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

LEGO® MINDSTORMS® NXT COMMUNICATION PROTOCOL ........................................3
OVERALL SYSTEM COMMUNICATION LAYERS ............................................................4
COMMANDS WITHIN THE COMMUNICATION PROTOCOL ............................................5
Open write command: .................................................................................................................................................. 7
Read command: ............................................................................................................................................................ 8
Write command: ........................................................................................................................................................... 8
Close command:............................................................................................................................................................ 8
Delete command: .......................................................................................................................................................... 9
Find first:....................................................................................................................................................................... 9
Find next:..................................................................................................................................................................... 10
Get firmware version: ................................................................................................................................................ 11
Open write linear command: ..................................................................................................................................... 11
Open read linear command (internal command): ................................................................................................... 12
Open write data command:........................................................................................................................................ 12
Open append data command:.................................................................................................................................... 13
Boot command: ........................................................................................................................................................... 13
Set brick name command:.......................................................................................................................................... 13
Get Device Info: .......................................................................................................................................................... 14
Direct commands: ....................................................................................................................................................... 14
Delete User Flash: ....................................................................................................................................................... 14
Poll Command Length: .............................................................................................................................................. 15
Poll Command: ........................................................................................................................................................... 15
Bluetooth Factory Reset Command: ......................................................................................................................... 15
Message command:..................................................................................................................................................... 15
Error message back to the host: ................................................................................................................................ 16
Wild cards: .................................................................................................................................................................. 16
File name conventions: ............................................................................................................................................... 16
IO-MAP ACCESS ..............................................................................................................18
Direct IO-Map addressing and identification: ......................................................................................................... 18
Module ID encoding: .................................................................................................................................................. 18
Request First Module: ................................................................................................................................................ 19
Request Next Module: ................................................................................................................................................ 19
Close Module Handle command: .............................................................................................................................. 20
Read IO Map command:............................................................................................................................................ 20
Write IO Map command:........................................................................................................................................... 21
BLUETOOTH® COMMUNICATION...................................................................................22
Bluetooth® Class Of Device (COD)............................................................................................................................ 23
USB COMMUNICATION ...................................................................................................24

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• Bluetooth® communication, V2.0 with EDR.

o Supporting the Serial Port Profile (SPP)
• USB communication, V2.0

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• One 6 wired digital communication port, maximum communication speed at 1 Mbit/s (High speed port)
• Four 6 wired digital communication ports, maximum communication speed at 9600 bit/s (Low speed ports)

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Figure 1: Communication block diagram

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• Download firmware *.rfw
• Download user defined programs *.rxe
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• Try-Me programs (Files are pre-programmed) *.rtm
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• Upload datalog files *.rdt

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• Delete sounds *.rso
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• Delete datalog files *.rdt

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• Direct commands to the virtual machine
• Messages command to mailboxes (Like the PB message in RCX 2.0)
• Data directly from the high speed port
o Data should be written into a file on the HOST PC (This could be done using a handler which is
specified to a handler. Then the communication port could be seen as a file, both as read and write).

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• 0x00: Direct command, reply required

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• 0x02: Reply command

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• 0x81: System command, reply not required

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• Success 0x00
• No more handles 0x81
• No space 0x82
• No more files 0x83
• End of file expected 0x84
• End of file 0x85
• Not a linear file 0x86
• File not found 0x87
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• Device is not responding. This is included within the USB and Bluetooth protocols.
• Not ready for receiving data. This is included within the USB and Bluetooth protocols.

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Figure 3: Data packages when sending Bluetooth® commands

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Table 1: Major Device Classes
12 11 10 9 8 Major Device Class
0 0 0 0 0 Miscellaneous [Ref #2]
0 0 0 0 1 Computer (desktop, notebook, PDA, organizers, .... )
0 0 0 1 0 Phone (cellular, cordless, payphone, modem, ...)
0 0 0 1 1 LAN /Network Access point
0 0 1 0 0 Audio/Video (headset, speaker, stereo, video display, vcr, ...
0 0 1 0 1 Peripheral (mouse, joystick, keyboards, ... )
0 0 1 1 0 Imaging (printing, scanner, camera, display, ...)
0 0 1 1 1 Wearable
0 1 0 0 0 Toy
1 1 1 1 1 Uncategorized, specific device code not specified

X X X X X All other values reserved

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Table 2: Minor Device Classes

Minor Device Class
7 6 5 4 3 2 bit no. of COD
0 0 0 0 0 1 Robot
0 0 0 0 1 0 Vehicle
0 0 0 0 1 1 Doll / Action Figure
0 0 0 1 0 0 Controller
0 0 0 1 0 1 Game
X X X X X X All other values reserved

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