appendix 3-lego mindstorms nxt arm7 bluetooth interface specification

8/13/2019 Appendix 3-LEGO MINDSTORMS NXT ARM7 Bluetooth Interface Specification

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TABLE OF CONTENTS ......................................................................................................2

HARDWARE INTERFACE..................................................................................................4Control signals ............. ............. .............. ............ .............. ............. ............ .............. ............. .............. ............ .............. 4SPI interface..................................................................................................................................................................4UART interface.............................................................................................................................................................4

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

COMMAND MESSAGES BETWEEN BLUECORETM& ARM7 ..........................................6Message diagram ............ ............ ............. .............. ............. ............. ............. .............. ............. ............ .............. ........... 6BlueCore

TMstate diagram............................................................................................................................................7

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

DONT_BREAK_STREAM_MODE ............. .............. ............. ............ .............. ............. ............ .............. .............. .... 8

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

COMMAND MESSAGES (ARM7 => BLUECORETM) .......................................................1000 BeginInquiry .............. ............ ............. .............. ............. ............. ............. .............. ............. ............ .............. ......... 1001 CancelInquiry ............ ............ ............. .............. ............. ............. ............. .............. ............. ............ .............. ......... 1002 Connect ................................................................................................................................................................... 1003 OpenPort ............. ............. ............. ............. .............. ............. ............ .............. ............. ............ .............. .............. .. 1104 LookupName............... .............. ............. ............ .............. ............. .............. ............ ............. .............. ............. ....... 1105 AddDevice......... .............. ............. ............ .............. ............. .............. ............ .............. ............. ............ .............. ..... 1106 RemoveDevice ........................................................................................................................................................ 1107 DumpList ................................................................................................................................................................ 1208 CloseConnection................. ............. .............. ............ .............. ............. ............ .............. ............. .............. ............. 1209 AcceptConnection .............. ............. ............ .............. ............. .............. ............ .............. ............. .............. ............. 120A PinCode........ .............. ............ ............. .............. ............. ............. ............. .............. ............. ............ .............. ......... 120B OpenStream.... ............ .............. ............. ............ .............. ............. .............. ............ ............. .............. ............. ....... 130C StartHeart.... .............. ............ ............. .............. ............. ............. ............. .............. ............. ............ .............. ......... 131C SetDiscoverable ..................................................................................................................................................... 131D ClosePort............. ............. ............. ............. .............. ............. ............ .............. ............. ............ .............. .............. .. 1321 SetFriendlyName ............. ............. ............. .............. ............. ............ .............. ............. ............ .............. .............. .. 1423 GetLinkQuality .............. ............. ............ .............. ............. .............. ............ .............. ............. ............ .............. ..... 1425 SetFactorySettings........... ............. ............. .............. ............. ............ .............. ............. .............. ............ .............. .. 1427 GetLocalAddr ............ ............ ............. .............. ............. ............. ............. .............. ............. ............ .............. ......... 1429 GetFriendlyName.................. ............. ............ .............. ............. ............ .............. ............. .............. ............ ............ 142A GetDiscoverable .................................................................................................................................................... 152B GetPortOpen............... .............. ............. ............ .............. ............. .............. ............ ............. .............. ............. ....... 15

2F GetVersion .............. ............. .............. ............ .............. ............. ............ .............. ............. .............. ............ ............ 1533 GetBrickStatusbyte.............. .............. ............ .............. ............. ............ .............. ............. .............. ............ ............ 1534 SetBrickStatusbyte...................... ............ .............. ............. .............. ............ .............. ............. ............ .............. ..... 1535 GetOperatingMode..... .............. ............. ............ .............. ............. .............. ............ ............. .............. ............. ....... 1636 SetOperatingMode............. ............. ............ .............. ............. .............. ............ .............. ............. .............. ............. 1638 GetConnectionStatus............. ............. .............. ............. ............. ............. .............. ............. ............ .............. ......... 163A GotoDFUMode...................................................................................................................................................... 16

RESULT MESSAGES (BLUECORETM=> ARM7) ............................................................170D Heartbeat............................................................................................................................................................... 17


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0E InquiryRunning............. ............. ............ .............. ............. .............. ............ .............. ............. ............ .............. ..... 170F InquiryResult.............. .............. ............. ............ .............. ............. .............. ............ ............. .............. ............. ....... 1710 InquiryStopped ...................................................................................................................................................... 1711 LookupNameResult .............. ............. ............ .............. ............. ............ .............. ............. .............. ............ ............ 1812 LookupNameFailure...... ............. ............ .............. ............. .............. ............ .............. ............. ............ .............. ..... 1813 ConnectResult ........................................................................................................................................................ 1814 ResetIndication................. ............. ............. .............. ............. ............ .............. ............. .............. ............ .............. .. 1815 RequestPinCode............... ............. ............. .............. ............. ............ .............. ............. .............. ............ .............. .. 1916 RequestConnection............ ............. .............. ............ .............. ............. ............ .............. ............. .............. ............. 1917 ListResult...... .............. ............ ............. .............. ............. ............. ............. .............. ............. ............ .............. ......... 1918 ListItem............ ............ .............. ............. ............ .............. ............. .............. ............ ............. .............. ............. ....... 2019 ListDumpStopped.............. ............. ............ .............. ............. .............. ............ .............. ............. .............. ............. 201A CloseConnectionResult..... ............. .............. ............ .............. ............. ............ .............. ............. .............. ............. 201B PortOpenResult............... ............. ............. .............. ............. ............ .............. ............. .............. ............ .............. .. 211E ClosePortResult............. ............. ............ .............. ............. .............. ............ .............. ............. ............ .............. ..... 211F PinCodeAck ........................................................................................................................................................... 2120 SetDiscoverableAck .............. ............. ............ .............. ............. ............ .............. ............. .............. ............ ............ 2122 SetFriendlyNameAck.................... ............. .............. ............. ............ .............. ............. ............ .............. .............. .. 2224 LinkQualityResult ........... ............. ............. .............. ............. ............ .............. ............. .............. ............ .............. .. 2226 SetFactorySettingsAck ............. ............. ............ .............. ............. .............. ............ ............. .............. ............. ....... 2228 GetLocalAddrResult............. ............. ............ .............. ............. ............ .............. ............. .............. ............ ............ 222C GetFriendlyNameResult...... ............. ............ .............. ............. ............ .............. ............. .............. ............ ............ 232D GetDiscoverableResult................. ............. .............. ............. ............ .............. ............. .............. ............ .............. .. 232E GetPortOpenResult......... ............. ............. .............. ............. ............ .............. ............. .............. ............ .............. .. 2330 GetVersionResult ............. ............. ............. .............. ............. ............ .............. ............. ............ .............. .............. .. 2331 GetBrickStatusbyteResult........ ............. ............ .............. ............. .............. ............ ............. .............. .............. ...... 2332 SetBrickStatusbyteResult............... ............ .............. .............. ............. ............ .............. ............. .............. ............. 2437 OperatingModeResult .............. ............. ............ .............. ............. .............. ............ ............. .............. .............. ...... 2439 ConnectionStatusResult ............. ............ .............. ............. .............. ............ .............. ............. ............ .............. ..... 24

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


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Figure 1: Block diagram for communication between the BlueCoreTMand ARM7 processors


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STREAM_BREAKING_MODE DONT_BREAK_STREAM_MODE

Connection request 1) If in stream_mode then break the

stream

2) Send a ConnectionRequest telegram

1) If in stream_mode then reject the

request

2) Else if remote device in device list

then send ConnectionRequest

telegram

3) Else reject the request

Pairing request 1) If in stream_mode then ignore the

request

2) Else send PinCodeRequest telegram

1) If in stream_mode then ignore the

request

2) Else send PinCodeRequest telegram

Disconnection 1) If in stream_mode then break the

stream

2) Send CloseConnectionResult

telegram

1) If in stream_mode with current

stream then close stream and send

CloseConnectionResult telegram

2) Else if in stream_mode then wait for

cmd_mode and send

CloseConnectionResult

3) Else send CloseConnectionResult


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appendix 3-lego mindstorms nxt arm7 bluetooth interface specification

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