Fujitsu FR Family FR60 Lite User manual

AN07-00180-3E
FR Family FR60 Lite
32-BIT MICROCONTROLLER
MB91F267N
bits pot red
CAN-Motor board
User’s Manual

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Revision History
Date
Revision
August 01, 2008
Revision 1.0: Initial release
September 17, 2008
Revision 1.1
On p.12, type corrected. Correct: NL565050T-103J, Incorrect: L565050T-103J
October 22, 2008
Revision 1.2
On p.13, a download web page is changed.
On p.20, "1.1.1 Downloading the software" is added.
On p.25, p.30, p.36 and p.43,
Description is corrected about the extracting file.
The file path is added.
(left blank)

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Note
- The contents of this document are subject to change without notice. Customers are advised to consult
with FUJITSU sales representatives before ordering.
- The information, such as descriptions of function and application circuit examples, in this document are
presented solely for the purpose of reference to show examples of operations and uses of Fujitsu
semiconductor device; Fujitsu does not warrant proper operation of the device with respect to use based
on such information. When you develop equipment incorporating the device based on such information,
you must assume any responsibility arising out of such use of the information. Fujitsu assumes no
liability for any damages whatsoever arising out of the use of the information.
- Any information in this document, including descriptions of function and schematic diagrams, shall not
be construed as license of the use or exercise of any intellectual property right, such as patent right or
copyright, or any other right of Fujitsu or any third party or does Fujitsu warrant non-infringement of any
third-party’s intellectual property right or other right by using such information. Fujitsu assumes no
liability for any infringement of the intellectual property rights or other rights of third parties which
would result from the use of information contained herein.
- The products described in this document are designed, developed and manufactured as contemplated for
general use, including without limitation, ordinary industrial use, general office use, personal use, and
household use, but are not designed, developed and manufactured as contemplated (1) for use
accompanying fatal risks or dangers that, unless extremely high safety is secured, could have a serious
effect to the public, and could lead directly to death, personal injury, severe physical damage or other loss
(i.e., nuclear reaction control in nuclear facility, aircraft flight control, air traffic control, mass transport
control, medical life support system, missile launch control in weapon system), or (2) for use requiring
extremely high reliability (i.e., submersible repeater and artificial satellite).
Please note that Fujitsu will not be liable against you and/or any third party for any claims or damages
arising in connection with above-mentioned uses of the products.
- Any semiconductor devices have an inherent chance of failure. You must protect against injury, fire,
damage or loss from such failures by incorporating safety design measures into your facility and
equipment such as redundancy, fire protection, and prevention of over-current levels and other abnormal
operating conditions.
- If any products described in this document represent goods or technologies subject to certain restrictions
on export under the Foreign Exchange and Foreign Trade Law of Japan, the prior authorization by
Japanese government will be required for export of those products from Japan.
- The company names and brand names herein are the trademarks or registered trademarks of their
respective owners.
Copyright© 2008 FUJITSU MICROELECTRONICS LIMITED all rights reserved

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Table of Contents
Revision History .........................................................................................................................2
Note ..........................................................................................................................................3
Introduction..............................................................................................................................10
Contact....................................................................................................................................11
Suppliers of the parts/materials....................................................................................................12
1Setting up the starter kit ......................................................................................................13
1.1 Setting up the PC.....................................................................................................19
1.1.1 Downloading the software........................................................................................20
1.1.2 Installing a USB driver ............................................................................................20
1.1.3 Installing the integrated development environment SOFTUNE (bits pot dedicated version)............25
1.1.4 Installing PC Writer (bits pot red dedicated version).....................................................30
1.1.5 Configuring the evaluation board and connecting it to the PC........................................33
2Running the program..........................................................................................................35
2.1 Executing in single chip mode...................................................................................36
2.1.1 Building a project....................................................................................................36
2.1.2 Writing the program into the microcontroller...............................................................38
2.2 Debugging by using Monitor Debugger.....................................................................43
2.2.1 Writing Monitor Debugger into the microcontroller .....................................................43
2.2.2 Activating SOFTUNE and configuring the debug settings.............................................48
2.2.3 Writing the program into the microcontroller...............................................................55
2.2.4 Loading the target file..............................................................................................57
2.2.5 Running the debugger..............................................................................................58
2.2.6 Notes on Monitor Debugger......................................................................................59
3Operation of the sample program..........................................................................................60
3.1 bits pot red single-unit operation...............................................................................61
3.2 CAN communication operation (CAN communication operation with the bits pot white)..........63
4Try to rotate the BLDC motor ..............................................................................................65
4.1 What is the BLDC motor?.........................................................................................65
4.2 How does the BLDC motor rotate? ...........................................................................66
4.3 BLDC motor rotation control by the microcontroller ...................................................68
4.4 Understanding and running the program for the BLDC motor operation.....................75
4.5 Handling controls of the BLDC motor........................................................................78
5Try to use CAN communication...........................................................................................82
5.1 What is CAN?...........................................................................................................82

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5.2 CAN specifications ...................................................................................................84
5.2.1 CAN frame configurations.................................................................................84
5.2.2 Arbitration .............................................................................................................88
5.2.3 Error management...................................................................................................90
5.3 CAN communication by using the microcontroller .....................................................92
5.4 Understanding and running the program for CAN communication .............................95
5.4.1 CAN communication configuration ...........................................................................95
5.4.2 Sample program sequence........................................................................................99
6Appendix........................................................................................................................104
6.1 Sample program folder/file configuration.................................................................104

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List of Figures
Figure 1-1 External board view.........................................................................................14
Figure 1-2 System connection diagram ............................................................................16
Figure 1-3 Downloading the USB driver................................................................................20
Figure 1-4 Installing FT232R USB UART .............................................................................21
Figure 1-5 Selecting the search locations................................................................................22
Figure 1-6 Completing the USB Serial Converter installation....................................................22
Figure 1-7 Installing USB Serial Port ....................................................................................23
Figure 1-8 Selecting the search locations................................................................................23
Figure 1-9 Completing the USB Serial Port installation............................................................24
Figure 1-10 SOFTUNE setup confirmation ............................................................................25
Figure 1-11 Starting SOFTUNE setup ...................................................................................25
Figure 1-12 Caution on SOFTUNE setup...............................................................................26
Figure 1-13 SOFTUNE setup/License agreement....................................................................26
Figure 1-14 SOFTUNE setup/Version information ..................................................................27
Figure 1-15 SOFTUNE setup/Selecting the destination of installation........................................27
Figure 1-16 SOFTUNE setup/Selecting the components...........................................................28
Figure 1-17 SOFTUNE setup/Confirming the installation settings.............................................28
Figure 1-18 SOFTUNE setup/Completion..............................................................................29
Figure 1-19 PC Writer/Installation dialog...............................................................................30
Figure 1-20 PC Writer/Setup type .........................................................................................31
Figure 1-21 PC Writer/Ready to install ..................................................................................31
Figure 1-22 Completing the PC Writer installation ..................................................................32
Figure 1-23 MODE selection................................................................................................33
Figure 1-24 Connection between the PC and the board.............................................................34
Figure 2-1 Opening a workspace...........................................................................................36
Figure 2-2 Selecting a workspace..........................................................................................37
Figure 2-3 Building a project................................................................................................37
Figure 2-4 Completing the build...........................................................................................38
Figure 2-5 Opening the file to write.......................................................................................38
Figure 2-6 Selecting the file to write......................................................................................39
Figure 2-7 Select the COM port to be used for the writing........................................................40
Figure 2-8 Checking the COM port.......................................................................................41
Figure 2-9 Writing the program ............................................................................................42
Figure 2-10 Completing the program writing..........................................................................42

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Figure 2-11 Opening the file to write.....................................................................................43
Figure 2-12 Selecting the file to write....................................................................................44
Figure 2-13 Select the COM port to be used for the writing ......................................................45
Figure 2-14 Checking the COM port .....................................................................................46
Figure 2-15 Writing the program...........................................................................................47
Figure 2-16 Completing the program writing..........................................................................47
Figure 2-17 Opening a workspace.........................................................................................48
Figure 2-18 Selecting a workspace........................................................................................49
Figure 2-19 Building a project..............................................................................................49
Figure 2-20 Completing the build .........................................................................................50
Figure 2-21 Changing the debug settings.........................................................................50
Figure 2-22 Starting the debug setting wizard.........................................................................51
Figure 2-23 Selecting the debugger type ................................................................................51
Figure 2-24 Selecting the device type ....................................................................................52
Figure 2-25 Specifying a batch file........................................................................................52
Figure 2-26 Configuring the target file settings .......................................................................53
Figure 2-27 Setting setup file selection ..................................................................................53
Figure 2-28 Completing the setup wizard...............................................................................54
Figure 2-29 Start debugging.................................................................................................54
Figure 2-30 Showing the commands window..........................................................................55
Figure 2-31 Inputting commands ..........................................................................................56
Figure 2-32 Completing the program writing..........................................................................56
Figure 2-33 Loading the target file........................................................................................57
Figure 2-34 Setting break points...........................................................................................58
Figure 2-35 Running the program .........................................................................................58
Figure 2-36 Stopping the program.........................................................................................59
Figure 3-1 Single-unit operation/Controls and mechanicals ......................................................61
Figure 3-2 CAN communication operation/Controls and mechanicals........................................63
Figure 4-1 DC motor/BLDC motor configuration examples......................................................65
Figure 4-2 Names of the respective elements..........................................................................66
Figure 4-3 120° conduction method time chart..................................................................67
Figure 4-4 Motor driver circuit...........................................................................................68
Figure 4-5 Timer control registers.........................................................................................69
Figure 4-6 Output compare registers......................................................................................71
Figure 4-7 Operation of the free-run timer.........................................................................73
Figure 4-8 U-High output to output comparisons...............................................................74

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Figure 4-9 Motor operation flowchart....................................................................................75
Figure 4-10 Operation mode settings.....................................................................................76
Figure 4-11 Main function ...................................................................................................76
Figure 4-12 SW2 interrupt...................................................................................................77
Figure 4-13 Free-run timer interrupt......................................................................................77
Figure 4-14 Motor controls flowchart.................................................................................78
Figure 4-15 Rotation speed control........................................................................................79
Figure 4-16 Brake control....................................................................................................80
Figure 4-17 Rotation direction control...................................................................................81
Figure 5-1 Example of on-board CAN application...................................................................82
Figure 5-2 CAN bus signal levels..........................................................................................83
Figure 5-3 CAN frame configurations ...................................................................................85
Figure 5-4 Operation of the arbitration...................................................................................88
Figure 5-5 Example of arbitration among nodes................................................................89
Figure 5-6 CAN status transition...........................................................................................91
Figure 5-7 CAN circuit........................................................................................................92
Figure 5-8 Entire CAN communication control register............................................................93
Figure 5-9 CAN communication flowchart.........................................................................99
Figure 5-10 Operation mode settings...................................................................................100
Figure 5-11 Main function .................................................................................................100
Figure 5-12 CAN timer interrupt control..............................................................................101
Figure 5-13 Motor rotation information transmit...................................................................102
Figure 5-14 Temperature sensor information transmit ............................................................102
Figure 5-15 CAN receive processing...................................................................................103

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List of Tables
Table 1-1 Component list....................................................................................................13
Table 1-2 Description of the respective board parts..................................................................15
Table 1-3 MB91F267N pin assignment..................................................................................17
Table 3-1 Single-unit operation/Descriptions of the controls and mechanicals .............................62
Table 3-2 CAN communication operation/Descriptions of the controls and mechanicals...............64
Table 4-1 Microcontroller pin/Motor driver circuit connections................................................69
Table 4-2 Functions employed by the motor driving macro.......................................................69
Table 4-3 Description of the timer control registers and setting values........................................70
Table 4-4 Description of the output compare registers and setting values....................................72
Table 4-5 Correspondence between the output compare values and the switchings..........73
Table 5-1 Description of the error types .................................................................................90
Table 5-2 Description of the entire CAN communication control registers and setting values.........94
Table 5-3 CAN communication conditions of the sample program.............................................95
Table 5-4 CAN message IDs in the sample program ................................................................96
Table 6-1 Sample program folder/file configuration...............................................................104

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Introduction
Thank you very much for purchasing the bits pot red (referred to as this starter kit or the starter kit
hereafter).
This starter kit is a beginner’s kit intended for those who wish to start learning microcontrollers and
on-board network processors. The kit is designed so that the beginners who ask “What is a
microcontroller?”, “How does it work?” and “How does it control a network?” can easily learn what it is.
The kit includes flash microcontroller development tools, so if you have slight understanding about the C
language, you can rewrite a program to let the microcontroller perform in various ways. Even if you do
not know of programming, you may be able to enjoy learning a microcontroller with a study-aid book
about the C language.
This starter kit can also serve as an introductory training tool for electronic circuit practice or future
embedded software development in a class of a college or high school of technology or training for
freshman engineers of a manufacturer.

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Contact
For inquiries about this starter kit, contact the following address.
Zip code: 105-8420 2-5-3 Nishi-Shinbashi, Minatoku, Tokyo
E-mail: [e-mail]
bits pot URL: http://www.tsuzuki-densan.co.jp/bitspot/

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Suppliers of the parts/materials
Capacitors 22 pF : GCM1552C1H220JZ02
0.1 μF : GCM188R11E104KA42
1 μF : GCM21BR11E105KA42
10 μF : GCM32ER71E106KA42
Ceramic oscillator : CSTCR4M00G15C
NTC Thermistors : NTCG164BH103JT1
Ferrite Beads : MPZ2012S300AT
Common Mode Filters : ZJYS81R5-2P24T-G01
Inductors : NL565050T-103J

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1Setting up the starter kit
Before using this starter kit, be sure to check the components listed in Table 1-1 are fully supplied.
Before connecting the bits pot red CAN-Motor board (referred to as the board hereafter), you need to
install software in your PC. You can download the software required for the starter kit from the following
web site.
bits pot URL：http://www.tsuzuki-densan.co.jp/bitspot/
Table 1-1 Component list
No.
Article
Qty.
Specifications
Remarks
1
bits pot red
CAN motor board
1
Microcontroller made by Fujitsu
FR Family FR60 Lite, MB91F267N
mounted
See Figure 1-1
2
USB cable
1
USB (A to miniB)
Accessory
3
BLDC Motor
1
Tsukasa Electronic TG-22D-F539,
12 V
Accessory
4
AC adapter
1
12 V, 1 A
Accessory
Be sure to use the adapter
included in the kit
5
Motor cable
1
8-pin cable
Accessory
6
CAN cable
1
3-pin cable
Accessory
7
PC
1
On which Windows XP normally
runs and USB2.0 ports are
supported
Prepare the PC by yourself.

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Figure 1-1 External board view
(2) Target device oscillator
(1) Target device
(16) Extension pins
(3) CAN transceiver
(4) CAN connector
(5) USB to UART converter
(6) USB connector
(9) DC jack
(15) Fuse
(7) Motor driver circuit
(8) Motor connector
(14) Temperature sensor
(13) LED lamps
(12) Test SW
(11) Reset SW
(10) Mode SW
(19) Extension GND
(18) Extension power
(5V)
(17) Jumper pin

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“Table 1-2 Description of the respective board parts” provides descriptions of the respective board parts.
Table 1-2 Description of the respective board parts
No.
Name
Function
Description
(1)
Target device
MB91F267N
Main microcontroller (MB91F267N).
(2)
Target device oscillator
CSTCR4M00G15C
Ceralock made by Murata Manufacturing
Oscillator for the main microcontroller.
(3)
CAN transceiver
MAX3058ASA+
Transceiver IC for CAN communication.
(4)
CAN connector
3-pin connector
Connector for CAN communication.
Connect this connector to the CAN connector on the
bits pot white.
(5)
USB to UART converter
FT232RL
IC for conversion between UART and USB.
(6)
USB connector
miniB
USB connector for connection with the PC to
write/debug a program.
(7)
Motor driver circuit
3-phase motor driver
circuit
Driver circuit for 3-phase motor operation by the main
microcontroller.
(8)
Motor connector
8 pins
Connector for connection with the 3-phase motor
included in the kit.
(9)
DC jack
-
Power connector for the operation of the motor.
(10)
Mode SW
Slide switch
Switch for selection of operation mode of the board.
(11)
Reset SW
Push switch
Switch to reset the board.
(12)
Test switches
Push switch x 2
Slide switch x 1
Connected to the general-purpose I/O port.
The sample program uses this switch for motor rotation.
(13)
LED lamps
LED (green) x 6
LED (red) x 3
General-purpose LED lamps.
(14)
Temperature sensor
NTCG164BH103
NTC thermistor made by TDK
Temperature sensor connected to the A/D converter.
(15)
Fuse
0217001P
Fuse for the 12-V power supply.
(16)
Extension pins
-
Extension pins of the main microcontroller.
For details, see the circuit diagram.
(17)
Jumper pins (JP1, JP2)
-
Jumper pins for USB-UART conversion setting.
UART communication handshake setting.
1-2: Handshake by software.
2-3: Handshake by hardware.
The default setting is 2-3 (common to JP1/JP2).

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(18)
Extension power (5V)
-
Extension 5-V power terminal.
(19)
Extension GND
-
Extension GND terminal.
“Figure 1-2 System connection diagram”shows the connection of the system.
Figure 1-2 System connection diagram
Connect the PC with the board by using the USB cable included in the kit.
The power is supplied to the board from the USB bus power.
Directly connect the USB port to that on the PC. Do not make the connection via a USB hub.
AC adapter (accessory)
* Prepare the PC by yourself.
BLDC motor (accessory)
Use the AC adapter included in the
kit for the connection. (The motor
power is supplied from the AC
adapter.)
Use the USB cable included in the kit for
the connection. (The power is supplied
from the USB bus power.)

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“Table 1-3 MB91F267N pin assignment” shows the pin assignment of the main microcontroller
MB91F267N.
Table 1-3 MB91F267N pin assignment
Pin No.
Description
Connected to:
Remarks
1
AVss
GND
2
ACC
GND
3
AN0/P50
Motor driver circuit
4
AN1/P51
Motor driver circuit
5
AN2/P52
Motor driver circuit
6
AN3/P53
-
7
AN4/P54
LED6
L output = On
8
AN5/P55
LED7
L output = On
9
AN6/P56
LED8
L output = On
10
AN7/P57
LED9
L output = On
11
AN8/P44
LED10
L output = On
12
AN9/P45
LED11
L output = On
13
AN10/P46
Thermistor
14
NMI
5 V
15
C
GND
16
Vss
GND
17
Vcc
5 V
18
INT4/PPG1/P00
LED12
19
PPG2/P01
LED13
20
INT5/PPG3/P02
LED14
21
TIN0/P03
-
22
TIN1/P04
-
23
TIN2/P05
-
24
TOT1/P06
-
25
TOT2/P07
-
26
SOT0/P10
USB-UART conversion
27
SIN0/P11
USB-UART conversion
28
SCK0/P12
-
29
SOT1/P13
-
30
SIN1/P14
-
31
SCK1/P15
-

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32
INT6/PPG5/RX0/P16
CAN TRANSCEIVER
33
PPG6/TX0/P17
CAN TRANSCEIVER
34
ADTG1/IC2/P20
Motor driver circuit
Hall W-phase
35
ADTG2/IC3/P21
-
36
PWI0/P22
-
37
DTTI/P23
-
38
CKI/P24
-
39
IC0/P25
Motor driver circuit
Hall U-phase
40
IC1/P26
Motor driver circuit
Hall V-phase
41
P27
SW5
42
PPG0/PG1
-
43
MD2
SW4
44
MD1
GND
45
MD0
GND
46
X0
Q1
4-MHz oscillator
47
X1
Q1
4-MHz oscillator
48
Vss
GND
49
PPG4/P37
-
50
INT7/PPG7/P36
-
51
INIT
RESET(SW1)
52
RTO5/P35
Motor driver circuit
W-phase Low
53
RTO4/P34
Motor driver circuit
W-phase High
54
RTO3/P33
Motor driver circuit
V-phase Low
55
RTO2/P32
Motor driver circuit
V-phase High
56
RTO1/P31
Motor driver circuit
U-phase Low
57
RTO0/P30
Motor driver circuit
U-phase High
58
INT0/P40
SW2
SW pressed = L
59
INT1/P41
SW3
SW pressed = L
60
INT2/P42
USB-UART conversion
61
INT3/P43
USB-UART conversion
62
AVRH1
5 V
63
AVRH2
5 V
64
AVcc
5 V

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1.1 Setting up the PC
Install the software required to operate this starter kit into the PC.
To set up the PC, take the following procedures.
(1) Downloading the software
(2) Installing a USB driver
(3) Installing the integrated development environment SOFTUNE (function-limited version)
(4) Installing PC Writer FUJITSU FLASH MCU Programmer (bits pot red dedicated version)
(5) Configuring the evaluation board and connecting it to the PC

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1.1.1 Downloading the software
Download the file from the following web site, and extract the file.
bits pot URL：http://www.tsuzuki-densan.co.jp/bitspot/
1.1.2 Installing a USB driver
Install a USB driver.
From the FTDI web page shown below, download the Windows driver as directed in “Figure 1-3
Downloading the USB driver”.
http://www.ftdichip.com/Drivers/D2XX.htm
Figure 1-3 Downloading the USB driver
Click on the driver version to
download.