C++ VXD device driver development for an embedded PC-based
metal analysis instrument, ionising a metal sample with an electric
arc in argon, and analysing the resulting spectrum with a CCD.

Design, code and document of embedded x86 C++ firmware for an
object request broker and settings manager, as part of a
laser scanning microscope.

For production, port of aforementioned microscope firmware to the
NIOS Soft Core CPU. Also, port of microscope scan generator in
C and assembler from an x86 / ADSP2181 DSP platform to NIOS.

C++ on an OSE Real Time Operating System (RTOS) platform,
for a Motorola 68K based marshalling board, being part of an
industrial battery analysis instrument.

DSP assembler firmware for an ADSP2181-based multichannel
voltage acquisition card, main board and temperature acquisition
and control board, within the above instrument.

During five years of a permanent position, design and program of
the process interface module subsystem of a Triple Modular
Redundant process control system. This comprised writing
firmware running on three embedded 805x microcontrollers (μCs)
included on each field I/O module, plus supporting MS-DOS
resource compiler.

The firmware is a monolithic, configurable operating system and
application combination, with features including own
implementation LZSS decompression, inter-μC synchronization
and voting, software I/O serialization, linear I/O interpolation,
and continuous memory test, comprising ROM checksum and
RAM address and data bus and cell test.

ASCII / Forth serial interface module running polyFORTH, and
Fire and Gas modules running chipFORTH.