Embedded Firmware Engineer — Force/Torque Sensor Data Acquisition System (Teensy 4.1)

Overview** We are a pre-seed hardware startup building a benchtop data-capture system for a medical robotics application. We need an experienced embedded firmware engineer to develop and deliver production-ready firmware for Sprint 1 of our prototype build. This is a fixed-price, remote-friendly engagement. Ideal for a moonlighting engineer comfortable with sensor integration, real-time data acquisition, and microcontroller firmware on Teensy/Arduino platforms. --- **Scope of Work** 1. Firmware to interface an ATI AFT50 6-axis force/torque sensor with a Teensy 4.1 microcontroller via SPI 2. Real-time data streaming over USB serial at ≥500 Hz sustained throughput 3. Simultaneous SD card logging with sub-millisecond timestamping 4. Hardware interrupt-driven acquisition loop (no polling) 5. Basic sensor zeroing and tare calibration routines 6. Clean, commented, version-controlled code delivered via GitHub 7. Brief written documentation covering setup, wiring diagram, and calibration procedure --- **Hardware You Will Be Working With** - Teensy 4.1 (PJRC) - ATI Mini45 / AFT50 6-axis F/T sensor (SPI interface) - Rigid aluminum instrument handle bracket (we provide CAD) - Standard benchtop power supply We will reimburse for procured hardware — to be agreed at project start. --- **What We're Looking For** - Proven Teensy 4.x or equivalent ARM Cortex-M firmware experience - Prior work with industrial or research-grade sensors (SPI/I2C/UART) - Ability to hit real-time throughput targets and document them - Clean coding habits — this codebase will be built on - NDA and IP assignment agreement required before project kickoff Bonus (not required): experience with ATI F/T sensors, GPS PPS timing, or ROS serial bridge --- **Budget:** $2,500 – $3500fixed price (based on experience and scope discussion) **Timeline:** 8–10 weeks **Contract type:** Fixed price, milestone-based --- **To Apply** Please include: - 2–3 relevant firmware projects (GitHub links preferred) - Your experience with Teensy or similar ARM Cortex-M boards - Estimated timeline to complete the scope above We move quickly. Shortlisted candidates will be contacted within 48 hours.