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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

%6