One of the best explanations I found was an old copy of the NXC programmer's guide. NXC (Not eXactly C) is an alternative frontend for creating NXT programs for the stock firmware in a C-like language rather than graphical blocks. This programmer's guide lists all of the IO-Map offsets for each firmware module, and the explanations make it clear that IO-Maps contain essentially all of each module's internal state.
printf("%08zx:\t", i);
，详情可参考新收录的资料
Up to 4K 60fps, 8K 30fps，这一点在新收录的资料中也有详细论述
Фото: Алексей Майшев / РИА Новости。关于这个话题，新收录的资料提供了深入分析