As Sivan published, he and John made possible to run native ARM codes from RAM. This requires an “enhanced” firmware version is compatible with NXT-G, LabView and NXC but can also run native codes. Takashi Chikamasa has now made a beta version of nxtOSEK which support this enhanced firmware. You can write a code, complie it using nxtOSEK and run on the firmware John Hansen made.

Here’re more details from Takashi:

I just uploaded a beta version of nxtOSEK (v2.02b0) which supports the enhanced NXT firmware:
https://sourceforge.net/project/showfiles.php?group_id=196690&package_id=274370&release_id=601108

nxtOSEK application is stored in Flash and it copied and executed from RAM. Once nxtOSEK is executed, NXT is fully controlled by nxtOSEK application, so there is no difference between nxtOSEK in ramboot and nxtOSEK in the enhanced firmware.
There are several benefits in case of using the enhanced LEGO standard firmware:
- You can use NXT-G, NXC/NBC and nxtOSEK without replacing the firmware.
- You can upload multiple nxtOSEK applications to a NXT.
- Support for Windows Vista (I guess)

If you wanted to write larger application over 64Kbytes, you could use NXT BIOS instead of the enhanced firmware. (max. 224Kbytes Flash are available for your C/C++ application with nxtOSEK)

For more detailed information about this new feature, please check readme.txt in the zip file.

P.S. nxtOSEK v2.02 also supports LATTEBOX NXTe RC servo controller such as leJOS has done. NXT becomes more than just a LEGO (even it’s already enough great), but a multi-purpose embedded platform!