Senior Firmware Engineer

At Rhoda AI, we’re building the next generation of generalist intelligent robots. We own the full robotics stack from high-performance hardware and robot systems to the infrastructure and state-of-the-art foundation world models that control our robots. Our robots are designed to be generalists capable of operating in complex, real-world environments and handling long-tail edge cases, made possible by our cutting edge research and end-to-end system design. We've raised over $450M and are investing aggressively in model research, infrastructure, hardware development, and manufacturing scale-up to make generalist robotics a reality. You will own the development of Rhoda's low-level firmware stack for distributed real-time control across humanoid platforms. This role centers on deterministic communication, control-loop synchronization, and embedded software robustness in an EtherCAT environment spanning dozens of joints, sensors, and distributed controllers. You will design, implement, and validate firmware components that guarantee sub-millisecond coordination between motor drivers, safety controllers, and perception nodes — bridging the mechanical, electrical, and control domains. This role is an MTS with a clear path to grow! What You'll Do Select and tune RTOS; define priorities and scheduling; optimize interrupt and DMA paths; harden watchdogs and recovery; measure and guard timing budgets Design, implement, and maintain low-level firmware for real-time motion control nodes over EtherCAT Develop synchronization and communication layers ensuring deterministic cycle times (<1ms) Configure and optimize EtherCAT masters and slaves (distributed clocks, mailbox protocols, PDO mapping) Implement real-time safety mechanisms (Safe Torque Off, watchdogs, and heartbeat monitoring) Collaborate with Electronics, Controls, and Systems teams to define timing budgets and data interfaces Contribute to the architecture of the hardware abstraction layer (HAL) and firmware APIs for actuator control Develop unit, HIL, and integration tests for firmware validation Profile and optimize ISR and DMA paths to minimize latency and jitter Support bring-up and debugging of custom actuator controllers and sensor boards Document firmware architecture, test results, and safety compliance evidence for design reviews What We're Looking For Bachelor's or higher in Electrical Engineering, Computer Engineering, or Robotics 2+ years of experience in embedded firmware development for real-time control systems Experience with low-level system interfaces (I2C, SPI, Ethernet, USB, CAN bus) Experience with micro-controller firmware development across ARM Cortex-M and similar architectures Proficiency in C/C++ and experience with low-level debugging (JTAG, logic analyzers, oscilloscopes) Experience with real time operating systems (RTOS) (FreeRTOS, Zephyr RTOS) Familiarity with SPI, I²C, UART, PWM, ADC, and sensor interface design Demonstrated ability to write reliable, well-structured, and maintainable embedded code in safety-critical environments Evidence of shipping real-time-critical products Nice to Have (But Not Required) Embedded Linux software development. Board Support Package (BSP) development and integration on Linux-based platforms Linux kernel programming: device tree, Kconfig, device drivers, kernel modules. Experience with GMSL2 and MIPI-CSI2 camera drivers (V4L2). Experience with Field-Oriented Control (FOC) implementation for BLDC motor drives Yocto Project / Bitbake for custom distribution builds.