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.