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,<=!"&$>&?$),"),+&TABLE OF CONTENTS ......................................................................................................2
HARDWARE SPECIFICATION FOR THE NXT BRICK......................................................3
NXT TECHNICAL OVERVIEW............................................................................................4OUTPUT 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 ....................................................................................................... 12Interfacing 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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/<-*@<-"&+A"?(>(?<,($)&>$-&,/"&).,&=-(?9&The LEGO® MINDSTORMS® NXT brick uses various advanced electronics to yield its broad functionality. To viewthe 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 MHzUSB 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

LoudspeakerSound 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 10: Hardware schematic for interfacing with the AVR microcontroller>(-'@<-"&-"TC(-"'"),+U&&,=4!).,!:B!@024!D8!7C!@D6;:864!817H4BB71B!0?2!;=414!014!B7@4!@:?71!14`D:14@4?;B!;=0;!?442!;7!Q4!
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typedefstruct{UBYTEPower;UBYTE
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PwmValue[NOS_OF_AVR_OUTPUTS];
UBYTE
OutputMode;
UBYTE
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@724!:?!;=4!20;0!B=44;!C71!;=4!T,'#"!T,dM+T'[+EVG!817H4BB71<!H06642!+T'WT!@724J!!

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typedefstruct{UWORD
AdValue[NOS_OF_AVR_INPUTS];
UWORD
Buttons;
UWORD
Battery;}IOFROMAVR;
T2K06D4!
!
WD;;7?B!!

!
W0;;41I!!
!
!
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;7!B4?B71!:?8D;!M!7?!;=4!).,!Q1:HAJ!
/762B!;=4!B;0;DB!7C!;=4!QD;;7?BJ!!WD;;7?!M<!E!0?2!O!014!14;D1?42!0B!0!MF!Q:;!T*!506D4J!!
WD;;7?!F!022B!FU[SS!;7!;=:BJ!!T*!506D4B!C71!QD;;7?!;=14B=762B!H0?!Q4!H06HD60;42!C17@!;=4!
14B:B;71!506D4B!7?!;=4!QD;;7?!YXW!BH=4@0;:HBJ!
/762B!:?C71@0;:7?!0Q7D;!;=4!@40BD142!Q0;;41I!64546<!3=4;=41!0?!THHD!80HA!=0B!Q44?!
:?B41;42<!0?2!;=4!TK-!C:1@3014!541B:7?J!!MG!Q:;B!0B!C76673BL!
W:;!MV! !
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M!o!THHD!80HA!:?B41;42!

W:;!MO!R!MP!
W:;!MF!R!ME!!!

FJJO!o!@0\71!541B:7?!
FJJ[!o!@:?71!541B:7?!

W:;!F!R!d!

FJJMFEO!!]@D6;:86I!3:;=!MOJ_P_!;7!H06HD60;4!0H;D06!@K^!!

?$''C)(?<,($)&+?/"'"&&
TB!;=4!T-'!H0?!7?6I!CD?H;:7?!0B!0!@0B;41<!:;!3:66!Q4!;=4!:?:;:0;71!:?!Q7;=!14H4:5:?>!0?2!;10?B@:;;:?>!20;0!
;7!0?2!C17@!;=4!TK-J!!(?!?71@06!78410;:7?<!;10?B@:BB:7?!0?2!14H48;:7?!014!:?;41640542!40H=!B4H7?2!
@:66:B4H7?2J!!,=4!7?6I!14B;1:H;:7?!;7!;=:B!H7@@D?:H0;:7?!:B!;=0;!:;!H7@86:4B!3:;=!;=4!;10?BC41!20;0!
B;1DH;D14B!@4?;:7?42!0Q754!0B!;=4B4!014!;=4!7?6I!7?4B!BD8871;42!QI!;=4!TK-J!
!
,=4!20;0!B;1DH;D14B!H0?!Q4!;10?BC41142!0;!0?I!24B:142!;:@4<!@40?:?>!;=0;!;=414!014!?7!H1:;:H06!
2484?24?H:4B!:?!;=4!C:1@3014J!!/734541<!B4?B71!0?2!@7;71!;:@:?>!3:66!Q4!0CC4H;42!QI!;=:B<!:J4J<!;=4!
17;0;:7?!B4?B71!3:66!?7;!371A!H7114H;6I!:C!20;0!C17@!;=4!TK-!:B!?7;!;10?BC41142!0;!0!@:?:@D@!10;4!7C!O!
@:66:B4H7?2!:?;41506BJ!
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Y7341!3:;=:?!;=4!).,!Q1:HA!H7@4B!C17@!G!TT!Q0;;41:4B!71!0!14H=01>40Q64!6:;=:D@!:7?!Q0;;41I!];=0;!06B7!
:?H6D24B!0!TX!87341!86D>!;7!;=4!"#$%!,10?BC71@41^J!!Y7341!@0?0>4@4?;!3:;=:?!;=4!).,!Q1:HA!H7?B:B;B!
7C!0!B3:;H=!@724!87341!BD886I<!3=:H=!>4?410;4B!0!VR576;!BD886I!C17@!;=4!Q0;;41:4B!0?2!C17@!;=4!VR576;!
BD886I<!0?7;=41!OJOR576;!BD886I!:B!>4?410;42!C71!;=4!T-'[!817H4BB71!0?2!;=4!W6D4X714!H=:8J!
!
,7!817;4H;!;=4!87341!BD886I!3:;=:?!;=4!).,<!0!876I!B3:;H=!:B!H7??4H;42!0;!;=4!Q4>:??:?>!7C!;=4!87341!
H:1HD:;J!!,=4!876I!B3:;H=!=0B!0!=762!HD114?;!7C!MJ_V!T!0?2!3:66!Q4!;1:>>4142!0;!08817U:@0;46I!OJO!TJ!!
XD114?;!H7?BD@8;:7?!@40BD14@4?;L!!
,=4!4CC4H;B!014!Q0B42!7?!0!Q0;;41I!576;0>4!7C!d!576;BJ!
+D886I!576;0>4!
!! !!

XD114?;!

#CC4H;!]W0;;41I!o!d!K76;B^!

'0U!k@Tl!

)71@06!k@Tl!

'0U!k@Zl!

)71@06!k@Zl!

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!

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MMP!

VM_P!

MPEE!

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E[M!

MME!

M[PP!

PP_!

!! OJO!K76;!!

[E!

O_!

PMF!

EMG!

)7!6702!7?!@7;71B!

"702!7?!@7;71B!

!

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!

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EdFM!

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EGMFd!

[GOE!

!! V!K76;!

E[M!

MME!

MMPE!

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[E!

O_!

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+;0?2QI!!

PG!DT!0BBD@42!B;0?2QI!HD114?;!2D4!;7!Q173?!7D;!24;4H;:7?!
Figure 11: Current measurement on the MINDSTORMS NXT brick&=0;;41K&;4H;:GN&3:;O:G&;O4&!"#$&'()*+,$-'+&).,&,=4!).,!Q1:HAhB!841C71@0?H4!2484?2B!7?!;=4!Q0;;41:4B!DB42!0?2!;=4!6702!0886:42!;7!;=4!Q1:HAJ!!,=4!;37!
C:>D14B!B=73?!Q4673!:66DB;10;4!;=4!841C71@0?H4!7C!;=4!).,!Q1:HA!3=:64!DB:?>!G!B;0?2012!06A06:?4!
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841C71@42!3:;=!;37!"#$%&!'()*+,%-'+&!).,!@7;71B!0;;0H=42!;7!;=4!).,!3:;=!;=4!@7;71B!14541B:?>!
2:14H;:7?!4541I!V!B4H!3=:64!1D??:?>!0;!CD66!B8442J!!
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14H=01>40Q64!6:;=:D@!:7?<!0?2!14H=01>40Q64!):R'/!Q0;;41:4BJ!!,=4!"#$%!":;=:D@!(7?!Q0;;41I!:B!;=4!7?6I!
B76D;:7?!;=0;!06673B!;=4!).,!;7!Q4!8734142!H7?;:?D7DB6I!3=:64!;=4!Q0;;41I!:B!H7??4H;42!;7!TaX!87341!
;=17D>=!0!;10?BC71@41J!!(C!;=4!6702!:B!@714!;=0?!08817U:@0;46I!VFF@T<!;=4!Q0;;41I!3:66!?7;!Q4!14H=01>42J!!
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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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;=4!H7114H;!8:?B!7C!;=4!:?8D;!0?2!7D;8D;!871;BJ!!

Figure 14: LEGO MINDSTORMS NXT converter cable%?!;=4!).,hB!2:B860I!]3:;=:?!;=4!5:43!@4?D^<!76241!B4?B71B!0?2!@7;71B!=054!:H7?B!817H44242!QI!0?!fwg!
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87:?;B!7C!;=4!"#$%&!EUE!46R860;4!H7??4H;71J!!Z=4?!8:?B!M!0?2!E!014!DB42<!;=4!H7?541;41!H0Q64!H0?!Q4!
DB42!C71!Q7;=!@7;71B!0?2!B4?B71BJ!
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<AA")*(.&
1.
2.
3.
4.
5.
6.
7.
8.

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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EV!

VCC1.8V

VCC1.8V
TCK
CSBT
TMS
JTAGSEL
TDO

VCC9V
J10

X1

22pF

1 Pad
R94

MAPWM

MAIN1
MAIN0
C36

MAPWM

C37

100nF
MBIN1
MBIN0
MBPWM

INTC0
C

DIRC
MCIN1
MCIN0

4.7uF

C39

2.2uF

470pF

MBIN1
4.7 and 2.2 must be X7R
100 nF and 470 pF must be NP0

MBIN0
MBPWM

64
63
62
61
60
59
58
57
56
55
54
53
52
51
50
49

TP61

VCC3V

INTC0

VCC3V

VCC3V

DIRC

MCIN0

INTC0
DIRA

48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33

C33

USB
33pF

VCC3V
DIGID1AVRSDA
DIGID0
DIGIC0TSTNRSTDIGIB0VMBT_REQAVRSCL
DOA
DIA
TDI

R82
27R

C41

C42

C43

C44

C45

100nF

100nF

100nF

100nF

100nF

MCPWM

R109
10K

2

U15B
RTS@BT

7
10

J
K

TXBT

5

CLK

6

CLR

DIGIB1RSTBTMISOBT
RTS@BT
RTSBT
SIBT
VMBT_STATE
GND
VCC3V

DIGIB0
DIGIB1

B

I_ONC

I_ONC

DIGIC0

DIGIC0

DIGIC1

VCC3V
GND
GND
GND
GND
GND
GND
GND
GND
GND

1
3
5
7
9
11
13
15

2
4
6
8
10
12

GND
CSBT
TXBT
RXBT
SCKBT
VMBT_REQ

2
4
6
8
10
12
14
16
18
20

1
3
5
7
9
11
13
15
17
19

VCC3V
10k PULL UP
TDI
TMS
TCK
TCK
TDO

R89
10K

R90
10K

RA4D
10K

RA4C
10K

R17

2

1

TP84

TP85

N.C.
N.C.

NRST

Small connector
single row, 1,27 pitch
VCC3V

BATT_PULS
P_EN

A

ADC_I
ADC_BATT

TST

U4A

4

14
3

J
K

VCC

J
K

5

CLK

6

CLR

Speaker
J20

BATT_PULS
P_EN

2
1

ADC_I

2 Pad

MISOBTQQ

98

CTS@ARM

C49

TST

10K

R31
10K

VCC3V

CLR

74HC73

1
2
3
4
5
6
7
8
9
10
10 pinBUTTON0
P_EN
VCC_AVR5V
MCIN1
MCIN0

1
2
3
4
5
6
7
8

1

CLK

2

CLR

AVRSCLAVRSDA
BUTT_ADC
ADC_BATT

C58
100nF

74HC73
MCPWM
MBIN0
MBIN1
MAIN0
MBPWM

VCC_SND
U9

1
2
3
4

12
13

SPY0030A
8
7 BATT_PULS
R97
65

SPN VCCSPPCE
GND VREF
INN ACIN

15K

TP60

R42

TP59

1MEG
C51

R98

1uF

10K

AVRSCK
AVRSO
N.C.
N.C.
AVRSI

10K

C52

C53

C54

R25

100nF

3.3nF

2.2nF

1MEG

AVR JTAG interface

TP58

100nF

1
3
5
7
9

2
4
6
8
10

GND
VCC_AVR5V
AVRRESET
N.C.
GND

4

3

PC1 (ADC1/PCINT9)
PC0 (ADC0/PCINT8)
ADC7
GND
AREF
ADC6
AVCC
PB5 (SCK/PCINT5)

VCC_AVR5V

VCC_AVR5V

C48

C55

100nF

100nF

24 ADC_C0
23 ADC_B0
22 ADC_A0
2120
19 ADC_D0
18 VCC_AVR5V
17 AVRSCK
I_OND

B

C77
100nF

ADC_A0ADC_B0ADC_C0ADC_D0
AVRSO
I_ONC
AVRSI
MAIN1
MAPWM

C69

C70

C71

C72

47pF

47pF

47pF

47pF

GND
VCC_AVR5VAVRSCK
AVRSO
AVRSI
AVRRESETA

NM=NOT MOUNTED

J16Engineer/constructer Date (YYYY/MM/DD)

Title

1
2
3
4
5
6
7
8

LEGO
MINDSTORMS NXT

LEGO
Drafter

Date (YYYY/MM/DD)

LEGO

Project Number

Schematic Name
Hardware8 pin
5ATmega48/V

Small connector
single row, 1,27 pitch

R99
SOUND_ARMA

R93
2.2K

74HC73

VCC3V
Q
Q

R92
2.2K

TP81

PD3 (PCINT19/OC2B/INT1)
PD4 (PCINT20/XCK/T0)
GND
VCC
GND
VCC
PB6 (PCINT6/XTAL1/TOSC1)
PB7 (PCINT7/XTAL2/TOSC2)

74HC73

VCC_SND

ADC_BATT

SOBT

11

TXBT

DIGID1

7
10

11

DIGID1

RTS@BT

U4B

4

DIGID0

CLK

2

C

12
13

J17
TCK
TMS
TDO
NRST
TDI
GND
PU10K
VCC3V

TP83
TP82

R30

VCC

DIGID0

1

Q
Q

RA4A
10K

TP86

GND

I_OND

J
K

VCC5V
10K

0R NM
VCC3V

ADC_D0

TP64

10K
R85

U8

RA4B
10K

16 PadBlue Tooth PCB to PCB connector

DIGIC1

I_OND

14
3

8

7

ARM JTAG interface

VMBT_STATE
ADC_D0CTS@ARM

TP71

J19

I_ONB

ADC_C098Must be one pack or single,
Not mounted on the final version

10 pinConnector to LCD and button PCB

ADC_B0ADC_C0

Q
Q

U15A

VCC3V

1

I_ONB
DIGIB0VCC3V

AVRRESET
I_ONB
I_ONA
BATT_PULS

GND

ADC_B0TP62

DIGIA1

TP69
TP70

2

DIGIA1

BUTTON0
BUTT_ADC
SIBT
SCKBT
CSDIS

6

DIGIA0

2
4
6
8
10

3
Q15
BC857B

USB_DP

3

I_ONA

1
3
5
7
9

15pF
1.5K

VCC3V

5

I_ONA
DIGIA0

VCC5V
VCC3V
GND
GND
SOBT

15pF

R83

J15

ADC_A0C35VCC3V

DEA REA
DIRC
DIRB
CSDIS
RSTBT
SOBT
INTB0
CTS@ARM

VCC3V
USB_DP
INTA0
SCKBT
SIBT
RTSBT
VCC1.8V

C34
TP65

R84

4

ADC_A0DDP

TP68

AT91SAM7S256
VCC1.8V

MCIN1

27R

PA0/PGMEN0
PA1/PGMEN1
GND
VCC_IO
PA2
PA3
PA30
PA29
TST
NRST
PA28
PA27/PGMD15
PA4/PGMNCMD
PA5/PGMRDY
PA6/PGMNOE
TDI

11

MCPWM

C38

ADVREF
GND
AD4
AD5
AD6
AD7
VCC_INVCC_OUT
PA17/PGMD5/AD0
PA18/PGMD6/AD1
PA21/PGMD9VCC_CORE
PA19/PGMD7/AD2
PA22/PGMS10
PA23/PGMD11
PA20/PGMD8/AD3

D

1
2
3
4

DDM

TP67

32
31
30
29
28
27
26
25

MAIN0

1
2
USB_ADC
3ADC_I
4VMBT_STATE
5
DIGID16
7
VCC1.8V
8SOUND_ARMA 9
DIGIA110RXBT
11VCC1.8V
12
DIGIB113
TXBT
14DIGIA015
DIGIC1
16

DIRB

J12
R81

PD2 (INT0/PCINT18)
PD1 (TXD/PCINT17)
PD0 (RXD/PCINT16)
PC6 (RESET/PCINT14)
PC5 (ADC5/SCL/PCINT13)
PC4 (ADC4/SDA/PCINT12)
PC3 (ADC3/PCINT11)
PC2 (ADC2/PCINT10)

MAIN1

INTB0

100nF

PD5 (PCINT21/OC0B/T1)
PD6 (PCINT22/OC0A/AIN0)
PD7 (PCINT23/AIN1)
PB0 (PCINT0/CLKO/ICP1)PB1 (PCINT1/OC1A)
PB2 (PCINT2/SS/OC1B)
PB3 (PCINT3/OC2A/MOSI)PB4 (PCINT4/MISO)

DIRB

VCC3V

NM
C28

9
10
11
12
13
14
15
16

INTB0

1nF

VCC_PLL
PLLRC
XIN/PGMCK
XOUT
GND
VCC_FLASH
VCC_IO
DDP
DDM
ERASE
VCC_CORE
TCK
PA31
TMS
JTAGSELTDO

DIRA

SM400210K

GND
VCC_IO
PA16/PGMD4
PA15/PGM3
PA14/PGMD2
PA13/PGMD1
PA24/PGMD12VCC_CORE
PA25/PGMD13
PA26/PGMD14
PA12/PGMD0
PA11/PGMM3
PA10/PGMM2
PA9/PGMM1
PA8/PGMM0
PA7/PGMNVALID

INTA0

DIRA

15K
R80

17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32

D

D23

22K

C29
U7

R91
10K

4

22pF

1.5K

VCC

DIA

10nF

C31

GND

18.432MHz
C30

DEA

R79

R78
USB_ADC

TP66
C32

REA

INTA0

1

11

DIA

VCC3V
DDP
DDM

4

DEA

DOA

XIN

2

VCC

REA

3

GND

DOA

4

1

5

VersionI
2

Page Size

Sheet
1

of

A3

4
1

5

4

3

2

1

TP39
R69

J4

VCC9V

VCC_SWTP87
Q22
2 XP162A12A6PR

D29
3

2

RSX301L-30

RUE185

R67

NM
D27
BZG03 15V

+ C7

+ C8

1000uF

1000uF

C74

C60

10nF

470nF

NM
U13
2

EXT/ VOUT
VCC
GND
CE

Vin

4
5

XC6202P50
Vout 1D

XC9302

D31

C62
47uF

+

C75

RSX301L-30

+ C76

10nF

+ C13

150uF

C14

560uF

100nF

R15

1 Pad
Batteri
minus

0.43R

NM

R29

0R

R13

0R

R20

0R

R13, R20, R29 N.M.
MUST BE SHORTED
WITH SOLDER

R16

VCC9V_MOTOR
U14
3

Vin

VCC_RS485

0.43R

TP52

NM

+

2

4

10K

3

1

5
220K

U6A
LM358
R27

NM
R24

8

R21

R28

6

NM

C15

10K

470nF

NM

NM

NM

R41

+
4

R19

NM

TP53

8

NM

0.43R

220uF

VCC_RS485

TP51

C

+ C64

2

NM

R64

TP50

XC6202P50
Vout 1

0.43R

Shorted beneathcomponents
R43

VCC_SND

TP77
GND

J5

C59
10uF

+

4.7R

3

Batteri
plus

RSX301L-30

3

U5
3
2
1

R111

Q23
XP161A1265PR

1

470R
D

D28

15uH

1

1 Pad

L1

VCC_AVR5V

TP90

GND

VCC9V_MOTOR

ADC_I

7

DIGID1

DIGID1

DIRA

DIRA

INTC0

INTC0

TST

TST

TP37

4.7K

U6B
LM358

R23

NM

10K

P_EN

P_EN

BATT_PULS

BATT_PULS

C46
10pF
ADC_BATTNM

ADC_BATT

ADC_I
10K NM

ADC_I

330K
C56

C

NM

1nF

NM

VCC3V
TP41

5

TP73

Q20A
PUMT1

VCC_SW

Q1B
IRF5810

VCC_RS485
U10

5

TP42

6

2

4

TST
R14

Q1A
IRF5810

C10
R65
100nF

220K

VCC3V

3

120K

4

1

TactileR95

8

ADC_BATT

Q16B
PUMT1

2

Q21A
PUMT1

47k

TP38

Q18B
PUMH4

P_EN

Q18A
PUMH4

INTC0

BAS85

7

C57
100nF

10K

B

+ C11

C12

220uF

R40
1K

100nF

RA3B

D7
TP72

10K

XC6202P33
Vout 1

VCC5V

TP2

7
TP74
TP

Vin

47k
SW1

RA2A

3

VCC3V

TP40

3

Q16A
PUMT1

4

1

2

VCC9V_MOTOR

1

B

VCC5V

GND

VCC_AVR5V

RA3D

2VCC_AVR5V

Bleeder
resistor
TP78

RA2B

2

VCC3V
120K

TP75
TP

3
120K

ON/OFF

1

Q21B
PUMT1

47k

5

Q17
BC848B

1

8

RA2D

C50

R96

120K

100pF

390K

DIRA

R100
6.8K

NM=NOT MOUNTED

VCC3V

4

6

2

A

BATT_PULS

SW2

3

1

SAMBA

2

TP76

RA3A

TP63

RA2C

TP36

J23
DRILL 4.7 mm
RA3C

Rechargeble
Batterydetect

6

3

Q20B
PUMT1

J13
DRILL 4.7 mm

47k

J40
DRILL 4.6 mm
J37DRILL 4.6 mm
J38
DRILL 4.6 mm
J39
DRILL 4.6 mm

A

Title LEGOMINDSTORMS NXT

Date (YYYY/MM/DD)

LEGO

Project Number

Schematic Name
HardwareSteering for display PCB
4

LEGO
Drafter

DIGID1

5

Engineer/constructer Date (YYYY/MM/DD)

3

Screwholes
2VersionI

Page Size

Sheet
2

of

A3

4
1

5

4

3

MotorATACHOA0

J1

VCC3V

U12A
74HC14

R3

TP45

10K

U12C
74HC14

14

10K

INTA0
DIRA

MAIN1

TP47

MCIN1
MC1

INTA0

TP5
RA1D
MAIN1

TP9

4

MC0
MCIN0

8

D1
1PS226

9

INTB0

TP7

2

D2
1PS226

1

6

R4

C1

R5

100pF

1MEG

C2

1MEG

R6

100pF

MAIN1
MAIN0

J3
MC0
MC1
GND
POWERMCTACHOC0TACHOC1

MBPWM

8

1MEG

100pF
MBIN0

10
9
8
7
6

MA1

RA1B
MBIN1

TP12

2

MA0

MotorA

7

MotorB

C40

MotorC

MBPWM

INTC0

INTC0

D IRC

DIRC

4.7k
TACHOA1

100nF
R22
MCPWM

TP19

VCC3V
R10

4.7K

MCIN1

TP17

D30

U12E
74HC14

VCC3V
R11

10K

14

14

R26

VCC3V

TP44

Modular
VCC_RS485

TACHOC1

VCC3V

MCIN0

TP18

TACHOB1

U12F
74HC14

VCC3V
R12

TP46

10K

MCIN1

VCC3V

U12B
74HC14

MCIN1

MCIN0

TP48

MCIN0

MCPWM

10K

D

MBIN0

MBPWM

VCC3V

Vcc
NC
NC
OUT1
IN1
NC
IN2
OUT2
S-GND P-GND

MBIN1

TP14

4.7k

LB1930M

LB1930M

12
3
45MotorC

INTB0
DIRB

MBIN1

1

14

U2

Modular

INTB0
D IRB

C3

RA1A
MBIN0

MAPWM

D3
1PS226

5

10K

5
4.7k

TP13

MAIN0

MAPWM

INTC0

TP15

MAIN1

MAIN0

10K

R87

14
13
12
11
10
9
8

GND
IN3
OUT3
Vs2
OUT4
IN4
Vcont

14

4.7k

U12D
74HC14

R2

TP43

TP11

7

MB0
MB1
GND
POWERMBTACHOB0
TACHOB1

VCC
IN1
OUT1
Vs1
OUT2
IN2
GND

LB1836M

MB1
MBIN1

LB1836M

MAPWM

6

7

1
2
3
4
5
6
7

MBIN0
MB0

R1

3

14

MAIN0

7

U1

MotorB

1
2
3
4
5
6

INTA0
D IRA

VCC3V

VCC3V
RA1C

J2

D

TACHOC0

VCC3V
VCC3V

TP10

Modular

1
2
3
4
5
6

1

TACHOB0

VCC3V

VCC9V_MOTOR

MA0
MA1
GND
POWERMATACHOA0
TACHOA1

1
2
3
4
5
6

2

MCPWM

R86
TP6

D IRA

10

4.7K

D4
1PS226

11

D IRB

TP8

12

D5
1PS226

13

D IRC

TP16

4

D6
1PS226

3

C4

1MEG

100pF

R8

C5

1MEG

100pF

7

7

R7

R9

C6

1MEG

100pF

2

R106
1.8R

7

10K
RSX301L-30

Q8BC857B

TP88

3

1

D8
LL4148
VCC3V

1
TP89

Q10
SS8550

2

C

3

C

D24
POWERMA

DOA

TP49

TP79

VCC_RS485

BAS85

DOA

REA

REA

POWERMB
R105
1K

R110
+

C61
220uF

POWERMCDOA

TP1IPOWERA10K

IPOWERB

TP3

REA
DEA

TP4

D IA

1
2
3
4

U3

ST485

RO
RE
DE
DI

VCC
B
A
GND

DEA
8
7
6
5

DIGIDI0
DIGIDI1

DEA

D IA

DIA

IPOWERC
IPOWERD

TP80

VCC9V

VCC9V

R33

R37

39R

10K

VCC5V

R34
39R
Q6A
PUMH4

Q5A
PUMT1
R45

I_ONA

VCC5V

R35

R39

R32

R36

10K

39R

10K

39R

10K

Q6B
PUMH4

Q7A
PUMT1

VCC_AVR5V

R46

VCC5V

R53

R47

TP56

R56
ADC_A01K

Modular

TP20

R54
1
2
3
4
5
6

VCC5V

I_OND

Q4A
PUMH4

Q3A
PUMT1
VCC_AVR5V

R44
R48

4.7K

TP55

J9
D13
1PS226GND
GND
IPOWERB
DIGIBI0
DIGIBI1

1K
R59
ADC_B01K

Modular

C65

TP29

P_EN

P_EN

ADC_A0ADC_A0

I_ONA

I_ONA

DIGIA0DIGIA0TP33

VCC_AVR5V

Q3B
PUMT1

10K

4.7K

10K

J8

1K

I_ONC

Q9B
PUMT1

4.7K

D12
1PS226GND
GND
IPOWERADIGIAI0
DIGIAI1

Q4B
PUMH4

Q9A
PUMT1

VCC_AVR5V

10K

J7
1
2
3
4
5
6

TP25

R51

4.7K
10K

B

I_ONB

Q7B
PUMT1

R50

VCC9V

R38

TP21

Q5B
PUMT1

R49

VCC9V

TP54

J6
D14
1PS226GND
GND
IPOWERC
DIGICI0
DIGICI1

1
2
3
4
5
6

1K
R58
ADC_C0TP28

1KModular

C66

47pF

TP24

R55
1
2
3
4
5
6

TP57
D11
1PS226GND
GND
IPOWERDDIGIDI0
DIGIDI1

B

1K

R57
ADC_D0TP32

1K

Modular

C67

47pF

R52

C68

47pF

47pF
DIGIA1

VCC_RS485

VCC3V

VCC_RS485

VCC3V
R116

TP22

NM

R117

TP26

NM

82K

R118

TP30

NM

82K

TP34

NM

82K

R63

DIGIB0

D16
1PS226

DIGIBI0

ADC_B0ADC_B0

I_ONB

I_ONB

R119

DIGIB0

DIGIB082K

DIGIB1VCC3VR61
DIGIAI0

VCC_RS485

VCC3V

R60
DIGIA0

D15
1PS226

VCC_RS485

DIGIB1

R62

DIGIC0D18
1PS226

DIGIA1

DIGICI0

DIGID0

D17
BAT54SDIGIDI0
ADC_C0ADC_C0

R18

C20

R68

C21

R73

C23

R103

C22

I_ONC

I_ONC

1MEG

10pF

1MEG

10pF

1MEG

10pF

1MEG

10pF

DIGIC0

DIGIC0

4.7K

4.7K

4.7K

4.7K

DIGIC1

VCC_RS485

VCC3V

VCC_RS485

VCC3V
R112

TP23

NM

A

R113

TP27

NM

82K
DIGIAI1

D21
1PS226

DIGIB1

R114

TP31

NM

82K

TP35

NM

82K

R77
DIGIBI1

4.7K

DIGIC1D22
1PS226

ADC_D0ADC_D0

I_OND

I_OND

R115

DIGID0DIGID082K

DIGID1VCC3V

R76

DIGIA1

VCC_RS485

VCC3V

R75
D20
1PS226

VCC_RS485

DIGID1

R74
DIGICI1

4.7K

DIGIC1

D19
BAT54SDIGID1

DIGIDI1

4.7K

4.7K

R66

C25

R72

C26

R102

C27

R104

C24

1MEG

10pF

1MEG

10pF

1MEG

10pF

1MEG

10pF

NM=NOT MOUNTED
Title

LEGO
MINDSTORMS NXTEngineer/constructer Date (YYYY/MM/DD)
LEGO
Drafter

Date (YYYY/MM/DD)

LEGO

Project Number

Schematic Name
HardwareVersion
I
5

4

3

2

Page Size

Sheet
3

of

4
1

A2

A

5

4

3

2

POWER BLOCKVCC5V_SW

VCC9V
9V

1

COMMUNICATION BLOCKVCC_RS485
CURRENT GENERATORSENSER VOLTAGE
RS485
LDO 3.3V

STEP-DOWN 5V
9V SENSOR

VCC3V

DDP, DDM
USB_DP_PULL_UP
FULL UART 4 WIRE

D

AT91SAM7S ARMDISPLAYBT
BATTERY SUPPLY

PC_USB
AT91SAM7S

VMBT_REQVMBT_STATE

VCC5V

D

RXD0
TXD0
DEA REABTRSTSENSOR PULL-UP
SAMBA

I2C
DOA
DIA
DEA REAVCC9V_MOTOR
VCC_AVR5V
MOTORDRIVER

SPIBLUE TOOTH

POWER_EN FROM ATMEGA48(PB7)VCC9V

RS 485HS PORT

ADC_BATTSPIATMEGA48
BUTTOM 0 - 3
ON/OFFCC

5V LDOSOUND VOLTAGE

ATMEGA48

AVR BLOCKARM BLOCKADC_A0DIGIA0ADC_B0DIGIA1AT91SAM7S

ADC_C0OUTPUTINPUT

DIGIB0ATMEGA48

DIGIB1

ADC_D0
ION_A

DIGIC0INPUTOUTPUT

ION_B

DIGIC1B

DISPLAYB

ION_C

DIGID0

ION_D

DIGID1

MAPWM
MAIN0
INTA

MAIN1

INTB

MBPWM

INTC

MBIN0

DIR_A

MBIN1

DIR_B

MCPWM

DIR_C

MCIN0

USB_ADC

MCIN1

ADC_I

BATT_PULSDIGID1_ADC

BATT_ADC/SAMBABUTTOM 0

A

SOUND

A

BUTTOM 1 - 3 ADC

Title

LEGO
MINDSTORMS NXTEngineer/constructer Date (YYYY/MM/DD)
LEGO
Drafter

Date (YYYY/MM/DD)

LEGO

Project Number

Schematic Name
HardwareVersion
I
5

4

3

2

Page Size

Sheet
4

of

4
1

A2

5

4

3

2

1

D

D

J1

TP1
TP4

VCC5V
VCC3V
GND
GND
SOBT

1
3
5
7
9

2
4
6
8
10

BUTTON0
BUTT_ADC
SIBT
SCKBT
CSDIS

TP5

10 pinConnector to main PCB

VCC3V

TP11

VCC5V

LCD1
CSDIS
RSTDIS
SOBT
SCKBT
SIBT
VCC3V

SW1
ON/OFF
1
2

R6

0R

1
2
3
4
5
6
7
8
9
10
11
12

R1
4.7K

C

SW2
ON/OFF
1
2

TP2

TP6
R2
2.2K
SW4
ON/OFF
1
2

TP3

TP7

C1

C2

1uF

1uF

TP10

CS0
RST
CD
SCK
SDA
VCC
GND
VB1+
VB1VB0VB0+
VLCD

VCC3V

C3
100nF

C

LCD
R5

C4

10MEG

33nF

BUTT_ADC

R3
1K

R4
100K

TP8

TP9

B

B

SW3
ON/OFF
1
2

BUTTON0

Title

LEGO
MINDSTORMS NXTJ2DRILL 2.0 mm
J3DRILL 2.0 mm
J4DRILL 2.0 mm
J5DRILL 2.0 mm

A

4

3

LEGO

A

Drafter

Date (YYYY/MM/DD)

LEGO

Project Number

Schematic Name
KeypadVersionA

5Engineer/constructer Date (YYYY/MM/DD)

Page Size

Sheet
1
2

of

A4

1
1

5

4

3

2

1

D

D

R1
180R

R8
1.8K

R2
4.7K

R4
330k

Q1A
PUMT1

C

C
Q1B
PUMT1
D1
Red

J1
Modular

R3
330R
Q2B
PUMX1

3

Q2A
PUMX1

1
2
3
4
5
6

Q4
BC847
2

1

R7
10K

B

A

R9
10K

Q3
SFH309-4

C2

R5
6.8k

R6
560R

470nF

B

J2
DRILL 2.3 mm
J3DRILL 2.3 mm

Title

LEGO
MINDSTORMS NXTEngineer/constructer Date (YYYY/MM/DD)
LEGO

A

Drafter

Drills for
LED fix

Date (YYYY/MM/DD)

LEGO

Project Number

Schematic NameLight sensor
VersionF

Page Size

Sheet
1

of

1

A4

5

4

3

2

1

VCC
VCC
4

VCC
VCC/2
R1
220K

VCC

VCC/2

3
2

R2
+ C2

+

-

8
D

U1C
LM324

R7

R8

R9

18K

100K

4.7K

1

11

220K

9

4

TP2
VCC/2

C1
220nF

+

11

R3
1K

D

10

U1A
LM324

VCC
Rect. in10uF
DIGIAI0 D1
BAV99

4.7K

C12

4

R4
8.2pF

VCC/2
J2

C3

R5

C4

12

R11

82k

R6 560K

2 Pad

68nF

TP1

2.2nF

R22

R10

10K

10K

14

-

56K

11

220nF

R13

+

13

2
1
C

C5

U1D
LM324

4.7K
C11
C

TP3

10nF
R12
DIGIAI1
560K
C6
68pF

VCC

VCC
VCC

+

2

4.7uF

B

3

-

1
U2A
LM358

5
220K

6

+
11

4

100K

1
2
3
4
5
6

3

R15

TP5
R17

7
U1B
LM324

Q1
BC848B

1

DIGIAI0
DIGIAI1

VCC
B

2

Rect. in

4

C7

8

TP4

J1
ModularR16 470K

C9

C10

100nF
U1 cap

100nF
U2 cap

VCC
R21
560R

8

R14
5

4.7K

+

6

4

-

R20
7
U2B
LM358

220K
C8
Title

LEGO
MINDSTORMS NXT

470nF

A

R18

R19

82K

470K

Engineer/constructer Date (YYYY/MM/DD)
LEGO

A

Drafter

Date (YYYY/MM/DD)

LEGO

Project Number

Schematic NameSound sensor
VersionC

5

4

3

Page Size

Sheet
1
2

of

A4

1
1

5

4

3

2

1

D

D

C

C

1
2
3
4
5
6

SW1
D3C

R1
2.2K
1

2
3

BN Cable:
1: White
2: Black
3: Red4: Green
5: Yellow
6: Blue

J1
Modular

B

B

Title

LEGO
MINDSTORMS NXTAEngineer/constructer Date (YYYY/MM/DD)
LEGO

A

Drafter

Date (YYYY/MM/DD)

LEGO

Project Number

Schematic Name
Touch sensor
VersionA

Page Size

Sheet
1

of

1

A4

5

4

3

2

4.3V_Power1

VCC_5V

10K

C1
1nF

TP11

R2

C6

R4

C7

R6

C8

100pF

1MEG

10pF

1MEG

10pF

C2

P1.0

Q2A
PUMX1

100pF

100pF

TP2

R19

C4

Q1B
PUMX1

4.7K

R18
1.5MEG

C3

Q1A
PUMX1

RA1D
10K
D

TP10

1MEG
R1

C13
10uF
5

10K

4

3

10K

+

6

RA1C

8

RA1A

TP9

TP14

100R

RA1B

7

D

1

2

R16

Q2B
PUMX1
1nF

10K

1
PZ1
R3

R5

R7

R17
100K

220R

220R

220R

TCT40-12S2
2

TP3

C

R8

C5

47K

220pF

R9
22K

C

C9
10nF
4.3V_PowerJ1
Modular
VCC
GND
GND
VCC_5VDIGIAI0
DIGIAI1

4.3V_Power

R21

1
2
3
4
5
6

R10
100K

3.3MEG
D4
LL4148
Q6A
R22

R11

1.8MEG

330K

VCC_5V

VCC_5V

VCC_5V

VCC_5V

R13

R12

82K

82K

PUMH4
Q6B
C19
100nF

PUMH4

B

B

VCC

14
R23
10K

VCC

R24
10K

5

U1B
4

TP12

TP13

CD4049
C12

+

VCC

23
24

P3.1
P3.0

26

P2.2
ESC015

GND
OSCO
OSCI
RESETB
P1.0
P1.1
P1.2
P1.3
VCC
P2.0
P2.1

38
37
36
34
33
32
31
30
29
28
27

RESET
P1.0

X1
2

C15
22pF

3.58MHz

9
A

R15

R14

4.7K

4.7K

VCC_5V
D2
P1.3/SCL
P2.0
P2.1

P1.3/SCL

TP5

P3.0/SDA

TP6

BAV99
D3
C14
100nF

PZ2
7

P2.1

3

CD4049

C16
10uF

100nF

TP8

U1A
2

GND

TP12
P3.0/SDA

3

U2
11

1

VCC_5VVCC

DIGIAI0
DIGIAI1

BAV99

U1C
6

1

CD4049

TCT40-12F2

U1E
12

2

11

C10

C11

47pF

47pF

CD4049

U1D
10

U1F
15

CD4049CD4049

Q3B
PUMH4

14
A

Q3A
PUMH4

P2.0

TP7
Title

LEGO
MINDSTORMS NXTEngineer/constructer Date (YYYY/MM/DD)
LEGO
Drafter

Date (YYYY/MM/DD)

LEGO

Project Number

Schematic Name
Ultrasonic sensor
Version
G
5

4

3

2

Page Size

Sheet
1

of

A3

1
1

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The table documents the low-speed communication protocol which is used for communicating with the LEGO® MINDSTORMS® NXT Ultrasonic Sensor. Not all of these commands areaccessible within the software, but the ultrasonic sensor itself supports these commands and functionalities.
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Single shot command:
In this mode the ultrasonic sensor will only make a new measurement every time the command byte is send to the sensor. The sensor will measure distances for up to 8 objects and save thedistances within the “Read measurement byte 0 – 7”.
Continuous measurement command:
This is the default mode, where the sensor continuously makes new measurement with the specified interval.
Event capture command:
Within this mode the sensor will measure whether any other ultrasonic sensors are within the vicinity. With this information a program can evaluate when it is best to make a newmeasurement which will not conflict with other ultrasonic sensors.

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TABLE OF CONTENTS ......................................................................................................2
HARDWARE INTERFACE ..................................................................................................4
Control signals .............................................................................................................................................................. 4
SPI interface .................................................................................................................................................................. 4
UART interface ............................................................................................................................................................. 4

UART INTERFACE STATES ..............................................................................................5
Stream mode.................................................................................................................................................................. 5
VM Command mode .................................................................................................................................................... 5

COMMAND MESSAGES BETWEEN BLUECORETM & ARM7 ..........................................6
Message diagram .......................................................................................................................................................... 6
BlueCoreTM state diagram ............................................................................................................................................ 7

OPERATING MODES .........................................................................................................8
STREAM_BREAKING_MODE ................................................................................................................................. 8
DONT_BREAK_STREAM_MODE ........................................................................................................................... 8

COMMAND MESSAGE CODING .......................................................................................9
Message structure ......................................................................................................................................................... 9
Message Wrapping ....................................................................................................................................................... 9

COMMAND MESSAGES (ARM7 => BLUECORETM) .......................................................1000 BeginInquiry .......................................................................................................................................................... 10
01 CancelInquiry ........................................................................................................................................................ 10
02 Connect ................................................................................................................................................................... 10
03 OpenPort ................................................................................................................................................................ 11
04 LookupName .......................................................................................................................................................... 1105 AddDevice............................................................................................................................................................... 11
06 RemoveDevice ........................................................................................................................................................ 11
07 DumpList ................................................................................................................................................................ 1208 CloseConnection..................................................................................................................................................... 1209 AcceptConnection .................................................................................................................................................. 12
0A PinCode.................................................................................................................................................................. 12
0B OpenStream........................................................................................................................................................... 13
0C StartHeart.............................................................................................................................................................. 13
1C SetDiscoverable ..................................................................................................................................................... 13
1D ClosePort................................................................................................................................................................ 13
21 SetFriendlyName ................................................................................................................................................... 1423 GetLinkQuality ...................................................................................................................................................... 14
25 SetFactorySettings ................................................................................................................................................. 1427 GetLocalAddr ........................................................................................................................................................ 1429 GetFriendlyName................................................................................................................................................... 14
2A GetDiscoverable .................................................................................................................................................... 15
2B GetPortOpen.......................................................................................................................................................... 15
2F GetVersion ............................................................................................................................................................. 1533 GetBrickStatusbyte................................................................................................................................................ 15
34 SetBrickStatusbyte................................................................................................................................................. 1535 GetOperatingMode ................................................................................................................................................ 16
36 SetOperatingMode................................................................................................................................................. 1638 GetConnectionStatus ............................................................................................................................................. 16
3A GotoDFUMode ...................................................................................................................................................... 16

RESULT MESSAGES (BLUECORETM => ARM7) ............................................................17
0D Heartbeat ............................................................................................................................................................... 17!
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0E InquiryRunning..................................................................................................................................................... 17
0F InquiryResult ......................................................................................................................................................... 17
10 InquiryStopped ...................................................................................................................................................... 17
11 LookupNameResult ............................................................................................................................................... 18
12 LookupNameFailure.............................................................................................................................................. 18
13 ConnectResult ........................................................................................................................................................ 18
14 ResetIndication....................................................................................................................................................... 18
15 RequestPinCode ..................................................................................................................................................... 19
16 RequestConnection ................................................................................................................................................ 19
17 ListResult................................................................................................................................................................ 19
18 ListItem................................................................................................................................................................... 20
19 ListDumpStopped .................................................................................................................................................. 20
1A CloseConnectionResult......................................................................................................................................... 20
1B PortOpenResult ..................................................................................................................................................... 21
1E ClosePortResult ..................................................................................................................................................... 21
1F PinCodeAck ........................................................................................................................................................... 21
20 SetDiscoverableAck ............................................................................................................................................... 21
22 SetFriendlyNameAck............................................................................................................................................. 22
24 LinkQualityResult ................................................................................................................................................. 22
26 SetFactorySettingsAck .......................................................................................................................................... 2228 GetLocalAddrResult.............................................................................................................................................. 22
2C GetFriendlyNameResult ....................................................................................................................................... 23
2D GetDiscoverableResult.......................................................................................................................................... 23
2E GetPortOpenResult............................................................................................................................................... 2330 GetVersionResult ................................................................................................................................................... 23
31 GetBrickStatusbyteResult..................................................................................................................................... 23
32 SetBrickStatusbyteResult...................................................................................................................................... 24
37 OperatingModeResult ........................................................................................................................................... 24
39 ConnectionStatusResult ........................................................................................................................................ 24

C-CODE STANDARD FOR MESSAGE ID........................................................................25
Enumeration................................................................................................................................................................ 25

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Figure 1: Block diagram for communication between the BlueCoreTM and ARM7 processors!
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Figure 2: State diagram for communication between the BlueCoreTM and ARM7 processors!
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Pairing request
Disconnection

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1) If in stream_mode then break thestream2) Send CloseConnectionResult
telegram!
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1) If in stream_mode with current
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