This software is a port of InfoNES, a NES emulator, for the Raspberry Pi Pico, and supports video and audio output over HDMI.
The ROM should be placed in some way from 0x10080000, and can be easily transferred using picotool.
picotool load foo.nes -t bin -o 0x10080000
You can either place the .nes files directly or place a tar file containing multiple .nes files. The maximum file size that can be used is 1.5 MiB for the standard Raspberry Pi Pico.
The code for HDMI output is based on PicoDVI, please refer to the circuit of the HDMI part of PicoDVI for wiring.