LEGO MINDSTORMS NXT Executable File Specification

Version: 1.0 LEGO® MINDSTORMS® NXT Executable File Specification TASK This document describes the executable file format and bytecode instructions used by the virtual machine in the LEGO® MINDSTORMS® NXT Intelligent Brick. LEGO® MINDSTORMS® NXT Executable File Specification LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS logo are trademarks of the LEGO Group LabVIEW, National Instruments, NI, and ni.com are trademarks of National Instruments. ©2006 The LEGO Group Other product and company names listed are trademarks or trade names of their respective companies. Version: 1.0 Table of Contents Introduction ................................................................................................................................................... 3 Assumptions and Conventions ................................................................................................................. 3 MINDSTORMS NXT and LabVIEW ..................................................................................................... 4 NXT Program Components and Execution .............................................................................................. 4 Bytecode Instructions ........................................................................................................................... 5 Bytecode Scheduling and Parallelism .................................................................................................. 6 Run-time Data ...................................................................................................................................... 7 Polymorphic Instructions and Data Type Compatibility .......................................................................... 10 Data Type Conversion........................................................................................................................ 11 Polymorphic Comparisons ................................................................................................................. 11 Executable File Format ............................................................................................................................... 13 Overview ................................................................................................................................................. 13 File Header ........................................................................…