Been doing some research on what are the alternative ways to program the NXT brick other than using NXT-G provided by Lego. It is seen that there quite a number of other alternative ways, but the most interesting one for me is RobotC. Since its using the C language and can keep the existing firmware which seems to be handy, as we can still easily test the new build with programs compiled by NXT-G.
Another completely free (open source) solution is nxtOSEK/JSP. This includes its own RTOS.
IAR provided a free 128KB special edition of IAR Embedded Workbench for LEGO MINDSTORMS NXT too. However it required JTAG for programming the NXT.
Links:
RobotC (http://www.robotc.net/) - single license fee = $30 US (Version 2.01)
nxtOSEK/JSP (http://lejos-osek.sourceforge.net/)
IAR Embedded Workbench (http://iar.com/website1/1.0.1.0/1483/1/)
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