增加了大量注释

Makefile

@@ -103,27 +103,25 @@ HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c \
 HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c \
 bsp/dwt/bsp_dwt.c \
 bsp/pwm/bsp_pwm.c \
-bsp/bsp_temperature.c \
-bsp/bsp_led.c \
+bsp/bsp_legacy_support/bsp_temperature.c \
+bsp/bsp_legacy_support/bsp_buzzer.c \
+bsp/bsp_legacy_support/bsp_led.c \
 bsp/spi/bsp_spi.c \
 bsp/iic/bsp_iic.c \
 bsp/can/bsp_can.c \
-bsp/bsp_buzzer.c \
 bsp/usart/bsp_usart.c \
 bsp/log/bsp_log.c \
 bsp/bsp_init.c \
-bsp/gpio/bsp_gpio.c \
 modules/algorithm/controller.c \
 modules/algorithm/kalman_filter.c \
 modules/algorithm/QuaternionEKF.c \
 modules/algorithm/crc8.c \
 modules/algorithm/crc16.c \
 modules/algorithm/user_lib.c \
-modules/BMI088/bmi088.c \
 modules/imu/BMI088driver.c \
 modules/imu/BMI088Middleware.c \
 modules/imu/ins_task.c \
-modules/led_light/led_task.c \
+modules/led/led_task.c \
 modules/master_machine/master_process.c \
 modules/master_machine/seasky_protocol.c \
 modules/motor/dji_motor.c \
@@ -229,16 +227,16 @@ C_INCLUDES =  \
 -Iapplication \
 -Ibsp/dwt \
 -Ibsp/can \
--Ibsp/gpio \
 -Ibsp/usart \
 -Ibsp/spi \
 -Ibsp/iic \
 -Ibsp/log \
 -Ibsp/pwm \
+-Ibsp/bsp_legacy_support \
 -Ibsp \
 -Imodules/algorithm \
 -Imodules/imu \
--Imodules/led_light \
+-Imodules/led \
 -Imodules/master_machine \
 -Imodules/motor \
 -Imodules/referee \