Lego Mindstorms Nxt Hardware Developer Kit

8/9/2019 Lego Mindstorms Nxt Hardware Developer Kit

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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 BlueCore

TMchip....................................................................................................................... 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 1: Hardware block diagram of the NXT brick


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UWORD AdValue[NOS_OF_AVR_INPUTS];

UWORD Buttons;

UWORD Battery;}IOFROMAVR;

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Figure 12: Load on the NXT when using standard alkaline batteries

Figure 13: Load on the NXT when using the LEGO MINDSTORMS Lithium Ion rechargeable battery


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Figure 14: LEGO MINDSTORMS NXT converter cable

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!!1. LEGO

® MINDSTORMS

® NXT hardware schematic

2. LEGO® MINDSTORMS® NXT hardware schematic

3. LEGO® MINDSTORMS

® NXT Ultrasonic Sensor hardware schematic


® NXT Light Sensor hardware schematic

5. LEGO® MINDSTORMS® NXT Sound Sensor hardware schematic


® NXT Touch Sensor hardware schematic

7. LEGO® MINDSTORMS® NXT Ultrasonic Sensor I2C communication protocol

8. LEGO MINDSTORMS NXT ARM7 Bluetooth®

interface specification

Documents

Lego Mindstorms Nxt Hardware Developer Kit