Senior Embedded RTOS Firmware Engineer — Rail Propulsion

Intramotev Autonomous Rail; St. Louis (MO); On-site; USD 120,000 - 140,000; Full time

Benefits offered by this job

Medical coverage

Unlimited PTO

Equity

Parental leave

Job summary

Intramotev Autonomous Rail is hiring a Senior Embedded Software Engineer, RTOS Firmware, to own motor-controller interface subsystems and lead bring-up on real rail vehicles. You will work on FreeRTOS-based firmware for STM32H7, implementing safety-state machines and CAN communications, with HIL bench testing and CI workflows.

The role requires hands-on development, on-target debugging, firmware validation, and mentoring of junior engineers, in a collaborative, in-office setting in St.

Qualifications

• Bachelor's Degree in Computer Engineering, Electrical Engineering, Computer Science, or a related technical field.
• Production embedded C on an RTOS (FreeRTOS, Zephyr, ThreadX, or similar) on an Arm Cortex-M, including tasks, queues, mutexes, ISRs, and watchdogs. You 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.
• Design of safety-relevant state machines, such as interlocks, emergency-stop or brake logic, and fault handling.
• On-target debugging with SWD/JTAG and a scope or logic analyzer, including hard faults and memory and heap issues.
• Host-based unit testing of embedded C with mocks, and CMake builds.
• Experience reviewing other engineers' code and mentoring less-experienced engineers.
• Willingness to expand into technical areas beyond your area of expertise; ability to develop innovative and novel approaches to underspecified problems.
• Open-minded and comfortable working in a teaming environment as an individual contributor.
• Fluent in both written and verbal English.
• U.S. Person (immigration or work visa sponsorship will not be provided). F-1 (student) visas are not supported for this role.

Responsibilities

• Own named firmware subsystems end to end, from design and implementation through test and field support, starting with the vendor-neutral motor-controller interface, the fault state machine, and single-binary vehicle configuration.
• Write C on FreeRTOS, covering tasks, queues, interrupt service routines (ISRs), watchdog, and memory and heap management, for safety logic: brake and emergency-brake logic, motion inhibit, rollaway protection, speed governing, and charging.
• Build CAN and CAN-FD device drivers generated from DBC files, and support the Cortex-M4 auxiliary I/O controllers for lighting, pneumatics, and power distribution.
• Bring up firmware on in-house carrier boards using SWD/JTAG with ST-Link, an oscilloscope, and a logic analyzer.
• Write host-based unit tests with GoogleTest and mocks, built with CMake and Docker toolchain images in GitHub Actions; extend the HIL bench and CI.
• Share the pull-request review queue across the firmware and mentor associate engineers and interns.
• Help the team use AI coding/review tools for firmware test generation, code review, and guardrails for safety-relevant code.
• Collaborate with controls, electrical, perception/autonomy, and on-vehicle Linux services teams on interfaces and testing.

Skills

Embedded C

RTOS development

CAN/CAN-FD integration

SWD/JTAG debugging

Unit testing with GoogleTest

Code review

Mentoring

English fluency

Education

Bachelor's degree in Computer/ Electrical Engineering or Computer Science

Tools

FreeRTOS

Zephyr

ThreadX

SWD/JTAG tooling

CAN-FD drivers

GTest

CMake

Docker

Job description

Intramotev Autonomous Rail is hiring a Senior Embedded Software Engineer, RTOS Firmware, to own motor-controller interface subsystems and lead bring-up on real rail vehicles. You will work on FreeRTOS-based firmware for STM32H7, implementing safety-state machines and CAN communications, with HIL bench testing and CI workflows.

The role requires hands-on development, on-target debugging, firmware validation, and mentoring of junior engineers, in a collaborative, in-office setting in St.