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TABLE OF CONTENTS ......................................................................................................2 HARDWARE SPECIFICATION FOR THE NXT BRICK......................................................3 NXT TECHNICAL OVERVIEW............................................................................................4 OUTPUT PORTS.................................................................................................................5 INPUT PORTS.....................................................................................................................6 Active sensorS ............................................................................................................................................................... 7 Passive sensorS.............................................................................................................................................................. 7 Digital sensors ............................................................................................................................................................... 7 High-speed communication port ................................................................................................................................. 8
I2C COMMUNICATION........................................................................................................9 Device memory arrangement..................................................................................................................................... 10
DISPLAY ...........................................................................................................................11 BLUETOOTH® ...................................................................................................................12 Bluetooth® functionality within the NXT Brick ....................................................................................................... 12 Interfacing with the BlueCoreTM chip....................................................................................................................... 13 UART interface between the ARM7 and the BlueCore chip.................................................................................... 14
SOUND..............................................................................................................................15 DEBUGGING INFORMATION ..........................................................................................16 Interfacing with the ARM7 microcontroller ............................................................................................................ 16 Interfacing with the AVR microcontroller ............................................................................................................... 17 Firmware requirements: ............................................................................................................................................ 17
AVR TO ARM COMMUNICATION ....................................................................................18 Data sent from the ARM7 microcontroller .............................................................................................................. 18 Data received from the AVR microcontroller .......................................................................................................... 20 Communication scheme ............................................................................................................................................. 20 Power management..................................................................................................................................................... 21 Battery testing within the LEGO MINDSTORMS NXT.......................................................................................... 21
BACKWARDS COMPATIBILITY ......................................................................................23 LINKS ................................................................................................................................24 APPENDIX ........................................................................................................................25
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The LEGO MINDSTORMS® NXT brick uses various advanced electronics to yield its broad functionality. To view the hardware schematics of the LEGO® MINDSTORMS® NXT, see Appendix 1 and 2; for hardware schematics of the LEGO MINDSTORMS® NXT® sensors, see Appendices 3-6. Here is a summary list of hardware specifications for the NXT brick: Main processor:
Atmel® 32-bit ARM® processor, AT91SAM7S256 - 256 KB FLASH - 64 KB RAM - 48 MHz
Co-processor:
Atmel® 8-bit AVR processor, ATmega48 - 4 KB FLASH - 512 Byte RAM - 8 MHz
Bluetooth wireless communication
CSR BlueCoreTM 4 v2.0 +EDR System - Supporting the Serial Port Profile (SPP) - Internal 47 KByte RAM - External 8 MBit FLASH - 26 MHz
USB 2.0 communication
Full speed port (12 Mbit/s)
4 input ports
6-wire interface supporting both digital and analog interface - 1 high speed port, IEC 61158 Type 4/EN 50170 compliant
3 output ports
6-wire interface supporting input from encoders
Display
100 x 64 pixel LCD black & white graphical display - View area: 26 X 40.6 mm
Loudspeaker
Sound output channel with 8-bit resolution - Supporting a sample rate of 2-16 KHz
4 button user-interface
Rubber buttons
Power source
6 AA batteries - Alkaline batteries are recommended - Rechargeable Lithium-Ion battery 1400 mAH is available
Connector
6-wire industry-standard connector, RJ12 Right side adjustment
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Figure 13: Load on the NXT when using the LEGO MINDSTORMS Lithium Ion rechargeable battery
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LEGO® MINDSTORMS® NXT hardware schematic LEGO® MINDSTORMS® NXT hardware schematic LEGO® MINDSTORMS® NXT Ultrasonic Sensor hardware schematic LEGO® MINDSTORMS® NXT Light Sensor hardware schematic LEGO® MINDSTORMS® NXT Sound Sensor hardware schematic LEGO® MINDSTORMS® NXT Touch Sensor hardware schematic LEGO® MINDSTORMS® NXT Ultrasonic Sensor I2C communication protocol LEGO MINDSTORMS NXT ARM7 Bluetooth® interface specification
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