Since i am not lucky with the original LEGO NXT programmable brick because I need the programming environment provided by LEGO. Sure, there are nice implementations of alternative firmwares around the web but none of them are what I want. Sometimes they are using ugly languages like Java and sometimes the code for the firmware is not public available.
Now I have my solution. Move the LEGO NXT brick to your trash and build one by yourself using Arduino based boards.