The control system is designed by module, which includes CPU core module, memory modules, debugging interface modules, data transmission module, human interface module, and electrical control module.

控制系统采用模块化设计，主要模块包括：控制核心CPU模块、存储器模块、调试接口模块、数据传输模块、人机交互模块、电机控制模块。

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On the implementation of debugging system, two types of FPGA-CPU are tested, whose instruction system and architecture are widely different.

此外，设计了专用的编译软件，实现了基于不同指令系统的伪汇编程序编译，提高了调试效率。

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