What I've done in the past is do a basic disassembly of the ROM (try to identify code vs. data as much as possible), and then look through the code for various input/output instructions. If you know what peripheral chips are being used, you can usually determine what the I/O instructions are doing and work outward to identify routines. Of course, you need to have ready access to the chip datasheets and a high-level understanding of how they work. And it helps if you've seen code that uses those chips before (makes it easier to identify routines). That's how I'd approach it, at least.
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