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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 ,
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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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