0123014&*45467841&9:;&hy428/reading/lego_nxt_hw_dev_kit.pdf · the lego® mindstorms®...

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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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/<-*@<-"&+A"?(>(?<,($)&>$-&,/"&).,&=-(?9&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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Figure 5: Bitmapping within the display

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Figure 7: Interface between the ARM7 processor and the BlueCore chip

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Figure 9: Hardware schematic for interfacing with the ARM7 microcontroller

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Figure 10: Hardware schematic for interfacing with the AVR microcontroller

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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!

!W0;;41I!! /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! ! F!o!TT!Q0;;41:4B!! ! ! M!o!THHD!80HA!:?B41;42!!! W:;!MO!R!MP! FJJO!o!@0\71!541B:7?!! W:;!MF!R!ME!!! 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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!! V!K76;! E[M! MME! M[PP! PP_!

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!! !! ! ! ! !

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Figure 11: Current measurement on the MINDSTORMS NXT brick

&

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,=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!Q0;;41:4B!0?2!3=:64!DB:?>!;=4!"#$%&!'()*+,%-'+&!":;=:D@!(7?!14H=01>40Q64!Q0;;41IJ!!,=4!;4B;!30B!841C71@42!3:;=!;37!"#$%&!'()*+,%-'+&!).,!@7;71B!0;;0H=42!;7!;=4!).,!3:;=!;=4!@7;71B!14541B:?>!2:14H;:7?!4541I!V!B4H!3=:64!1D??:?>!0;!CD66!B8442J!!!S17@!;=:B!;4B;<!:;hB!H6401!;=0;!;=4!).,!Q1:HA!841C71@B!3466!3=4?!1D??:?>!7?!06A06:?4!Q0;;41:4B<!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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Figure 14: LEGO MINDSTORMS NXT converter cable

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<AA")*(.&1. LEGO® MINDSTORMS® NXT hardware schematic 2. LEGO® MINDSTORMS® NXT hardware schematic 3. LEGO® MINDSTORMS® NXT Ultrasonic Sensor hardware schematic 4. LEGO® MINDSTORMS® NXT Light Sensor hardware schematic 5. LEGO® MINDSTORMS® NXT Sound Sensor hardware schematic 6. LEGO® MINDSTORMS® NXT Touch Sensor hardware schematic 7. LEGO® MINDSTORMS® NXT Ultrasonic Sensor I2C communication protocol 8. LEGO MINDSTORMS NXT ARM7 Bluetooth® interface specification

!

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

INTA0

DIRA

INTB0

DIRB

INTC0

DIRC

MCIN0

MCPWM

ADC_A0

I_ONA

DIGIA1

DIGIA0

P_EN

ADC_B0

I_ONB

DIGIB1

DIGIB0

ADC_C0

I_ONC

DIGIC1

DIGIC0

DOA

REA

DEA

DIA

ADC_D0

I_OND

DIGID1

DIGID0

INTB0

DIGIB0VMBT_REQ

RXBT

VCC1.8V

VCC1.8V

VCC1.8VTCKCSBT

TDI

VCC1.8V

XIN

TST

DIRAINTC0

DIGID0

AVRSCLDOADIA

DEA READIRC

RSTBT

CTS@ARM

INTA0

RTSBT

DIGIC1DIGIA0

DIGIB1

DIGIA1SOUND_ARMA

TXBT

MISOBT

SCKBT

VCC1.8V

SOUND_ARMA

RTSBTRTS@BT

MCIN1

AVRSDADIGID1VCC3V

NRST

DDP

DDM

DDPDDM

USB_ADC

USB_ADC

CSBT

MAIN0

MAPWM

MAIN1

MBIN0

MBPWM

MBIN1

MAIN1

I_ONB

MCIN1

P_EN

MBIN0

I_ONA

MCPWM

MCIN0

AVRSI

AVRSCK

BUTTON0

VCC_AVR5V

MBPWM

ADC_C0

ADC_D0

MBIN1

ADC_BATT

ADC_A0

MAIN0

AVRSO

ADC_B0

VMBT_STATE

ADC_I

BATT_PULS

VCC1.8V

DIRB

DIGIC0

VCC3V

RSTBT

I_OND

JTAGSEL

BATT_PULSSCKBT

BUTTON0

SIBT

SOBT

SCKBTCSDIS

GNDBUTT_ADC

SOBT

VCC3V

MAPWM

I_ONC

GND

RXBTTXBT

SOBTMISOBT

VMBT_STATE

VMBT_REQ

ADC_I

BUTT_ADC

GNDVCC_AVR5V

AVRSIAVRSOAVRSCK

VMBT_STATESIBT

SIBT

DIGID1

AVRSCLAVRSDA

CSDIS

AVRRESET

AVRRESET

BATT_PULS

ADC_BATT

VCC_AVR5V

USB_DP

VCC3V

USB_DP

TST

PU10K

TDI

TMS

GND

VCC3V

NRST

GND

TMSTCK

VCC3V

VCC5V

GND

TXBT

CTS@ARMRTS@BT

TDO

TDO

ADC_A0ADC_B0ADC_C0ADC_D0

RTS@BT CTS@ARM

TXBT

VCC5V

VCC3V

VCC_AVR5V VCC_AVR5V

VCC3V

VCC9V

VCC_SND

VCC3V VCC3V VCC3V

VCC3V

VCC_SND

VCC3V

VCC3V

VCC3V

VCC3V

VCC3V VCC3V

REA

DEA

DIA

DOA

DIRB

INTA0

DIRA

MCIN1

MCIN0

MCPWM

INTB0

INTC0

DIRC

ADC_A0

I_ONA

DIGIA0

DIGIA1

DIGID1

DIGIC1

DIGIB1

ADC_B0

I_ONB

DIGIB0

ADC_C0

I_ONC

DIGIC0

ADC_D0

I_OND

DIGID0

MAIN1

MAIN0

MAPWM

MBIN1

MBIN0

MBPWM

ADC_I

P_EN

BATT_PULS

ADC_BATT

TST

o f

Title

Project Number

Engineer/constructer

Schematic Name

Date (YYYY/MM/DD)

Drafter Date (YYYY/MM/DD)

Sheet Page SizeVersion

1 4 A3

LEGO

Hardware

LEGO

I

4.7 and 2.2 must be X7R100 nF and 470 pF must be NP0

Blue Tooth PCB to PCB connector

GNDGND

N.C.N.C.

ARM JTAG interface

2 14 36 58 710 912 1114 1316 1518 1720 19

GNDGNDGNDGNDGNDGNDGNDVCC3V VCC3V

TDITMS

TCKTDO

10k PULL UP

TCK

1 23 45 67 89 10

GND

AVRRESETVCC_AVR5V

GNDN.C.

AVRSCKAVRSO

AVRSI

N.C.N.C.

AVR JTAG interface

2 1 NRST Small connectorsingle row, 1,27 pitch

Small connectorsingle row, 1,27 pitch

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

Speaker

Connector to LCD and button PCB

TP69TP70

TP62 TP71

NM

NM=NOT MOUNTED

NM

LEGO

MINDSTORMS NXT

R78

15K

U8 ATmega48/V

PD3 (PCINT19/OC2B/INT1)1

PD4 (PCINT20/XCK/T0)2

GND3

VCC4

GND5

VCC6

PB6 (PCINT6/XTAL1/TOSC1)7

PB7 (PCINT7/XTAL2/TOSC2)8

PD

5 (

PC

INT

21/O

C0B

/T1)

9

PD

6 (

PC

INT

22/O

C0A

/AIN

0)

10

PD

7 (

PC

INT

23/A

IN1)

11

PB

0 (

PC

INT

0/C

LK

O/IC

P1)

12

PB

1 (

PC

INT

1/O

C1A

)13

PB

2 (

PC

INT

2/S

S/O

C1B

)14

PB

3 (

PC

INT

3/O

C2A

/MO

SI)

15

PB

4 (

PC

INT

4/M

ISO

)16

PC1 (ADC1/PCINT9) 24

PC0 (ADC0/PCINT8) 23

ADC7 22

GND 21

AREF 20

ADC6 19

AVCC 18

PB5 (SCK/PCINT5) 17

PD

2 (

INT

0/P

CIN

T18)

32

PD

1 (

TX

D/P

CIN

T17)

31

PD

0 (

RX

D/P

CIN

T16)

30

PC

6 (

RE

SE

T/P

CIN

T14)

29

PC

5 (

AD

C5/S

CL/P

CIN

T13)

28

PC

4 (

AD

C4/S

DA

/PC

INT

12)

27

PC

3 (

AD

C3/P

CIN

T11)

26

PC

2 (

AD

C2/P

CIN

T10)

25

J10

1 Pad

R109

10K

C52

100nF

R922.2K

C54

2.2nF

TP66

J15

10 pin

1 23 45 67 89 10

R82

27R

C29

1nF

R8910K

C39

470pF

R99

10K

C42

100nF

C70

47pF

TP68

C49

100nF

U15A

74HC73

J14

CLK1

K3Q 12

Q 13VC

C4

GN

D11

CLR2

R84

10K

C55

100nFJ17

10 pin

12345678910

R25

1MEG

R31

10K

U7

AT91SAM7S256

ADVREF1

GND2

AD43

AD54

AD65

AD76

VCC_IN7

VCC_OUT8

PA17/PGMD5/AD09

PA18/PGMD6/AD110

PA21/PGMD911

VCC_CORE12

PA19/PGMD7/AD213

PA22/PGMS1014

PA23/PGMD1115

PA20/PGMD8/AD316

GN

D17

VC

C_IO

18

PA

16/P

GM

D4

19

PA

15/P

GM

320

PA

14/P

GM

D2

21

PA

13/P

GM

D1

22

PA

24/P

GM

D12

23

VC

C_C

OR

E24

PA

25/P

GM

D13

25

PA

26/P

GM

D14

26

PA

12/P

GM

D0

27

PA

11/P

GM

M3

28

PA

10/P

GM

M2

29

PA

9/P

GM

M1

30

PA

8/P

GM

M0

31

PA

7/P

GM

NV

ALID

32

VC

C_P

LL

64

PLLR

C63

XIN

/PG

MC

K62

XO

UT

61

GN

D60

VC

C_F

LA

SH

59

VC

C_IO

58

DD

P57

DD

M56

ER

AS

E55

VC

C_C

OR

E54

TC

K53

PA

31

52

TM

S51

JTA

GS

EL

50

TD

O49

PA0/PGMEN0 48

PA1/PGMEN1 47

GND 46

VCC_IO 45

PA2 44

PA3 43

PA30 42

PA29 41

TST 40

NRST 39

PA28 38

PA27/PGMD15 37

PA4/PGMNCMD 36

PA5/PGMRDY 35

PA6/PGMNOE 34

TDI 33

C30

22pF

R17

0R

R81

27R

R42

1MEG

R80

22K

R97

15K

TP61

C45

100nF

R79

1.5K

X1

18.432MHz

C51

1uF

C71

47pFU9 SPY0030A

SPN1

SPP2

GND3

INN4

VCC 8

CE 7

VREF 6

ACIN 5

J20

2 Pad

12

C58

100nF

C34

15pFC38

2.2uF

R85

10K

RA4B10K

72

TP64

TP86

C33

33pF

C48

100nF

J16

8 pin

12345678

C31

22pF

C35

15pF

C28

100nF

U4A

74HC73

J14

CLK1

K3Q 12

Q 13VC

C4

GN

D11

CLR2

TP82

R94

10K

C44

100nF

Q15BC857B

1

2 3

C37

4.7uF

TP59

C72

47pF

C43

100nF

TP85

TP65

RA4C10K

63

C53

3.3nF

RA4A10K

81

R83

1.5K

U15B

74HC73

J7

CLK5

K10Q 9

Q 8VC

C4

GN

D11

CLR6

C32

10nF

TP67

TP83

TP60

R98

10K

R30

10K

D23

SM4002

R932.2K

U4B

74HC73

J7

CLK5

K10Q 9

Q 8VC

C4

GN

D11

CLR6

R9110K

TP81

RA4D10K

54

C77

100nF

TP58

C41

100nF

R9010K

J19

16 Pad

1 23 45 67 89 1011 121315

C69

47pF

C36

100nF

TP84

J12

USB

1234

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

BATT_PULS

P_EN

ADC_BATT

ADC_I

TST

INTC0

DIRA

DIGID1

P_EN

ADC_I

BATT_PULS

ADC_BATT

SAMBA

TST

INTC0

DIRA

DIGID1

VCC9V

VCC9V_MOTOR

VCC_SW VCC_AVR5V

VCC_SWVCC5V VCC3VVCC_AVR5V

VCC_RS485

VCC9V_MOTOR

VCC_AVR5V

VCC3V

VCC3V

VCC3V

VCC3V

VCC_SND

VCC9V_MOTOR

VCC5V

VCC_RS485

VCC_RS485

BATT_PULS

P_EN

ADC_BATT

ADC_I

TST

INTC0

DIRA

DIGID1

o f

Title

Project Number


Schematic Name

Date (YYYY/MM/DD)



2 4 A3

LEGO

Hardware

LEGO

I

Batteriminus

R13, R20, R29 N.M.MUST BE SHORTEDWITH SOLDER

Batteriplus

Steering for display PCB

NM

NM=NOT MOUNTED

TP50

TP40

Bleederresistor

TP42

TP51

Screwholes

RechargebleBatterydetect

TP87

NM

NM

NM

NM

NM

NM

NM

NM

NM

NM

NM

NMNM

NM

NM

NM

Shorted beneath components

TP77

TP90

LEGO

MINDSTORMS NXT

Q18APUMH4

Q22XP162A12A6PR

1

23

TP52

J39DRILL 4.6 mm

R95

220K

R64

0.43R

C14

100nF

U14 XC6202P50

Vout 1Vin3

GN

D2

Q18BPUMH4

SW2

ON/OFF

12

R24

10K

Q20A

PUMT1

+ C8

1000uF

C56

1nF

Q20B

PUMT1

C60

470nF

+

-U6ALM358

3

21

84

R20 0R

R96

390K

RA3A

47k

8 1

TP39

D31

RSX301L-30

R401K

C12

100nF

+ C7

1000uF

TP37

J13DRILL 4.7 mm

Q1BIRF5810

3

42

Q17BC848B

1

32

TP36RA2B

120K

72

R28

330K

R14

10K

R41

4.7K

D29

RSX301L-30

R16

0.43R

RA3B

47k

7 2

TP73

J4

1 Pad

+ C13

560uF

D27BZG03 15V

D7

BAS85

U5

XC9302

CE 5

VOUT 4EXT/3

VCC2

GND1

R13 0R

+ C64

220uF

C74

10nF

R23

10K

+

-U6BLM358

5

67

84

C75

10nF

RA2A

120K

81

J23DRILL 4.7 mm

TP74

TP

TP2

C57100nF

R1006.8K

R65

10K

RA2C

120K

6 3

Q21A

PUMT1

TP78

Q1AIRF5810

1

65

J5

1 Pad

C15

470nF

+ C5910uF

D28

RSX301L-30

RA3C

47k

6 3

C10

100nF

J37DRILL 4.6 mm

C50

100pF

U10 XC6202P33

Vout 1Vin3

GN

D2

R29 0R

TP72

C46

10pF

R27

10K

TP41

TP63

R67

470R

Q23XP161A1265PR1

23

J40DRILL 4.6 mm

+ C6247uF

TP75

TP

RA2D

120K

54

Q16A

PUMT1

R111

4.7R

Q16B

PUMT1

J38DRILL 4.6 mm

R43

0.43R

R21

220K

Q21B

PUMT1

U13 XC6202P50

Vout 1Vin2

GN

D3

R19

10K

RA3D

47k

5 4

TP53

TP38

+ C11

220uF

R15

0.43R

R69

RUE185

+ C76

150uF

TP76

L1

15uH

SW1

Tactile

12

34

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

MC0

MA0

MB1

TACHOA0TACHOA1

TACHOB0TACHOB1

TACHOC0TACHOC1

GND

GND

GND

POWERMB

POWERMC

POWERMA

MCIN1

IPOWERD

IPOWERC

DIGICI1 DIGIDI1

IPOWERB

MCIN0 MCPWM

MC1

MA1

MB0

INTA0

DIRA

INTB0

DIRB

INTC0

D IRC

MCIN0

MCPWM

ADC_A0

I_ONA

DIGIA1

DIGIA0

ADC_B0

I_ONB

DIGIB1

DIGIB0

ADC_C0

I_ONC

DIGIC1

DIGIC0

DOA

REA

DEA

DIA

ADC_D0

I_OND

DIGID1

DIGID0

MCIN1

MA0MAIN1

MA1

DIGIAI1

MBIN0

MBPWM

MBIN1

MAIN0

MAIN1

MAPWM

MBIN0

MBIN1

MBPWM

MAIN0

INTB0

DIRB

REA DIGIDI0DIGIDI1

DOA

MAPWM

MAIN0

MAIN1

DEA

DIGIA1

DIGIA0 DIGIC0

DIGIC1 DIGID1

DIGIB0

DIGIBI1DIGIB1

DIGID0

GNDGND

DIGIAI1

GND

IPOWERBIPOWERA

GNDGND

ADC_B0

GND

DIGICI0IPOWERCGND

IPOWERDDIGIAI0

I_ONB

IPOWERA

POWERMA

I_ONA

DIGICI1ADC_A0

I_OND

DIGIBI1DIGIBI0

I_ONC

POWERMB

DIGIDI0

GND

POWERMC

DIGIDI1

TACHOA1

TACHOA0 TACHOB0

TACHOB1 TACHOC1

D IRC

TACHOC0

ADC_D0ADC_C0

DIA

INTA0

DIRA

INTC0

P_EN

MB0

MBIN1MB1

MBIN0

MC0MCIN0

MC1

MCIN1

DIGIAI0 DIGIBI0 DIGICI0 DIGIDI0

VCC3V

VCC3VVCC3V

VCC3V VCC3V VCC3V

VCC3VVCC3V

VCC3V

VCC_RS485

VCC9V_MOTOR

VCC3V

VCC3V

VCC3V VCC3V VCC3VVCC3V

VCC3V

VCC5V

VCC_AVR5V

VCC9V VCC9V

VCC5VVCC5V

VCC9V

VCC5V

VCC_AVR5VVCC_AVR5V

VCC9V

VCC_AVR5V

VCC_RS485

VCC3VVCC3V VCC3V

VCC3VVCC3V

VCC3V

VCC_RS485VCC_RS485 VCC_RS485 VCC_RS485

VCC_RS485 VCC_RS485 VCC_RS485 VCC_RS485

REA

DEA

DIA

DOA

DIRB

INTA0

DIRA

MCIN1

MCIN0

MCPWM

INTB0

INTC0

DIRC

ADC_A0

I_ONA

DIGIA0

DIGIA1

DIGID1

DIGIC1

DIGIB1

ADC_B0

I_ONB

DIGIB0

ADC_C0

I_ONC

DIGIC0

ADC_D0

I_OND

DIGID0

MBIN1

MBIN0

MBPWM

MAIN0

MAPWM

MAIN1

P_EN

o f

Title

Project Number


Schematic Name

Date (YYYY/MM/DD)



3 4 A2

LEGO

Hardware

LEGO

I

MotorA

MotorB

MotorC

MotorAMotorB MotorC

NM=NOT MOUNTED

TP88

NM

NM NM

NM NM

NM

NM

NM

LEGO

MINDSTORMS NXT

C68

47pF

C23

10pF

R102

1MEG

Q6APUMH4

C21

10pF

TP7

Q7BPUMT1

U12F74HC14

1312

14

7

TP15

R5

1MEG

R36

10K

R38

10K

RA1B

4.7k

72

D201PS226

C5

100pF

R66

1MEG

TP29

TP57

Q5BPUMT1

R18

1MEG

R49

10K

R39

10K

J7

Modular

123456

R61

4.7K

TP23 TP31

Q6BPUMH4

C3

100pF

R22

4.7K

R57

1K

C25

10pF

D61PS226

TP55

TP8

TP3

TP45

R55

1K

TP16

R1051K

R103

1MEG

R74

4.7K

D111PS226

R11

10K

D19BAT54S

TP30

Q10SS8550

2

13

U12C74HC14

56

14

7

RA1A

4.7k

81

TP24

R3

10K

TP32

C4

100pF

Q3A

PUMT1

R8

1MEG

U12E74HC14

1110

14

7

C65

47pF

J3

Modular

123456

TP47

TP17

R75

4.7K

R26

4.7K

R87

10K

C6

100pF

D161PS226

TP4

TP25

R73

1MEG

TP33

LB1836M

U1 LB1836M

VCC1

IN12

OUT13

Vs14

OUT25

IN26

GND7

GND 14

IN3 13

OUT3 12

Vs2 11

OUT4 10

IN4 9

Vcont 8

D51PS226

R44

4.7K

D21PS226

R119

82K

RA1D

4.7k

54

TP79

R52

1K

R47

4.7K

J8

Modular

123456

C24

10pF

TP56

U12A74HC14

12

14

7

R116

82K

TP46

Q9A

PUMT1

TP18

J9

Modular

123456

R37

10K

R12

10K

D11PS226

D17BAT54S

TP43

D141PS226

R104

1MEG

TP11

R112

82K

R10

10K

R48

10K

J1

Modular

123456

TP26 TP34

Q7A

PUMT1

C66

47pF

R51

10K

R72

1MEG

R2

10K

D24

BAS85

D30

RSX301L-30

R86

10K

R33

39R

Q5A

PUMT1

TP48

R46

4.7K

TP1

TP10

TP54

R7

1MEG

TP44

R1

10K

TP12

C1

100pF

Q4BPUMH4

R32

39R

R63

4.7K

TP27

R59

1K

R68

1MEG

D181PS226

TP35

R62

4.7K

C27

10pF

LB1930M

U2 LB1930M

Vcc1

NC2

IN13

IN24

S-GND5

NC 10

OUT1 9

NC 8

OUT2 7

P-GND 6

R35

39R

R117

82K

R53

1K

R114

82K

R58

1K

RA1C

4.7k

63

R50

10K

R60

4.7K

R76

4.7K

D211PS226

C20

10pF

TP19

R6

1MEG

R45

4.7K

TP9

TP5 D31PS226

R77

4.7K

TP49

R4

1MEG

D131PS226

D221PS226

TP13

C67

47pF

Q3BPUMT1

TP28

R115

82K

R110

10K

D41PS226

U3 ST485

RO1

RE2

DE3

DI4

VCC 8

B 7

A 6

GND 5

R9

1MEG

TP21

R56

1K

C22

10pF

R3439R

Q8BC857B

1

23

TP80

C2

100pF

TP6

Q4APUMH4

R113

82K

R1061.8R

C26

10pF

J2

Modular

123456

TP14

TP89

U12B74HC14

34

14

7

J6

Modular

123456

R118

82K

TP20

D121PS226

R54

1K

C40

100nF

TP22

D8

LL4148

Q9BPUMT1

U12D74HC14

98

14

7

+ C61220uF

D151PS226

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

o f

Title

Project Number


Schematic Name

Date (YYYY/MM/DD)



4 4 A2

LEGO

Hardware

LEGO

I

POWER BLOCK

BATTERY SUPPLY

VCC9V

VCC_AVR5V

VCC3VSTEP-DOWN 5V9V SENSOR

CURRENT GENERATORSENSER VOLTAGERS485LDO 3.3V

AT91SAM7S ARMDISPLAYBT

ATMEGA48BUTTOM 0 - 3ON/OFF

POWER_EN FROM ATMEGA48(PB7)

COMMUNICATION BLOCK

AT91SAM7S

BLUE TOOTH

FULL UART 4 WIRE

VMBT_STATE

VMBT_REQ

I2C

ATMEGA48 DISPLAY

RXD0

TXD0

RS 485HS PORT

DEA REA

SPI

ARM BLOCK

OUTPUTINPUT

AT91SAM7S

MAPWM

MAIN1

MBPWM

MCPWM

MCIN0

MCIN1

INTA

INTB

INTC

DIR_A

DIR_B

DIR_C

ADC_A0

ION_A

DIGIA0

ATMEGA48 INPUTOUTPUT

AVR BLOCK

ADC_B0

ADC_C0

ADC_D0

ION_B

ION_C

ION_D

DIGIA1

DIGIB0

DIGIB1

DIGIC0

DIGIC1

DIGID0

DIGID1

DOA

DIA

BUTTOM 1 - 3 ADC

MBIN1

SPI

MOTORDRIVER

MBIN0

MAIN0

SOUND

VCC9V

ADC_BATT

PC_USB

BUTTOM 0

BTRST

BATT_ADC/SAMBA

BATT_PULS

USB_DP_PULL_UP

DDP, DDM

9V

DEA REA

ADC_I

USB_ADC

DIGID1_ADC

VCC9V_MOTOR

VCC5V_SW

SENSOR PULL-UPSAMBA

VCC_RS485

VCC5V

5V LDOSOUND VOLTAGE

LEGO

MINDSTORMS NXT

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

RSTDIS

BUTTON0

BUTT_ADC

GNDSOBT

SIBTSCKBTCSDIS

BUTT_ADCVCC5V

GNDVCC3V

VCC3V

SOBT

CSDIS

SCKBTSIBT

BUTTON0

VCC3V

VCC3VVCC5V

o f

Title

Project Number


Schematic Name

Date (YYYY/MM/DD)



1 1 A4

LEGO

Keypad

LEGO

A

Connector to main PCB

TP1TP4

TP5

LEGO

MINDSTORMS NXT

J1

10 pin

1 23 45 67 89 10

C2

1uF

J5DRILL 2.0 mm

J2DRILL 2.0 mm

R5

10MEG

TP7

SW2ON/OFF

1 2TP2

R6

0R

R31K

J3DRILL 2.0 mm

TP8

TP3

TP9

TP11

J4DRILL 2.0 mm

LCD1

LCD

CS01

RST2

CD3

SCK4

SDA5

VCC6

GND7

VB1+8

VB1-9

VB0-10

VB0+11

VLCD12

C3

100nFR14.7K

TP10

R4100K

SW4ON/OFF

1 2

C1

1uF

C4

33nF

SW3ON/OFF

1 2

R22.2K

SW1ON/OFF

1 2

TP6

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

o f

Title

Project Number


Schematic Name

Date (YYYY/MM/DD)



1 1 A4

LEGO

Light sensor

LEGO

F

Drills for

LED fix

LEGO

MINDSTORMS NXT

J2DRILL 2.3 mm

R24.7K

R6560R

Q2BPUMX1

J3DRILL 2.3 mm

Q1APUMT1

Q1B

PUMT1

R910K

D1

Red

R1180R

R4330k

Q3SFH309-4

Q4BC847

1

32

Q2APUMX1

R3330R

J1Modular

123456

R710K

R81.8K

R56.8k

C2

470nF

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

VCC/2

DIGIAI0

VCC/2

DIGIAI0

DIGIAI1

VCC/2

Rect. in

VCC/2

Rect. in

DIGIAI1

VCC

VCC

VCCVCC

VCC

VCC

VCC

VCC

VCC

VCC

o f

Title

Project Number


Schematic Name

Date (YYYY/MM/DD)



1 1 A4

LEGO

Sound sensor

LEGO

C

U1 cap U2 cap

LEGO

MINDSTORMS NXT

R12

560K

TP5

TP1

J1Modular

123456

+ C2

10uF

C12 8.2pF

C1220nF

R20

220K

R16 470K

R9

4.7K

C5

2.2nF

D1BAV99

C8

470nF

+

-U1ALM324

3

21

41

1

R10

10K

R5

82k

C7

4.7uF

TP2

R4

4.7K

R1

220K

R21

560R

R18

82K

+

-U1BLM324

5

67

41

1

C6

68pF

C9

100nF

R14

4.7K

R7

18K

TP3

R6 560K

+

-U2ALM358

3

21

84

R31K

+

-U1DLM324

12

1314

41

1

R2

220K

R19

470K

C10

100nF

R8

100K

C3

220nF

R11

56K C11

10nF

+

-U1CLM324

10

98

41

1

TP4

J2

2 Pad

12

+

-U2BLM358

5

67

84

R17

220K

R22

10K

R15

100K

R13

4.7K

Q1BC848B

1

32

C4

68nF

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

o f

Title

Project Number


Schematic Name

Date (YYYY/MM/DD)



1 1 A4

LEGO

Touch sensor

LEGO

A

BN Cable:

1: White

2: Black

3: Red

4: Green

5: Yellow

6: Blue

LEGO

MINDSTORMS NXT

R12.2K

SW1

D3C

1 2

3

J1Modular

123456

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

DIGIAI0DIGIAI1

VCC_5V

VCCGNDGND

P1.0

DIGIAI1DIGIAI0

P3.0/SDA

P1.3/SCL

P1.0

P2.0P3.0/SDA

P2.1

P1.3/SCL

P2.1

RESET

P2.0

VCC

VCC_5V VCC_5V

VCC

VCC

VCC_5VVCC_5V

VCC_5V

VCC_5V

VCC_5V

4.3V_Power

4.3V_Power4.3V_Power

o f

Title

Project Number


Schematic Name

Date (YYYY/MM/DD)



1 1 A3

LEGO

Ultrasonic sensor

LEGO

G

TP12 TP13

TP14

TP3

LEGO

MINDSTORMS NXT

+ C1310uF

U1F

CD4049

1415

C8

10pF

D3

BAV99

C5

220pF

Q3APUMH4

U1C

CD4049

7 6

R19

10K

C1

1nF

Q3BPUMH4

Q1APUMX1

C15

22pF

X1

3.58MHz13

2

PZ1

TCT40-12S2

2

1

C9

10nF

TP10

R10

100K

R7

220R

TP5

C10

47pF

R14

4.7K

RA1B

10K

72

Q2BPUMX1

R17100K

R6

1MEG

C2

100pF

D4

LL4148

U1E

CD4049

1112

R2410K

R16

100R

TP12

RA1D

10K

54

U1D

CD4049

9 10

TP6

R13

82K

TP11

R1

4.7K

R3

220R

R2310K

C11

47pF

C19100nF

R15

4.7K

R12

82K

R9

22K

R2

1MEG

C6

100pF

TP7

PZ2

TCT40-12F2

21

C3

100pF

Q2APUMX1

RA1C

10K

63

Q6A

PUMH4

R21

3.3MEG

J1Modular

123456

C14100nF

U1A

CD4049

32

TP8

U1B

CD4049

5 4

TP2C7

10pF

U2

ESC015

GND11

VCC14

P3.024

P2.226

RESETB 34

P1.0 33

P1.1 32

P1.2 31

P1.3 30

VCC 29

P2.0 28

P2.1 27

GND 38

OSCO 37

OSCI 36

P3.123

RA1A

10K

81

C4

1nF

R8

47K

R181.5MEG

R5

220R

Q1BPUMX1

R22

1.8MEG

R11

330K

D2

BAV99

+ C1610uF

C12

100nF

Q6B

PUMH4

R4

1MEG

TP9

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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 are accessible 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 the distances 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 new measurement 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) .......................................................10 00 BeginInquiry .......................................................................................................................................................... 10 01 CancelInquiry ........................................................................................................................................................ 10 02 Connect ................................................................................................................................................................... 10 03 OpenPort ................................................................................................................................................................ 11 04 LookupName .......................................................................................................................................................... 11 05 AddDevice............................................................................................................................................................... 11 06 RemoveDevice ........................................................................................................................................................ 11 07 DumpList ................................................................................................................................................................ 12 08 CloseConnection..................................................................................................................................................... 12 09 AcceptConnection .................................................................................................................................................. 12 0A PinCode.................................................................................................................................................................. 12 0B OpenStream........................................................................................................................................................... 13 0C StartHeart.............................................................................................................................................................. 13 1C SetDiscoverable ..................................................................................................................................................... 13 1D ClosePort................................................................................................................................................................ 13 21 SetFriendlyName ................................................................................................................................................... 14 23 GetLinkQuality ...................................................................................................................................................... 14 25 SetFactorySettings ................................................................................................................................................. 14 27 GetLocalAddr ........................................................................................................................................................ 14 29 GetFriendlyName................................................................................................................................................... 14 2A GetDiscoverable .................................................................................................................................................... 15 2B GetPortOpen.......................................................................................................................................................... 15 2F GetVersion ............................................................................................................................................................. 15 33 GetBrickStatusbyte................................................................................................................................................ 15 34 SetBrickStatusbyte................................................................................................................................................. 15 35 GetOperatingMode................................................................................................................................................ 16 36 SetOperatingMode................................................................................................................................................. 16 38 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 .......................................................................................................................................... 22 28 GetLocalAddrResult.............................................................................................................................................. 22 2C GetFriendlyNameResult ....................................................................................................................................... 23 2D GetDiscoverableResult.......................................................................................................................................... 23 2E GetPortOpenResult............................................................................................................................................... 23 30 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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