Senior Embedded Software Engineer, RTOS Firmware

Intramotev•St. Louis, MO

1d•$120,000 - $140,000•Onsite

About The Position

Intramotev is seeking a Senior Embedded Software Engineer to own named subsystems in the real-time supervisory firmware for its self-propelled battery-electric railcars and vehicles. The firmware runs FreeRTOS on an STM32H7 microcontroller and handles propulsion and brake control over CAN, along with brake, propulsion, charging, and fault-handling state machines. Initial work includes making the motor-controller interface vendor-neutral and bringing up a second motor controller, taking the work from bench validation to vehicle deployment. Other first-year priorities include developing a fault state machine linking critical faults to propulsion and emergency-brake logic, supporting one firmware build for every vehicle configuration, and making device communication robust to stale data. This is a senior individual-contributor position with no direct reports. The engineer shares firmware code reviews and mentors associate engineers and interns. The role is full-time and in-office in St. Louis, Missouri, working at a hardware-in-the-loop bench, in the lab, and on full-size rail vehicles. The engineer works with a small embedded team and may travel domestically occasionally for vehicle testing, integration, and demonstrations.

Requirements

Bachelor's degree or higher in Computer Engineering, Electrical Engineering, Computer Science, or a related technical field.
Production embedded C experience on an RTOS such as FreeRTOS, Zephyr, or ThreadX on Arm Cortex-M, including tasks, queues, mutexes, ISRs, and watchdogs; must have shipped firmware that runs in the field.
CAN or CAN-FD device integration from datasheets or DBC files, including timeouts, stale-data handling, and fault recovery.
Experience designing safety-relevant state machines, such as interlocks, emergency-stop or brake logic, and fault handling.
On-target debugging experience using SWD/JTAG and a scope or logic analyzer, including debugging hard faults and memory and heap issues.
Experience with host-based unit testing of embedded C using mocks and CMake builds.
Experience reviewing other engineers' code and mentoring less-experienced engineers.
Willingness to expand into technical areas beyond one's area of expertise and develop innovative approaches to underspecified problems.
Open-mindedness and comfort working in a team as an individual contributor.
Fluency in written and verbal English.
Must be a U.S. Person; immigration or work visa sponsorship is not provided.

Nice To Haves

Working knowledge of STM32H7 or other dual-core microcontrollers.
Experience integrating commercial motor controllers, inverters, chargers, or BMS units over CAN.
Experience with PEAK PCAN tools, including PCAN-View or PCAN-Basic, or J1939.
Experience with HIL rigs, Python test harnesses, and firmware CI using Docker and GitHub Actions.
Experience with C code generated from MATLAB/Simulink models.
Knowledge of functional safety practices such as ISO 26262, EN 50128, safety-certified RTOS, MISRA C, or static analysis.
Experience with Rust.
Hands-on use of AI coding or review tools on production embedded code and experience helping a team adopt them.
Rail, EV, automotive, off-highway, or unmanned-systems experience.

Responsibilities

Own named firmware subsystems end to end, from design and implementation through testing and field support, initially including the vendor-neutral motor-controller interface, fault state machine, and single-binary vehicle configuration.
Develop C firmware on FreeRTOS, including tasks, queues, interrupt service routines, watchdogs, and memory and heap management.
Implement safety logic for brakes and emergency brakes, motion inhibit, rollaway protection, speed governing, and charging.
Build CAN and CAN-FD device drivers generated from DBC files, and support bare-metal Cortex-M4 auxiliary I/O controllers for lighting, pneumatics, and power distribution.
Bring up firmware on in-house carrier boards using SWD and JTAG with ST-Link, an oscilloscope, and a logic analyzer.
Write host-based unit tests with GoogleTest and mocks, using CMake and Docker toolchain images in GitHub Actions.
Extend the self-hosted HIL bench that flashes the target and runs Python integration tests on every change, and help build the desktop software-in-the-loop target.
Share the firmware pull-request review queue and mentor associate engineers and interns.
Help the team use AI coding and review tools for test generation, code review, code generation from interface definitions, and documentation, and help establish guardrails for their use on safety-relevant code.
Collaborate with controls, electrical, perception and autonomy, and on-vehicle Linux services teams on interface definitions, integration testing, and field issues.