LEGO publiced firmware for NXT Intelligent Brick as Open Source.

There are sveral developer packages, which contains documentation for NXT:

• Software Developer Kit (SDK) - containts information about USB controllers, supported file formats and LEGO byte code
• Hardware Developer Kit (HDK) - containts information and schemas for NXT Brick and sensors
• Bluetooth Developer Kit (BDK) - containts information about comunication with Brick by Bluetooth

What are the possibilities of Mindstorms programming?

• Collation od Mindstorms programming languages

• Zestawienie języków dla Mindstorms (projekt z MIW)

• http://www.lego.com/education/school/default.asp?locale=2057&pagename=nxtcp&l2id=3_2&l3id=3_2_4
• http://mindstorms.lego.com/Overview/NXT_Software.aspx

• http://www.ni.com/academic/mindstorms/works.htm
• http://en.wikipedia.org/wiki/Lego_Mindstorms_NXT

• http://nxtpp.sourceforge.net/

• http://pl.wikipedia.org/wiki/LabVIEW
• http://www.ni.com/labview/
• http://www.labview.pl/
• http://wazniak.mimuw.edu.pl/index.php?title=Laboratorium_wirtualne_1

• http://zone.ni.com/devzone/cda/tut/p/id/4435

• Download Executable File and Bytecode Reference (LEGO MINDSTORMS NXT Executable File Specification.zip 1.16MB)
• http://bricxcc.sourceforge.net/nbc/

• Next Byte Codes
• assembler programming language
• http://en.wikipedia.org/wiki/Next_Byte_Codes
• A lot information about NBC, documentation, tutorial, examples, debbuger

• Not Quite C
• used to Robotics Invention Systems programming
• programming language, API and byte code compiler
• based on C, no-frills, with many restrictions
• http://en.wikipedia.org/wiki/Not_Quite_C
• Tutorial NQC: http://www.mindstorms.pl/nqc.html
• NQC language course: http://www.sprawozdania.info/lego/NQC_tutorial.pdf
• NQC language commands: http://www.sprawozdania.info/lego/NQC_Ref.pdf
• Bricx Command Center 3.3 enviroment to NQC http://bricxcc.sourceforge.net/ http://bricxcc.sourceforge.net/nqc/

• successor of NQC
• used to Mindstorms NXT programming
• http://bricxcc.sourceforge.net/nbc/nxcdoc/index.html

http://bricxcc.sourceforge.net/

• high level language based on Java
• http://en.wikipedia.org/wiki/LeJOS
• http://lejos.sourceforge.net/

• http://en.wikipedia.org/wiki/LEJOS_OSEK

• http://msdn2.microsoft.com/pl-pl/robotics/
• http://en.wikipedia.org/wiki/Microsoft_Robotics_Studio
• http://dobreprogramy.pl/index.php?dz=2&id=2505&Robotics+Studio+1.5.507
• http://blogs.msdn.com/MSRoboticsStudio/