5+ years of embedded firmware development in C/C++ on real hardware, particularly with interrupts and timing-critical execution
Understanding of power conversion fundamentals and AC-DC topologies
Knowledge of lithium-ion battery charging protocols and their implications on cell degradation
Fluency in embedded bus systems, especially CAN for charger-to-BMS communication
Experience in hardware debugging at the firmware-hardware interface using specialized tools
Responsibilities
Develop and maintain firmware for AC-DC power conversion and charger management
Implement charge profiles for multi-series lithium-ion packs
Architect communication interface between charger and battery management systems
Test and validate firmware to ensure performance and reliability
Implement control loops for voltage and current regulation in firmware
Develop firmware for fault detection and safety mechanisms
Benefits
Comprehensive medical, dental, and vision coverage
Generous paid time off, holidays, and parental leave
401(k) plan with a company match
Flexible Spending Accounts (FSA) and Health Savings Accounts (HSA) available
Commuter benefits
Short-term and long-term disability, and life insurance
Employee Assistance Program (EAP) for support
Onsite snacks and catered lunches
Full Job Description
Your Charter
Own the firmware layer across one or more of the robot's core hardware subsystems-ensuring embedded software that is robust, safe, and maintainable across prototype and production platforms. As one of the first companies building general-purpose humanoid robots at scale, firmware quality is non-negotiable: it determines whether the robot operates safely in uncontrolled environments, whether hardware brings up on schedule, and whether the team can move fast as the system grows to 20+ distributed embedded nodes.
Key Outcomes
Develop and maintain charger firmware controlling AC-DC power conversion stages, including power factor correction and isolated DC-DC conversion topologies
Implement charge profile management for multi-series lithium-ion packs: constant- current, constant-voltage, and taper phases with cell-chemistry-appropriate voltage and current limits
Architect the charger-to-BMS communication interface over CAN or similar embedded bus, coordinating charge current requests, pack voltage feedback, temperature limits, and fault signaling between the two subsystems
Responsible for the testing, validation, and verification of initial firmware releases to ensure functionality, reliability, and performance requirements are met
Implement power converter control loops in firmware: voltage regulation, current regulation, and soft-start sequencing with stability under varying line and load conditions
Develop fault detection and protection firmware: input overvoltage/undervoltage, output overcurrent, overtemperature, ground fault, and loss-of-communication with the BMS, each with defined safe-state transitions
Key Competencies
Deep embedded instincts writingfirmware that is correct under real hardware conditions: interrupt timing, DMA conflicts, communication protocol edge cases, and hardware fault behavior
First-principles problem solver diagnosing novel failures at the firmware-hardware boundary using lab tools and reasoning from fundamentals, not just vendor documentation or established patterns
Safety-aware by default understanding what "fail safe" means in a physical system and treats protection logic, fault detection, and safe-state transitions as first-class firmware concerns
Effective cross-functional partner translating firmware constraints and failure modes clearly to hardware architects, electrical engineers, and systems engineers; supports bring-up without waiting to be directed
Minimum Requirements
5+ years of embedded firmware development in C/C++ on real hardware, with direct experience managing interrupts, DMA, and timing-critical execution (7+ years for senior/staff-level positions)
Power conversion fundamentals working understanding of switched-mode power supply operation: common AC-DC topologies (flyback, LLC, phase-shifted full bridge), power factor correction stages, transformer isolation, and how firmware-controlled parameters (switching frequency, duty cycle, phase shift) affect converter behavior
Battery charging knowledge: understanding of lithium-ion charge protocols (CC-CV, multi-stage), the relationship between charge rate and cell degradation, and how temperature and cell age affect charge termination criteria
Embedded bus fluency hands-on CAN implementation for charger-to-BMS coordination, plus additional embedded interfaces (SPI, I²C, UART) for communication with power controller ICs, monitoring devices, and auxiliary circuits
Hardware debug at the firmware boundary experience using oscilloscopes, current probes, and power analyzers to diagnose problems that span firmware control behavior, converter waveform quality, and thermal performance
Preferred Skills
Domain depth in one or more areas relevant to humanoid robot subsystems: distributed real-time communication bus firmware, switched-mode power conversion and lithium-ion battery charge management, or motor drive and actuator control firmware
Experience with safety-critical or fault-tolerant embedded systems; familiarity with safety integrity standards such as IEC 61508 or ISO 26262
Familiarity with real-time operating systems (FreeRTOS, SafeRTOS, or similar)
Background in robotics, autonomous systems, or complex electromechanical products
What does a successful 1X Team Member look like
Team members at 1X who thrive here are builders. They move fast, own their work completely, and treat time like it's the one thing you can't get back - because it is. They say what they mean, finish what they start, and hold themselves to a standard before anyone has to ask. We push each other to be better, and we do it with honesty and respect. =
Compensation Range
$200,000 - $280,000 + Equity
Benefits
Comprehensive medical, dental, and vision coverage
Generous paid time off, company holidays, and parental leave
401(k) plan with company match (100% on the first 3% of contributions, 50% on the next 2%)
Flexible Spending Accounts (FSA) and Health Savings Accounts (HSA) options
Commuter benefits (transit and parking)
Short-term and long-term disability, and life insurance
Employee Assistance Program (EAP) for mental health, financial, and personal support
Onsite snacks and catered lunches
About Halodi Robotics
Halodi Robotics is a Norwegian robotics company that specializes in the development of humanoid robots. The company was founded in 2018 and is headquartered in Oslo, Norway. Halodi Robotics is focused on creating robots that can perform a wide range of tasks, from industrial applications to personal assistance. The company's flagship product is the Halodi Robotics Eve, a humanoid robot that is designed to be a personal assistant. The Eve is capable of performing a wide range of tasks, including cleaning, cooking, and even playing games with its owners. In addition to the Eve, the company is also developing a range of other robots for industrial and commercial applications.
