JustFloat *************************/
+void VOFA_JustFloat_Send(float *channels, uint8_t channel_count, bool dma)
+{
+    if (channel_count == 0 || channel_count > MAX_CHANNEL)
+        return;
+    memcpy(vofa_tx_buf, channels, channel_count * sizeof(float));
+
+    uint32_t tail = JUSTFLOAT_TAIL;                     // 0x7F800000
+    memcpy(vofa_tx_buf + channel_count * sizeof(float), &tail, sizeof(tail));
+
+    BSP_UART_Transmit(BSP_UART_VOFA, vofa_tx_buf, channel_count * sizeof(float) + sizeof(tail), dma);
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t VOFA_init(VOFA_Protocol_t protocol) {
+    current_protocol = protocol;
+    return DEVICE_OK;
+}
+
+int8_t VOFA_Send(float* channels, uint8_t channel_count, bool dma) {
+    switch (current_protocol) {
+        case VOFA_PROTOCOL_RAWDATA:
+            {
+                char data[256];
+                if (channel_count >= 1) {
+                    sprintf(data, "Channel1: %.2f", channels[0]);
+                    if (channel_count >= 2) {
+                        sprintf(data + strlen(data), ", Channel2: %.2f", channels[1]);
+                    }
+                    strcat(data, "\n");
+                    VOFA_RawData_Send(data, dma);
+                }
+            }
+            break;
+        case VOFA_PROTOCOL_FIREWATER:
+            VOFA_FireWater_Send(channels, channel_count, dma);
+            break;
+        case VOFA_PROTOCOL_JUSTFLOAT:
+            VOFA_JustFloat_Send(channels, channel_count, dma);
+            break;
+        default:
+            return DEVICE_ERR;
+    }
+    return DEVICE_OK;
+}

assets/User_code/device/vofa/vofa.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/uart.h"
+#include "device/device.h"
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+/* Exported functions prototypes -------------------------------------------- */
+
+typedef enum {
+    VOFA_PROTOCOL_RAWDATA,
+    VOFA_PROTOCOL_FIREWATER,
+    VOFA_PROTOCOL_JUSTFLOAT,
+} VOFA_Protocol_t;
+
+/**
+ * @brief 初始化VOFA设备
+ * @param protocol 设置通信协议
+ * @return 
+ */
+int8_t VOFA_init(VOFA_Protocol_t protocol);
+
+/**
+ * @brief 发送数据到VOFA
+ * @param channels 要发送的通道数据
+ * @param channel_count 通道数量
+ * @param dma 是否使用DMA发送
+ * @return 
+ */
+int8_t VOFA_Send(float* channels, uint8_t channel_count, bool dma);
+
+#ifdef __cplusplus
+}
+#endif