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闂滈嵉瑭�: 宓屽叆寮忕郴绲�(t菕ng)锛屾帶鍒剁郴绲�(t菕ng)锛孉RM锛屾鍣ㄤ汉
1 鍓嶈█
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2 宓屽叆寮忕郴绲�(t菕ng)鐨勭祼妲�
銆€銆€宓屽叆寮忕郴绲�(t菕ng)涓昏鐢卞祵鍏ュ紡鎿嶄綔绯荤当(t菕ng)鍜屾壙杓夋搷浣滅郴绲�(t菕ng)鐨勭‖浠剁祫鎴�銆�
銆€銆€2.1 宓屽叆寮忔搷浣滅郴绲�(t菕ng)
銆€銆€宓屽叆寮忔搷浣滅郴绲�(t菕ng)鏄祵鍏ュ紡绯荤当(t菕ng)鐨勬帶鍒朵腑蹇�锛屼富瑕佺敤浜庡皪绯荤当(t菕ng)鐨勪俊鎭檿鐞嗛儴浠跺拰鐢ㄦ埗浜や簰鐣岄潰鍔犱互鎺у埗銆�
銆€銆€2.1.1宓屽叆寮忔搷浣滅郴绲�(t菕ng)鐨勫鏅傛€�
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銆€銆€鍦ㄥ祵鍏ュ紡绯荤当(t菕ng)涓�锛岃⿻鍍逛竴鍊嬪鏅傜郴绲�(t菕ng)鐨勬€ц兘瑕佸緸浠诲嫏瑾垮害鍔熻兘銆佸収瀛樼鐞嗗姛鑳�銆佹渶灏忓収瀛橀枊閵枫€佷换鍕欏垏鎻涙檪闁�銆佹渶澶т腑鏂风姝㈡檪闁撶瓑鏂归潰鑰冩叜銆�
銆€銆€2.1.2 宓屽叆寮忕郴绲�(t菕ng)涓殑杌熶欢
銆€銆€宓屽叆寮忕郴绲�(t菕ng)鐨勮粺浠堕儴鍒�锛屽叿鏈変互涓嬬壒榛烇細
銆€銆€1锛� 宓屽叆寮忚粺浠剁殑闁嬬櫦(f膩)鑸囩‖浠剁穵瀵嗙浉闂�銆傜敱浜庡祵鍏ュ紡杌熶欢鐨勯枊鐧�(f膩)寮忛嚌灏嶅叿楂旂‖浠跺钩鑷洪€茶鐨�锛屽畠寰€寰€鐗芥秹纭欢椹呭嫊鏂归潰鐨勪竴浜涜粺纭祼鍚堥儴鍒�銆�
銆€銆€2锛� 杌熶欢浠g⒓瑕佹眰楂樻晥鐜囧拰楂樺彲闈犳€�銆傚祵鍏ュ紡绯荤当(t菕ng)涓粺浠堕亱琛岀┖闁撴湁闄�锛屽収瀛樼┖闁撻潪甯稿璨达紝鍦ㄨ粺浠剁殑绶ㄧ▼閬庣▼涓渶鏅傚埢鑰冩叜杌熶欢鐨勯亱琛屾晥鐜�銆傚湪瀵︽檪绯荤当(t菕ng)涓�锛岃檿鐞嗗櫒蹇呴爤鍤存牸铏曠悊鐣版鐧�(f膩)鐢熺殑鍚勭ó浠诲嫏銆傛澶栵紝宓屽叆寮忚粺浠剁郴绲�(t菕ng)閭勬噳鏈夌暟甯歌檿鐞�銆佸揩閫熷京浣嶇瓑鐗归粸銆�
銆€銆€3锛� 杌熶欢涓€鑸浐鍖栧湪FLASH鎴朢OM涓�銆傜偤浜嗘彁楂樺煼(zh铆)琛岄€熷害鍜岀郴绲�(t菕ng)鐨勫彲闈犳€�锛屽悓鏅傜府鐭郴绲�(t菕ng)寰╀綅鏅傞枔锛屼竴鑸湪宓屽叆寮忚粺浠惰瑭﹀畬鐣㈠悗锛屾渻涓嬭級鍥哄寲鍒扮洰妯欐澘涓殑FLASH鎴朢OM涓�銆�
銆€銆€2.1.3 宓屽叆寮忕郴绲�(t菕ng)鐨勬噳鐢�
銆€銆€宓屽叆寮忕郴绲�(t菕ng)鐢㈠搧閬嶅竷浜哄€戠殑鏃ュ父鐢熸椿锛屽緸鎵嬫銆丳DA鍒板涓殑绌鸿銆佸啺绠憋紝寰炲皬姹借粖鍒版尝闊抽姗�锛岀敋鑷虫鍣ㄥ韩涓殑宸¤埅灏庡綀锛岄兘鏈夊畠鐨勮工璺�銆傚祵鍏ュ紡鐢㈠搧宸茬稉鍦ㄥ緢澶氶牁鍩熷緱鍒板唬娉涚殑浣跨敤锛屽鍦嬮槻銆佸伐妤�(y猫)鎺у埗銆侀€氫俊銆佽睛鍏嚜鍕曞寲鍜屾秷璨婚浕瀛愰牁鍩熺瓑銆�
銆€銆€2.2 宓屽叆寮忕郴绲�(t菕ng)鐨勭‖浠剁郴绲�(t菕ng)
銆€銆€鑸囨櫘閫氱殑PC纭欢鐩告瘮锛屽祵鍏ュ紡绯荤当(t菕ng)鐨勭‖浠剁郴绲�(t菕ng)鍏锋湁浠ヤ笅鐗规€э細
銆€銆€1锛� 楂旂⿳灏�锛岄泦鎴愭晥鐜囬珮銆傚祵鍏ュ紡绯荤当(t菕ng)鍘婚櫎浜嗗啑浣�锛屽姏鐖敤鏈€灏忕殑绯荤当(t菕ng)瀹屾垚鐩鍔熻兘銆�
銆€銆€2锛� 闈㈠悜鐗瑰畾鎳夌敤銆�
銆€銆€3锛� 浣庡姛鑰�锛岄浕纾佸吋瀹规€уソ锛岃兘鍦ㄦ儭鍔g挵(hu谩n)澧冧笅宸ヤ綔锛屾姗熸檪鑳藉蹇€熼噸鍟�銆�
銆€銆€宓屽叆寮忕郴绲�(t菕ng)纭欢鍦ㄥ児鏍笺€佸姛鑳�銆侀珨绌�銆侀噸閲忋€佽兘鑰楃瓑鏂归潰閮芥湁鍤存牸鐨勯檺鍒�銆�
3 绯荤当(t菕ng)鍔熻兘鑸囪ō瑷�
銆€銆€3.1 绯荤当(t菕ng)鍔熻兘
銆€銆€鏈憲鏃㈣兘婊胯冻澶氱ó椤炲瀷姗熷櫒浜虹殑瀵﹂殯闇€ 瑕�锛屽張鐩¢噺绡€(ji茅)绱勮硣婧愮殑鍘熷墖锛屾帶鍒剁郴绲�(t菕ng)鎻愪緵鐨勫姛鑳藉涓嬶細
銆€銆€1锛� 涓婁綅姗熺洠(ji膩n)鎺�.闊挎噳鎺у埗鑷虹櫦(f膩)鍑虹殑鎸囦护. 鍚戜笅浣嶆鐧�(f膩)閫佹暩鎿氬拰鍛戒护;
銆€銆€2锛� 閫氳▕绺界窔. 鐝惧牬绺界窔锛岀敤浜庡拰鍏朵粬鎺у埗鍣ㄤ俊鎭氦浜�;
銆€銆€3锛� 鍌虫劅鍣ㄩ泦鎴�.鐩存帴闆嗘垚濮挎厠(t脿i)銆佷綅缃€佹繁搴�銆侀珮搴︺€侀€熷害銆佸姞閫熷害绛夊偝鎰熷櫒锛屾垨鑰呴爯鐣欐帴鍙�;
銆€銆€4锛� 鑴堝瑾垮埗.鐢ㄤ簬瑾挎暣闆绘鐨勯€熷害鍜屼綅缃�锛屽緸鑰屾帶鍒舵鍣ㄤ汉鐨勯€熷害鍜屽Э鎱�(t脿i)绛�;
銆€銆€5锛� A/D閲囬泦.鐩�(ji膩n)瑕栧伐浣滈浕澹撱€侀浕娴�銆佸鍔涚瓑A/D閲�锛岀敤浜庣郴绲�(t菕ng)鎺у埗鎴栫媭鎱�(t脿i)瑷橀寗;
銆€銆€6锛� I/O鎺у埗.鐢ㄤ簬灏嶅鍦嶉枊闂滈噺鐨勭洠(ji膩n)鎺�;
銆€銆€7锛� 鏁告摎瑷橀寗.鐢ㄤ簬瑷畾鍙冩暩鐨勫瓨鍎层€侀亱鍕曡矾绶氱殑瀹氬埗鎴栫浉闂滅洠(ji膩n)鎺ф暩鎿氱殑瑷橀寗;
銆€銆€8锛� 閫氳▕鍗�(xi茅)璀�.渚夸簬鎺у埗鍣ㄤ箣闁撳強姗熷櫒浜鸿垏涓婁綅姗熶箣闁撲俊鎭彲闈�銆侀珮鏁堝偝閬�;
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