Vex Firmware SDK or Documentation?

How can I get technical information on the Vex IQ Brain firmware or Serial Driver. I am a coach by night but a veteran computer programmer by day, and I would like to make a custom app that compiles code and sends it to the brain, either by usb or smart radio. I noticed that the Smart Radio SDK seems to have functions to send program files to the brain, if they are in the right binary format. Is there documentation on what binary formatting is required? Could I compile C code with GCC, use the Smart Radio SDK to send the executable to the brain and expect it to work?