Senior/Staff Firmware Engineer - BMS

We’re an AI and robotics company based in San Carlos, California, on a mission to build a truly abundant society through general‑purpose robots capable of performing any kind of work autonomously. We believe that to truly understand the world and grow in intelligence, humanoid robots must live and learn alongside us. That’s why we’re focused on developing friendly home robots designed to integrate seamlessly into everyday life. We’re looking for curious, driven, and passionate people who want to help shape the future of robotics and AI. If this mission excites you, we’d be thrilled to hear from you and explore how you might contribute to our journey. Role Overview We are looking for a cross‑functional Firmware or Embedded Engineer to develop and maintain the battery management firmware for a production humanoid robot. In this role, you will own the firmware that monitors, protects, and manages a high‑energy lithium‑ion battery pack operating under demanding and highly dynamic load conditions. You will work closely with hardware architects, electrical engineers, systems engineers, and test engineers to ensure firmware reliably bridges hardware capabilities and higher‑level system requirements across prototype and production platforms. The battery system in a humanoid robot operates unlike most conventional applications. Load transients are severe and unpredictable peak currents can cause significant bus voltage sag within milliseconds as actuators respond to real‑time control policies. The pack must sustain continuous cycling in uncontrolled thermal environments while maintaining cell‑level safety and accurate state estimation. There are no established BMS reference designs for this load profile. The ideal candidate reasons from electrochemistry and circuit fundamentals, builds reliable firmware for safety‑critical systems, and is comfortable developing novel solutions where existing vendor toolchains and application notes fall short. Responsibilities Develop and maintain BMS firmware including cell voltage monitoring, current measurement, temperature sensing, and protection enforcement across a multi‑series lithium‑ion pack. Implement state‑of‑charge (SOC) and state‑of‑health (SOH) estimation algorithms that remain accurate under high‑rate transient loads, temperature variation, and cell aging. Architect cell balancing firmware (passive and/or active) that manages cell‑to‑cell divergence during both operation and charging, accounting for the wide SOC excursions typical of this application. Responsible for the testing, validation, and verification of initial firmware releases to ensure functionality, reliability, and performance requirements are met. Implement pack‑level protection logic: overcurrent, overvoltage, undervoltage, overtemperature, and short‑circuit detection with deterministic response times and safe‑state transitions. Design brownout prediction and mitigation firmware, characterize and manage bus voltage sag under peak actuator loading to prevent cascading subsystem failures. Develop CAN/CANopen interface firmware for real‑time reporting of pack state to the central controller, supporting both cyclic status data and diagnostic/configuration messaging. Collaborate with hardware architects to define BMS hardware requirements, sense circuit topology, and protection coordination between firmware and hardware safety mechanisms. Implement pre‑charge sequencing, power‑on/power‑off state machines, and coordination with the system‑level power distribution architecture. Develop production test hooks and end‑of‑line validation routines for battery pack acceptance, including cell matching verification and impedance measurement. Document firmware architecture, interfaces, and assumptions; improve code structure, readability, and maintainability. Job Requirements Bachelor’s or Master’s degree in Electrical Engineering, Computer Engineering, or a related field. 7+ years of industry experience with embedded systems and real‑time firmware development. Proficiency in C and C++ for embedded targets. Production BMS firmware experience: the candidate has developed or substantially modified battery management firmware for a multi‑cell lithium‑ion or lithium‑polymer pack in a shipped product, including cell monitoring, protection logic, and state estimation. Electrochemical fundamentals and a working understanding of lithium‑ion cell behavior: capacity vs. discharge rate, impedance characteristics under temperature and aging, thermal runaway mechanisms, and how these translate into firmware protection thresholds and estimation algorithms. High‑current / high‑transient systems experience with battery packs that supply dynamic loads with significant peak‑to‑average current ratios, where bus voltage management and transient response are firmware‑level concerns. Embedded bus fluency – hands‑on CAN/CANopen implementation plus additional embedded interfaces (SPI, I²C, UART) for communication with analog front‑end ICs, fuel gauge ICs, and peripheral monitoring devices. Hardware debug at the firmware boundary experience using oscilloscopes, logic analyzers, and current probes to diagnose problems that span firmware behavior, sense circuit accuracy, and protection circuit response. Schematic literacy: ability to read analog front‑end circuits, current sense topologies (shunt, Hall‑effect, fluxgate), cell balancing circuits, and protection FET gate drive without requiring hardware engineering interpretation. Comfortable debugging firmware on real hardware using standard lab tools. Ability to collaborate closely across hardware, systems, and software teams. Preferred Qualifications First‑principles problem solving: a track record of approaching unfamiliar problems by building understanding from fundamentals rather than relying on vendor application notes or established patterns. The BMS load profile in a humanoid robot does not match conventional EV, power tool, or stationary storage assumptions. Safety‑critical battery systems experience with BMS firmware where protection failures have physical consequences (thermal runaway, fire, toxic gas release). Familiarity with standards such as IEC 62619, UL 2580, UN 38.3, or IEC 62133 and how they translate into firmware requirements. EV or high‑performance battery packs experience at automotive OEMs, tier‑1 battery suppliers, or EV startups where pack‑level firmware must manage hundreds of amperes with cell‑level granularity under thermal and mechanical stress. Power tool or robotics battery systems experience with compact, high‑discharge‑rate packs where weight, volume, and thermal constraints are as demanding as electrical performance. SOC/SOH algorithm development: implementation of model‑based estimation (equivalent circuit models, extended Kalman filters, or similar) beyond simple coulomb counting, validated against real cell aging data. Power system integration experience where the BMS firmware must coordinate with DC‑DC converters, pre‑charge circuits, contactors, and system‑level power sequencing. EMC awareness experience with BMS subsystems that have contributed to or been affected by conducted or radiated emissions, and understanding of how firmware behavior (switching frequency, measurement timing) interacts with EMC performance. Experience contributing to hardware architecture or system‑level design decisions. Familiarity with real‑time operating systems (FreeRTOS, SafeRTOS, or similar). Experience supporting hardware through prototype and production phases. Benefits & Compensation Salary Range: $175,000 – $250,000 + Equity. Health, dental, and vision insurance. 401(k) with company match. Paid time off and holidays. Equal Opportunity Employer 1X is an Equal Opportunity Employer. All qualified applicants will receive consideration for employment without regard to race, color, religion, sex, gender, gender identity or expression, sexual orientation, national origin, ancestry, citizenship, age, marital status, medical condition, genetic information, disability, military or veteran status, or any other characteristic protected under applicable federal, state, or local law. #J-18808-Ljbffr