pybricks · laurensvalk · Dec 16, 2025 · Dec 12, 2025 · Dec 12, 2025 · Dec 12, 2025
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -8,6 +8,7 @@
 
 ### Added
 - Added preliminary BTstack support for EV3 ([pybricks-micropython#405]).
+- Enabled NXT Light Sensor, NXT Touch Sensor, NXT Sound Sensor on NXT.
 
 ### Changed
 - Make 3D orientation default for heading and drivebase heading control ([support#1962]).

diff --git a/Makefile b/Makefile
@@ -28,9 +28,9 @@ doc:
 clean-doc:
 	@$(MAKE) -C lib/pbio/doc clean
 
-all: movehub cityhub technichub primehub essentialhub virtualhub nxt ev3 doc
+all: movehub cityhub technichub primehub essentialhub virtualhub nxt ev3 buildhat doc 
 
-clean-all: clean-movehub clean-cityhub clean-technichub clean-primehub clean-essentialhub clean-virtualhub clean-nxt clean-ev3 clean-doc
+clean-all: clean-movehub clean-cityhub clean-technichub clean-primehub clean-essentialhub clean-virtualhub clean-nxt clean-ev3 clean-buildhat clean-doc
 
 ev3: mpy-cross
 	@$(MAKE) -C bricks/ev3
@@ -82,6 +82,12 @@ clean-virtualhub: clean-mpy-cross
 	@$(MAKE) -C bricks/virtualhub clean BUILD=build-debug
 	@$(MAKE) -C bricks/virtualhub clean BUILD=build-coverage
 
+buildhat: mpy-cross
+	@$(MAKE) -C bricks/buildhat
+
+clean-buildhat: clean-mpy-cross
+	@$(MAKE) -C bricks/buildhat clean
+
 mpy-cross:
 	@$(MAKE) -C micropython/mpy-cross CROSS_COMPILE=$(HOST_CROSS_COMPILE)
 

diff --git a/bricks/_common/common.mk b/bricks/_common/common.mk
@@ -489,7 +489,6 @@ NXOS_SRC_C = $(addprefix lib/pbio/platform/nxt/nxos/,\
 	drivers/_twi.c \
 	drivers/_uart.c \
 	drivers/aic.c \
-	drivers/avr.c \
 	drivers/bt.c \
 	drivers/i2c_memory.c \
 	drivers/i2c.c \

diff --git a/bricks/_common/qstrdefs.h b/bricks/_common/qstrdefs.h
@@ -35,7 +35,7 @@ Q(pybricks.nxtdevices)
 Q(pybricks.parameters)
 #endif
 
-#if PYBRICKS_PY_PUPDEVICES || PYBRICKS_PY_EV3_PUP_ALIAS
+#if PYBRICKS_PY_PUPDEVICES || PYBRICKS_PY_EV3_PUP_ALIAS || PYBRICKS_PY_NXT_PUP_ALIAS
 Q(pybricks.pupdevices)
 #endif
 

diff --git a/bricks/_common/sources.mk b/bricks/_common/sources.mk
@@ -103,6 +103,7 @@ PYBRICKS_PYBRICKS_SRC_C = $(addprefix pybricks/,\
 
 PBIO_SRC_C = $(addprefix lib/pbio/,\
 	drv/adc/adc_ev3.c \
+	drv/adc/adc_nxt.c \
 	drv/adc/adc_stm32_hal.c \
 	drv/adc/adc_stm32f0.c \
 	drv/battery/battery_adc.c \
@@ -144,6 +145,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	drv/display/display_ev3.c \
 	drv/display/display_virtual.c \
 	drv/gpio/gpio_ev3.c \
+	drv/gpio/gpio_nxt.c \
 	drv/gpio/gpio_pico.c \
 	drv/gpio/gpio_stm32f0.c \
 	drv/gpio/gpio_stm32f4.c \
@@ -174,6 +176,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	drv/reset/reset_stm32.c \
 	drv/resistor_ladder/resistor_ladder.c \
 	drv/rproc/rproc_ev3.c \
+	drv/rproc/rproc_nxt.c \
 	drv/sound/beep_sampled.c \
 	drv/sound/sound_ev3.c \
 	drv/sound/sound_nxt.c \

diff --git a/bricks/nxt/mpconfigport.h b/bricks/nxt/mpconfigport.h
@@ -8,6 +8,9 @@
 #define PYBRICKS_HUB_CLASS_NAME                 (MP_QSTR_NXTBrick)
 
 #define PYBRICKS_HUB_NXTBRICK                   (1)
+// On EV3, allow PUP imports for easy beta testing
+#define PYBRICKS_PY_NXT_PUP_ALIAS               (1)
+#define PYBRICKS_HUB_CLASS_NAME_ALIAS           (MP_QSTR_PrimeHub)
 
 // Pybricks modules
 #define PYBRICKS_PY_COMMON                      (1)

diff --git a/lib/pbio/drv/adc/adc_nxt.c b/lib/pbio/drv/adc/adc_nxt.c
@@ -0,0 +1,43 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2018-2023 The Pybricks Authors
+
+#include <pbdrv/config.h>
+
+#if PBDRV_CONFIG_ADC_NXT
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <pbdrv/adc.h>
+#include <pbdrv/clock.h>
+
+#include <pbio/error.h>
+#include <pbio/util.h>
+
+#include "../rproc/rproc_nxt.h"
+
+void pbdrv_adc_init(void) {
+}
+
+pbio_error_t pbdrv_adc_await_new_samples(pbio_os_state_t *state, uint32_t *start_time_us, uint32_t future_us) {
+
+    PBIO_OS_ASYNC_BEGIN(state);
+    *start_time_us = pbdrv_clock_get_ms();
+    // REVISIT: Pass channel ID to this function so we can adjust the wait time
+    // to the specific sample coming in. The AVR adc samples will be slower.
+    PBIO_OS_AWAIT_UNTIL(state, pbio_util_time_has_passed(pbdrv_clock_get_ms(), *start_time_us + 7));
+    PBIO_OS_ASYNC_END(PBIO_SUCCESS);
+}
+
+pbio_error_t pbdrv_adc_get_ch(uint8_t ch, uint16_t *value) {
+
+    if (ch < 4) {
+        return pbdrv_rproc_nxt_get_sensor_adc(ch, value);
+    }
+
+    // TODO: AT91SAM7S256 internal ADC.
+    *value = 0;
+    return PBIO_SUCCESS;
+}
+
+#endif // PBDRV_CONFIG_ADC_NXT
diff --git a/lib/pbio/drv/battery/battery_nxt.c b/lib/pbio/drv/battery/battery_nxt.c
@@ -10,17 +10,16 @@
 #include <stdbool.h>
 #include <stdio.h>
 
-#include <nxos/drivers/avr.h>
-
 #include <pbdrv/battery.h>
 #include <pbio/error.h>
 
+#include "../rproc/rproc_nxt.h"
+
 void pbdrv_battery_init(void) {
 }
 
 pbio_error_t pbdrv_battery_get_voltage_now(uint16_t *value) {
-    // REVISIT: Voltage appears off by a factor 2
-    *value = nx_avr_get_battery_voltage();
+    pbdrv_rproc_nxt_get_battery_info(value);
     return PBIO_SUCCESS;
 }
 
@@ -30,7 +29,8 @@ pbio_error_t pbdrv_battery_get_current_now(uint16_t *value) {
 }
 
 pbio_error_t pbdrv_battery_get_type(pbdrv_battery_type_t *value) {
-    *value = nx_avr_battery_is_accu_pack() ? PBDRV_BATTERY_TYPE_LIION : PBDRV_BATTERY_TYPE_ALKALINE;
+    uint16_t voltage;
+    *value = pbdrv_rproc_nxt_get_battery_info(&voltage) ? PBDRV_BATTERY_TYPE_LIION : PBDRV_BATTERY_TYPE_ALKALINE;
     return PBIO_SUCCESS;
 }
 

diff --git a/lib/pbio/drv/button/button_nxt.c b/lib/pbio/drv/button/button_nxt.c
@@ -6,34 +6,15 @@
 #if PBDRV_CONFIG_BUTTON_NXT
 
 #include <pbio/button.h>
-#include <pbio/config.h>
 #include <pbio/error.h>
 
-#include <nxos/drivers/avr.h>
+#include "../rproc/rproc_nxt.h"
 
 void pbdrv_button_init(void) {
 }
 
 pbio_button_flags_t pbdrv_button_get_pressed(void) {
-
-    nx_avr_button_t button = nx_avr_get_button();
-
-    pbio_button_flags_t pressed = 0;
-
-    if (button == BUTTON_OK) {
-        pressed |= PBIO_BUTTON_CENTER;
-    }
-    if (button == BUTTON_LEFT) {
-        pressed |= PBIO_BUTTON_LEFT;
-    }
-    if (button == BUTTON_RIGHT) {
-        pressed |= PBIO_BUTTON_RIGHT;
-    }
-    if (button == BUTTON_CANCEL) {
-        pressed |= PBIO_BUTTON_DOWN;
-    }
-
-    return pressed;
+    return pbdrv_rproc_nxt_get_button_pressed();
 }
 
 #endif // PBDRV_CONFIG_BUTTON_NXT
diff --git a/lib/pbio/drv/clock/clock_nxt.c b/lib/pbio/drv/clock/clock_nxt.c
@@ -1,6 +1,6 @@
 // SPDX-License-Identifier: GPL-2.0-only
 // Copyright (C) 2007 the NxOS developers
-// See AUTHORS for a full list of the developers.
+// See lib/pbio/platform/nxt/nxos/AUTHORS for a full list of the developers.
 // Copyright (c) 2023 The Pybricks Authors
 
 #include <pbdrv/config.h>
@@ -15,7 +15,6 @@
 #include <nxos/nxt.h>
 #include <nxos/interrupts.h>
 #include <nxos/drivers/aic.h>
-#include <nxos/drivers/_avr.h>
 #include <nxos/drivers/_lcd.h>
 
 /* The main clock is at 48MHz, and the PIT divides that by 16 to get
@@ -43,13 +42,6 @@ static void systick_isr(void) {
     pbdrv_clock_ticks++;
     pbio_os_request_poll();
 
-    /* Keeping up with the AVR link is a crucial task in the system, and
-     * must absolutely be kept up with at all costs.
-     *
-     * As a result, this handler must be *very* fast.
-     */
-    nx__avr_fast_update();
-
     /* The LCD dirty display routine can be done here too, since it is
      * very short.
      */

diff --git a/lib/pbio/drv/gpio/gpio_nxt.c b/lib/pbio/drv/gpio/gpio_nxt.c
@@ -0,0 +1,68 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2025 The Pybricks Authors
+
+#include "pbdrv/config.h"
+
+#if PBDRV_CONFIG_GPIO_NXT
+
+#include <stdint.h>
+
+#include "pbdrv/gpio.h"
+
+#include "at91sam7s256.h"
+
+// Bank field is ignored for AT91SAM7S256. It is always PIOA.
+
+#include <pbdrv/usb.h>
+
+void pbdrv_gpio_out_low(const pbdrv_gpio_t *gpio) {
+    if (!gpio) {
+        return;
+    }
+    *AT91C_PIOA_OER = (1 << gpio->pin);
+    *AT91C_PIOA_CODR = (1 << gpio->pin);
+}
+
+void pbdrv_gpio_out_high(const pbdrv_gpio_t *gpio) {
+    if (!gpio) {
+        return;
+    }
+    *AT91C_PIOA_OER = (1 << gpio->pin);
+    *AT91C_PIOA_SODR = (1 << gpio->pin);
+}
+
+uint8_t pbdrv_gpio_input(const pbdrv_gpio_t *gpio) {
+    if (!gpio) {
+        return 0;
+    }
+    *AT91C_PIOA_ODR = (1 << gpio->pin);
+    return !!(*AT91C_PIOA_PDSR & (1 << gpio->pin));
+}
+
+void pbdrv_gpio_alt(const pbdrv_gpio_t *gpio, uint8_t alt) {
+    if (!gpio) {
+        return;
+    }
+    if (alt) {
+        // Enable peripheral control.
+        *AT91C_PIOA_PDR = (1 << gpio->pin);
+    } else {
+        // Enable GPIO control.
+        *AT91C_PIOA_PER = (1 << gpio->pin);
+    }
+}
+
+void pbdrv_gpio_set_pull(const pbdrv_gpio_t *gpio, pbdrv_gpio_pull_t pull) {
+    if (!gpio) {
+        return;
+    }
+    if (pull == PBDRV_GPIO_PULL_UP) {
+        *AT91C_PIOA_PPUER = (1 << gpio->pin);
+    } else if (pull == PBDRV_GPIO_PULL_NONE) {
+        *AT91C_PIOA_PPUDR = (1 << gpio->pin);
+    } else {
+        // AT91SAM7S256 does not have pull-down.
+    }
+}
+
+#endif // PBDRV_CONFIG_GPIO_NXT
diff --git a/lib/pbio/drv/ioport/ioport.c b/lib/pbio/drv/ioport/ioport.c
@@ -20,18 +20,23 @@ static pbio_error_t pbdrv_ioport_p5p6_pin_reset(const pbdrv_ioport_pins_t *pins)
 
     pbdrv_gpio_input(&pins->p5);
     pbdrv_gpio_input(&pins->p6);
+    #if PBDRV_CONFIG_IOPORT_HAS_UART
     pbdrv_gpio_input(&pins->uart_tx);
     pbdrv_gpio_input(&pins->uart_rx);
     pbdrv_gpio_out_high(&pins->uart_buf);
+    #endif
 
     // These should be set by default already, but it seems that the
     // bootloader on the Technic hub changes these and causes wrong
     // detection if we don't make sure pull is disabled.
     pbdrv_gpio_set_pull(&pins->p5, PBDRV_GPIO_PULL_NONE);
     pbdrv_gpio_set_pull(&pins->p6, PBDRV_GPIO_PULL_NONE);
+
+    #if PBDRV_CONFIG_IOPORT_HAS_UART
     pbdrv_gpio_set_pull(&pins->uart_buf, PBDRV_GPIO_PULL_NONE);
     pbdrv_gpio_set_pull(&pins->uart_tx, PBDRV_GPIO_PULL_NONE);
     pbdrv_gpio_set_pull(&pins->uart_rx, PBDRV_GPIO_PULL_NONE);
+    #endif
 
     return PBIO_SUCCESS;
 }
@@ -44,6 +49,7 @@ pbio_error_t pbdrv_ioport_p5p6_set_mode(const pbdrv_ioport_pins_t *pins, pbdrv_i
         // This is the same as the default mode.
         return pbdrv_ioport_p5p6_pin_reset(pins);
     } else if (mode == PBDRV_IOPORT_P5P6_MODE_UART) {
+        #if PBDRV_CONFIG_IOPORT_HAS_UART
         err = pbdrv_ioport_p5p6_pin_reset(pins);
         if (err != PBIO_SUCCESS) {
             return err;
@@ -53,6 +59,9 @@ pbio_error_t pbdrv_ioport_p5p6_set_mode(const pbdrv_ioport_pins_t *pins, pbdrv_i
         pbdrv_gpio_alt(&pins->uart_tx, pins->uart_tx_alt_uart);
         pbdrv_gpio_out_low(&pins->uart_buf);
         return PBIO_SUCCESS;
+        #else // PBDRV_CONFIG_IOPORT_HAS_UART
+        return PBIO_ERROR_NOT_SUPPORTED;
+        #endif // PBDRV_CONFIG_IOPORT_HAS_UART
     } else if (mode == PBDRV_IOPORT_P5P6_MODE_I2C) {
         err = pbdrv_ioport_p5p6_pin_reset(pins);
         if (err != PBIO_SUCCESS) {