Since the mindstorm kit is widely used by students and beginners, demand of a commercial-free integrated embedded working environment turns up. With its help the limitation on working place and complexity of programming can be reduced.  The aim of this project is to use a combination of commercial-free softwares as an embedded working environment. The environment can deal with the mindstorm kit applications directly. In order to show the successful generation of the commercial-freesoftware's project an inverted pendulum is set up. Open source firmware of NXT-G is used to provide basic interface for invoking the functions in NXT master brick. Accelerometer is working as the sensor. The main dynamic controller falls on the PD controller to keep inverted pendulum in vertical and static state. As a result the inverted pendulum programmed in this working environment can keep balance for a couple of seconds.