Embedded firmware
C and C++ on STM32, ESP32, AVR and PIC32. Bare metal and FreeRTOS, interrupts, DMA, timers, PWM, ADC and register-level code under real-time constraints.
Smart fan · 6 RTOS tasks, 25 kHz PWM, DMA UART
Embedded Systems Engineer · Berlin
HanieYazdi
- Embedded Systems
- Robotics
- Autonomous Systems
- Real-time Systems
- Microcontroller Applications
- IoT
- Computer Software Engineer
Embedded systems engineer with 4+ years in industry and autonomous robots since 2010. I design and bring up boards, write real-time firmware in C and C++ on bare metal and FreeRTOS, and build the software around the device: embedded Linux services, OTA updates, IoT connectivity, web dashboards and Python test automation.
16years at RoboCup and FIRA
35competitions and events
8technical committee roles, 3 as chair
4+years in industry
What I do
Devices and robots, from the board to the software around it
I design and bring up boards and write the firmware that runs on them. I am just as productive on software-only work: embedded Linux services, OTA updates, data processing, test automation and simulation.
Hardware and PCB design
Schematics and PCBs in Altium Designer, components chosen for cost and EMC, board bring-up with oscilloscope, logic analyser and SWD, 3D printing, SolidWorks.
Digital piano · 100+ units sold in year one
Embedded Linux and OTA
ARM Linux gateways in the field, systemd services, Yocto-based images, OTA updates with Mender: signed images, A/B rollback, provisioning, recovery.
Labforward · gateways at customer laboratories
IoT and connectivity
MQTT with Mosquitto, REST, Wi-Fi, Bluetooth, BLE and NFC, OTA on ESP32, web dashboards, and communication protocols with strict validation.
Smart fan dashboard and MQTT · smart escape rooms
Software and test automation
Software-only work too: Python and C++ tools, TypeScript data processing services, unit tests under sanitizers and CI pipelines that build every target.
Labforward data services · 47 unit tests, 4 CI jobs
Robotics and autonomous systems
Autonomous robots in C and Python: IMU and encoder odometry, PID control, mapping with localization, camera-based victim detection, Webots simulation.
RoboCup and FIRA since 2010 · 1st place FIRA 2025 as mentor
Projects
Public projects
Each project page covers the problem, how the system works, the hard parts and the evidence: tests, logged traces and measured numbers.
2026 · Solo · STM32F411 + FreeRTOS + ESP32
Read the build →
Smart desk fan
A 12 V PC fan that sets its own speed from the room temperature. The STM32 runs the control on FreeRTOS; an ESP32 next to it serves a web dashboard, OTA updates and MQTT. Hardware, firmware, tests and CI in one repository.
6RTOS tasks
47unit tests
4CI jobs per push
2real bugs caught
2026 · STM32F411 + FreeRTOS
Read the build →
Closed-loop control with a partially blind sensor
Feedforward from a measured curve, feedback only where the sensor is valid, and a supervisor with a defined safe state. Every fault found came out of a logged trace.
73%faster adaptation
72%less model error
3.10 Paworst-case drift
2010 – 2024 · dsPIC33, AVR, custom PCBs
Read the build →
Autonomous rescue robots
Maze robots that map an unknown arena, mark every victim they find and drive back to the start. Omnidirectional base, wall-referenced PID, stack-based search, camera victim detection.
1stIranOpen 2011, 2013
4thRoboCup 2013
1stRCJ 2021 sim
RoboCupJunior Soccer Simulation team →
Python on Webots. Leaderless role assignment computed identically on every robot, ball prediction, PD steering.
DJI Tello drone
Programmed with my own code to fly a course of gates marked with tags. The code is not cleared for publication.
ROS 2 project
A robot software project on ROS 2. The code is not cleared for publication.
Digital piano control panel
Control panel electronics and PIC firmware for the Middle East's first digital piano. More than 100 units sold in the first year.
Honors
From the rescue arena to the world stage
RoboCupJunior Rescue as a competitor from 2010. Then technical lead and mentor of competition teams, and technical committee member and chair at RoboCup and FIRA events.
1st
FIRA RoboWorld Cup 2025
Daegu, South Korea. Youth coach of the winning team.
Mentor3rd
FIRA RoboWorld Cup 2024
São Luís, Brazil. Team mentor.
Mentor3rd
RoboCup 2023, France
RoboCupJunior SoccerSim. Also Best Technical Challenge and Best Poster.
Mentor1st
RoboCupJunior 2021 Worldwide
Rescue New Simulation, Mini-Challenge. Joint team DaidalosClan + phoenix.
Mentor4th
RoboCup 2013, Eindhoven
Junior Rescue world championship with team Sina.
Competitor1st
RoboCup IranOpen 2011 and 2013
Junior Rescue. Plus 2nd place in 2010 and 2014.
CompetitorProgression
Robotics and industry, year by year
Which role, which year. Results on the bars come from the certificates.
2010'102011'112012'122013'132014'142015'152016'162017'172018'182019'192020'202021'212022'222023'232024'242025'252026'26
Robotics
Competitor2010 – 14 · Junior Rescue, team Sina
2nd1st1st2nd
Mentor and team leader2016 – 25 · competition teams
1st2nd3rd3rd1st
Technical committee2016 – 19, 2023 – 24 · member
League chair2020 – 22, 2024 · technical committee chair
Industry
Work and projects2017 – 2026 · industry roles, then personal projects
- 2017 Smart escape rooms
- 2018 – 19 Digital piano control panel
- 2023 – 24 Freelance: home appliance firmware
- 2025 Labforward: embedded Linux gateways
- 2026 Personal projects and skill development
Labels on the bars are competition results: as a competitor with team Sina, then for the teams I mentored.
Certificates
A few of the 30 certificates
Tech Olympics, FIRA Iran, Pardis Technology Park
RoboCup IranOpen, Tehran
RoboCup Asia-Pacific, Kish
RoboCup 2023, France
RoboCup 2011, Istanbul, Turkey
RoboCup 2010, Singapore
Experience
From appliance firmware to Linux gateways in the field
- 03/2025 – 12/2025Berlin
Embedded Software Engineer · Labforward GmbH
- Owned OTA updates with Mender for Raspberry Pi based Linux gateways at customer laboratories: signed update images, A/B rollback, provisioning, health checks after boot, recovery from failed rollouts. Mender server on AWS (EKS), update files in S3.
- Hardware-in-the-loop release testing in CI (CircleCI) on real devices, and release coordination.
- USB and serial communication with lab instruments, on-device data processing, connection to the cloud.
- Root cause analysis of field faults across device, network and cloud, including on-call fixes.
- TypeScript in the data processing services. Scrum with hardware, backend, web and DevOps teams.
- 06/2023 – 12/2024Freelance
Freelance Embedded Systems Engineer · Home appliances
- Blenders, washing machines and vacuum cleaners.
- Bare-metal and RTOS firmware in C and C++ on AVR and PIC32: motor and actuator control, sensor handling, interrupts, timers, PWM, ADC, register-level code.
- Owned products from concept to manufacturing-ready prototype: schematics and PCBs in Altium Designer, components chosen for cost, availability and EMC.
- Board bring-up and debugging with oscilloscope, logic analyser and SWD.
- 10/2016 – 12/2024Part time
Robotics Mentor and Technical Lead · Novinzehn Robotic Academy
- Autonomous rescue robots on AVR and PIC with custom PCBs: IMU and encoder odometry, PID heading control, mapping with localization, camera-based victim detection, low-power firmware on battery-powered robots, I2C and UART.
- Mechanical design in SolidWorks.
- Mentored competition teams in embedded C/C++ and Python, sensors, control and debugging. Teams placed 1st at FIRA RoboWorld Cup 2025 and 3rd at FIRA 2024 and RoboCup 2023.
- 02/2018 – 03/2019Part time
Embedded Systems R&D Engineer · Arsheh Jaam-e-Jam (Yamaha music distributor)
- Control panel electronics and PIC firmware for the Middle East's first digital piano. More than 100 units sold in the first year.
- Production documentation for outsourced manufacturing, which cut the per-unit cost by 5%.
- 01/2017 – 01/2018Part time
Embedded Systems Engineer · Tochal Escape Cube
- Sensor-driven systems for three smart escape rooms with central control over Wi-Fi, Bluetooth and NFC.
EducationB.Sc. Computer EngineeringIslamic Azad University, Tehran Central Branch · 2016 – 2022
LanguagesEnglish C1 · German B1
Based inBerlin, Germany
Toolkit