Senior to Staff Firmware Engineer - Hardware Architecture

About 1XWe'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 OverviewWe are looking for a cross-functional Firmware or Embedded Engineer to develop and maintainlow-level firmware that supports and enables system-level hardware architecture. In this role,you will focus on robust, maintainable, and well-structured embedded software that spansmultiple hardware domains and directly informs architectural decisions.You will work closely with hardware architects, electrical engineers, systems engineers, and testengineers to ensure firmware reliably bridges hardware capabilities and higher-level systemrequirements across prototype and production platforms.The system is a humanoid robot with 20+ distributed embedded nodes that must communicatedeterministically, fail safely, and operate continuously in uncontrolled environments. This is anew product category. Established playbooks from adjacent industries are useful starting points,but many of the problems you will encounter do not have known solutions. The ideal candidatereasons from first principles, works comfortably at the boundary between firmware andhardware, and is energized rather than frustrated by problems that require novel approaches.Responsibilities* Develop and maintain firmware for the deterministic communication bus connecting 20+embedded nodes to a central controller, including cyclic data exchange, distributed clocksynchronization, and protocol state management* Design real-time data interfaces and acyclic communication channels for deviceconfiguration, parameterization, and runtime diagnostics* Architect safety communication firmware that delivers safe shutdown commands withindeterministic time bounds, using black channel principles (independent CRC, watchdog,sequence validation) over untrusted transport* Responsible for the testing, validation, and verification of initial firmware releases toensure functionality, reliability, and performance requirements are met* Integrate network-based safety functions with hardware mechanisms including externalwatchdogs, gate driver enables, and hardwired safe-state paths* Collaborate with hardware architects to define interfaces, requirements, and trade-offs;support bring-up, integration, and debugging of new platforms* Implement drivers and hardware abstraction layers for embedded bus interface* (CAN,CANopen, SPI, I2C, UART) used for communication with battery management, sensors,and peripheral ICs.* Design secure bootloader architecture with cryptographic signing and validated rollbackfor firmware updates delivered over the communication bus* Develop diagnostic and telemetry infrastructure: logging, error counters, communicationstatistics, and DFT hooks for production end-of-line validation* Evaluate network topology and redundancy strategies for production, considering failuredomain isolation and physical routing constraints within a mobile form factor* Document firmware architecture, interfaces, and assumptions; improve code structure,readability, and maintainability