Fulfil Solutions
Staff / Principal Firmware Engineer Mountain View, CA
Fulfil Solutions, Mountain View, California, us, 94039
Were seeking more curious, capable, passionate team members who want to make a lasting impact on the world.
Fulfil is a team of engineers and operators passionate about developing technology to create positive change. Were inventing and operationalizing new technology that is ambitious in scope, with potential to fundamentally transform an industry thats near the center of the human experience. We have fun working on tough, meaningful challenges together. Fulfil relies on every person to contribute creative ideas and support others. With our multidisciplinary team, ideas can quickly become reality. Take a look at our open positions and imagine what you could bring to the tablewed love to hear from you!
Fulfil is committed to creating an inclusive culture, and we celebrate diversity of all kinds. Staff / Principal Firmware Engineer
Mountain View, CA Fulfil
is a well-funded, rapidly growing, and inclusive company that has developed a custom automation robotics system to pick and pack online orders of groceries and other consumables, bringing delight and a value proposition to consumers that doesnt exist today. Additionally, its unique design and technology is purpose-built to solve todays environmental problems in the worlds food supply chain. Founded by a team with previous startup success and backed by top-tier VCs, we are committed to reducing waste, improving environmental impact, and reducing emissions with truly new technology. We cant do it alone -- were seeking curious, capable, passionate team members motivated by the opportunity to create lasting impact on the world through their work. This role offers ample growth opportunities while working side-by-side with an impassioned, multi-disciplinary team spanning mechanical design, software, computer vision, systems integration, and ops to design and operationalize world-changing technology. Fulfil
is committed to creating an inclusive culture, and we celebrate diversity of all kinds. If this sounds like the kind of environment that you find intriguing, then please apply even if you dont feel you meet all the requirements listed below. We'd love to hear from you. Why youll love working at Fulfil Autonomy and ownership; you design it, build it, and own it. Amazing team Build robots that do cool things Rapid growth Inclusive culture Work-life balance Collaborative culture We hire great people and trust them
Key Responsibilities Technical Leadership
Lead architecture and development of embedded firmware systems from concept through production. Drive system design across multiple communication layers: from physical protocols (CAN, I2C) to high-level RPC interfaces. Mentor and coach engineers on best practices, code quality, and architectural decisions.
Firmware & Control Development
Implement robust, portable firmware using C/C++ for ARM-based microcontrollers and SBCs (e.g., STM32, NXP, Raspberry Pi-class devices). Develop and maintain protocol implementations for
CAN bus ,
Modbus ,
I2C ,
UART , and
SPI . Design and maintain
gRPC and Protocol Buffer interfaces
to expose hardware services cleanly and safely to higher-level systems (e.g., orchestration, cloud, or local UIs). Integrate Linux-based SBC firmware modules with hardware abstraction layers. Implement
motor control algorithms , including tuning, sequencing, encoder-based positioning, and jerk limiting. Use real-world feedback (encoders, sensors, timing feedback) to optimize motion sequences and avoid unnecessary re-homing.
Testing & Quality Engineering
Design and maintain
unit testing and HIL (Hardware-in-the-Loop)
environments. Debug systems at all layers from firmware logic to sensor integration to timing drift. Use
oscilloscopes ,
multimeters ,
logic analyzers , and related tools to bring up and validate hardware interfaces.
Cross-Disciplinary Collaboration
Work with systems, hardware, software, and operations teams to align on firmware behaviors and API contracts. Own interface boundaries between hardware components, middleware, and application layers. Participate in bring-up, debugging, and integration of custom hardware.
Documentation & Lifecycle Management
Ensure detailed documentation of firmware APIs, hardware mappings, and integration guides. Promote best practices for version control, CI/CD for firmware, and structured release processes.
Required Qualifications
Located within commuting distance to Mountain View Ca 8+ years of experience in embedded systems firmware development and architecture. Deep understanding of embedded communication protocols: CAN bus, Modbus, I2C, SPI, UART. Experience with motion control, motor tuning, encoder feedback, and trajectory optimization (e.g., jerk limiting). Strong C and C++ skills; familiarity with embedded Linux, shell scripting, and build systems (Bazel, CMake, etc.). Experience designing
gRPC + Protobuf interfaces
between firmware modules and external software. Proven ability to lead unit testing strategy and build HIL testing environments. Experience interfacing with electrical engineering teams and hardware bring-up. Skilled with hardware debugging tools (oscilloscope, logic analyzer, multimeter, etc.). Familiarity with Linux-based SBCs (e.g., NXP i.MX, Raspberry Pi, etc.).
Preferred Qualifications
Experience with
CanOpen
protocol. Familiarity with
PLCs , ladder logic, or industrial automation frameworks. Background in
industrial automation , robotics, or distributed systems. Experience with firmware bootloaders, OTA update strategies, and secure firmware deployment. Understanding of
network protocols
(Ethernet, MQTT, TCP/IP) in embedded contexts. Exposure to
DevOps practices
for firmware (artifact management, CI/CD pipelines). A maker/tinkerer mindset whether from robotics competitions, hobby projects, or hardware hacking.
Why Join Us?
A chance to be an early team member and leader of a rapidly growing startup and have an impact on company and technology direction. The ability to solve challenging problems with a skilled, dedicated and friendly multi-disciplinary team. A balanced, highly collaborative work environment. Competitive medical, dental, and vision coverage, with 401K, life and disability coverage. A PTO policy where we encourage and expect all employees to take time to enjoy life outside of work. The salary range for this position is 180,000-$215,000 plus stock and benefits. Pay within the range is based on candidate experience, job-specific skills, education, and work location.
Fulfil is an equal opportunity employer. We do not discriminate on the basis of any protected group status under any applicable law. Voluntary Self-Identification
For government reporting purposes, we ask candidates to respond to the below self-identification survey. Completion of the form is entirely voluntary. Whatever your decision, it will not be considered in the hiring process or thereafter. Any information that you do provide will be recorded and maintained in a confidential file. As set forth in Fulfil Solutionss Equal Employment Opportunity policy, we do not discriminate on the basis of any protected group status under any applicable law. If you believe you belong to any of the categories of protected veterans listed below, please indicate by making the appropriate selection. As a government contractor subject to the Vietnam Era Veterans Readjustment Assistance Act (VEVRAA), we request this information in order to measure the effectiveness of the outreach and positive recruitment efforts we undertake pursuant to VEVRAA. Classification of protected categories is as follows: A "disabled veteran" is one of the following: a veteran of the U.S. military, ground, naval or air service who is entitled to compensation (or who but for the receipt of military retired pay would be entitled to compensation) under laws administered by the Secretary of Veterans Affairs; or a person who was discharged or released from active duty because of a service-connected disability. A "recently separated veteran" means any veteran during the three-year period beginning on the date of such veteran's discharge or release from active duty in the U.S. military, ground, naval, or air service. An "active duty wartime or campaign badge veteran" means a veteran who served on active duty in the U.S. military, ground, naval or air service during a war, or in a campaign or expedition for which a campaign badge has been authorized under the laws administered by the Department of Defense. An "Armed forces service medal veteran" means a veteran who, while serving on active duty in the U.S. military, ground, naval or air service, participated in a United States military operation for which an Armed Forces service medal was awarded pursuant to Executive Order 12985. Select...
PUBLIC BURDEN STATEMENT: According to the Paperwork Reduction Act of 1995 no persons are required to respond to a collection of information unless such collection displays a valid OMB control number. This survey should take about 5 minutes to complete. Zero labor pick and pack, all temperatures and categories, item level data and control. Fulfil delivers what no other automation can. #J-18808-Ljbffr
Fulfil is a team of engineers and operators passionate about developing technology to create positive change. Were inventing and operationalizing new technology that is ambitious in scope, with potential to fundamentally transform an industry thats near the center of the human experience. We have fun working on tough, meaningful challenges together. Fulfil relies on every person to contribute creative ideas and support others. With our multidisciplinary team, ideas can quickly become reality. Take a look at our open positions and imagine what you could bring to the tablewed love to hear from you!
Fulfil is committed to creating an inclusive culture, and we celebrate diversity of all kinds. Staff / Principal Firmware Engineer
Mountain View, CA Fulfil
is a well-funded, rapidly growing, and inclusive company that has developed a custom automation robotics system to pick and pack online orders of groceries and other consumables, bringing delight and a value proposition to consumers that doesnt exist today. Additionally, its unique design and technology is purpose-built to solve todays environmental problems in the worlds food supply chain. Founded by a team with previous startup success and backed by top-tier VCs, we are committed to reducing waste, improving environmental impact, and reducing emissions with truly new technology. We cant do it alone -- were seeking curious, capable, passionate team members motivated by the opportunity to create lasting impact on the world through their work. This role offers ample growth opportunities while working side-by-side with an impassioned, multi-disciplinary team spanning mechanical design, software, computer vision, systems integration, and ops to design and operationalize world-changing technology. Fulfil
is committed to creating an inclusive culture, and we celebrate diversity of all kinds. If this sounds like the kind of environment that you find intriguing, then please apply even if you dont feel you meet all the requirements listed below. We'd love to hear from you. Why youll love working at Fulfil Autonomy and ownership; you design it, build it, and own it. Amazing team Build robots that do cool things Rapid growth Inclusive culture Work-life balance Collaborative culture We hire great people and trust them
Key Responsibilities Technical Leadership
Lead architecture and development of embedded firmware systems from concept through production. Drive system design across multiple communication layers: from physical protocols (CAN, I2C) to high-level RPC interfaces. Mentor and coach engineers on best practices, code quality, and architectural decisions.
Firmware & Control Development
Implement robust, portable firmware using C/C++ for ARM-based microcontrollers and SBCs (e.g., STM32, NXP, Raspberry Pi-class devices). Develop and maintain protocol implementations for
CAN bus ,
Modbus ,
I2C ,
UART , and
SPI . Design and maintain
gRPC and Protocol Buffer interfaces
to expose hardware services cleanly and safely to higher-level systems (e.g., orchestration, cloud, or local UIs). Integrate Linux-based SBC firmware modules with hardware abstraction layers. Implement
motor control algorithms , including tuning, sequencing, encoder-based positioning, and jerk limiting. Use real-world feedback (encoders, sensors, timing feedback) to optimize motion sequences and avoid unnecessary re-homing.
Testing & Quality Engineering
Design and maintain
unit testing and HIL (Hardware-in-the-Loop)
environments. Debug systems at all layers from firmware logic to sensor integration to timing drift. Use
oscilloscopes ,
multimeters ,
logic analyzers , and related tools to bring up and validate hardware interfaces.
Cross-Disciplinary Collaboration
Work with systems, hardware, software, and operations teams to align on firmware behaviors and API contracts. Own interface boundaries between hardware components, middleware, and application layers. Participate in bring-up, debugging, and integration of custom hardware.
Documentation & Lifecycle Management
Ensure detailed documentation of firmware APIs, hardware mappings, and integration guides. Promote best practices for version control, CI/CD for firmware, and structured release processes.
Required Qualifications
Located within commuting distance to Mountain View Ca 8+ years of experience in embedded systems firmware development and architecture. Deep understanding of embedded communication protocols: CAN bus, Modbus, I2C, SPI, UART. Experience with motion control, motor tuning, encoder feedback, and trajectory optimization (e.g., jerk limiting). Strong C and C++ skills; familiarity with embedded Linux, shell scripting, and build systems (Bazel, CMake, etc.). Experience designing
gRPC + Protobuf interfaces
between firmware modules and external software. Proven ability to lead unit testing strategy and build HIL testing environments. Experience interfacing with electrical engineering teams and hardware bring-up. Skilled with hardware debugging tools (oscilloscope, logic analyzer, multimeter, etc.). Familiarity with Linux-based SBCs (e.g., NXP i.MX, Raspberry Pi, etc.).
Preferred Qualifications
Experience with
CanOpen
protocol. Familiarity with
PLCs , ladder logic, or industrial automation frameworks. Background in
industrial automation , robotics, or distributed systems. Experience with firmware bootloaders, OTA update strategies, and secure firmware deployment. Understanding of
network protocols
(Ethernet, MQTT, TCP/IP) in embedded contexts. Exposure to
DevOps practices
for firmware (artifact management, CI/CD pipelines). A maker/tinkerer mindset whether from robotics competitions, hobby projects, or hardware hacking.
Why Join Us?
A chance to be an early team member and leader of a rapidly growing startup and have an impact on company and technology direction. The ability to solve challenging problems with a skilled, dedicated and friendly multi-disciplinary team. A balanced, highly collaborative work environment. Competitive medical, dental, and vision coverage, with 401K, life and disability coverage. A PTO policy where we encourage and expect all employees to take time to enjoy life outside of work. The salary range for this position is 180,000-$215,000 plus stock and benefits. Pay within the range is based on candidate experience, job-specific skills, education, and work location.
Fulfil is an equal opportunity employer. We do not discriminate on the basis of any protected group status under any applicable law. Voluntary Self-Identification
For government reporting purposes, we ask candidates to respond to the below self-identification survey. Completion of the form is entirely voluntary. Whatever your decision, it will not be considered in the hiring process or thereafter. Any information that you do provide will be recorded and maintained in a confidential file. As set forth in Fulfil Solutionss Equal Employment Opportunity policy, we do not discriminate on the basis of any protected group status under any applicable law. If you believe you belong to any of the categories of protected veterans listed below, please indicate by making the appropriate selection. As a government contractor subject to the Vietnam Era Veterans Readjustment Assistance Act (VEVRAA), we request this information in order to measure the effectiveness of the outreach and positive recruitment efforts we undertake pursuant to VEVRAA. Classification of protected categories is as follows: A "disabled veteran" is one of the following: a veteran of the U.S. military, ground, naval or air service who is entitled to compensation (or who but for the receipt of military retired pay would be entitled to compensation) under laws administered by the Secretary of Veterans Affairs; or a person who was discharged or released from active duty because of a service-connected disability. A "recently separated veteran" means any veteran during the three-year period beginning on the date of such veteran's discharge or release from active duty in the U.S. military, ground, naval, or air service. An "active duty wartime or campaign badge veteran" means a veteran who served on active duty in the U.S. military, ground, naval or air service during a war, or in a campaign or expedition for which a campaign badge has been authorized under the laws administered by the Department of Defense. An "Armed forces service medal veteran" means a veteran who, while serving on active duty in the U.S. military, ground, naval or air service, participated in a United States military operation for which an Armed Forces service medal was awarded pursuant to Executive Order 12985. Select...
PUBLIC BURDEN STATEMENT: According to the Paperwork Reduction Act of 1995 no persons are required to respond to a collection of information unless such collection displays a valid OMB control number. This survey should take about 5 minutes to complete. Zero labor pick and pack, all temperatures and categories, item level data and control. Fulfil delivers what no other automation can. #J-18808-Ljbffr