umrover/mrover-esw
Sep 2025 – Mar 2026
6 Months active
Languages Used
CC++MarkdownShellYAMLCMakePython
Technical Skills
Build SystemsCC++CMakeEmbedded SystemsScripting
Eric D'Urso
PROFILE
Eric D'urso
Edward Durso developed foundational embedded systems features for the umrover/mrover-esw repository, focusing on scalable build automation, hardware integration, and control systems. He introduced CMake-based build tooling and Python scripting to standardize workflows, streamline onboarding, and improve reproducibility. Edward implemented STM32 onboarding projects, integrated CAN bus communication, and delivered BMC firmware with velocity and position control, leveraging C++ and asynchronous programming for real-time diagnostics and motor control. His work included automated CubeMX project generation, robust UART and SPI interfaces, and real-time data visualization utilities, resulting in maintainable, testable firmware and developer tooling that improved reliability, configurability, and team productivity.
Overall Statistics
Feature vs Bugs
100%Features
Repository Contributions
10Total
Bugs
0
Commits
10
Features
10
Lines of code
461,979
Activity Months6
Your Network
4 peopleShared Repositories
4
Work History
March 2026
3 Commits • 3 Features
Mar 1, 2026March 2026 monthly summary for umrover/mrover-esw: Delivered key features focused on tooling documentation, BMC stall detection with CAN messaging updates, and real-time plotting utilities. These efforts improved observability, configurability, and maintainability, enabling faster tuning and more robust stall handling. Notable improvements include updated build tool docs, stall detection logic with new configuration, and an asynchronous real-time plotting utility that aids control tuning and velocity configuration. Additionally, significant refactors and build-quality improvements reduced ROS2 build warnings and improved code readability.
3 Commits • 3 Features
Mar 1, 2026March 2026 monthly summary for umrover/mrover-esw: Delivered key features focused on tooling documentation, BMC stall detection with CAN messaging updates, and real-time plotting utilities. These efforts improved observability, configurability, and maintainability, enabling faster tuning and more robust stall handling. Notable improvements include updated build tool docs, stall detection logic with new configuration, and an asynchronous real-time plotting utility that aids control tuning and velocity configuration. Additionally, significant refactors and build-quality improvements reduced ROS2 build warnings and improved code readability.
March 2026
February 2026
1 Commits • 1 Features
Feb 1, 2026February 2026 (umrover/mrover-esw): Delivered the initial BMC firmware with velocity control, CAN messaging, and a dual-gain system for position and velocity control. Implemented component configuration files and CAN filters, plus targeted code-size optimizations and debugging enhancements to improve runtime efficiency and maintainability. Strengthened build and testing reliability through guardrails around STM32 FW usage, CI fixes, and improved logging. Laid groundwork for ROS2-friendly messaging and modular configuration to support future component integration and scalable motion control.
February 2026
1 Commits • 1 Features
Feb 1, 2026February 2026 (umrover/mrover-esw): Delivered the initial BMC firmware with velocity control, CAN messaging, and a dual-gain system for position and velocity control. Implemented component configuration files and CAN filters, plus targeted code-size optimizations and debugging enhancements to improve runtime efficiency and maintainability. Strengthened build and testing reliability through guardrails around STM32 FW usage, CI fixes, and improved logging. Laid groundwork for ROS2-friendly messaging and modular configuration to support future component integration and scalable motion control.
January 2026
3 Commits • 3 Features
Jan 1, 2026January 2026 monthly summary for umrover/mrover-esw: Focused on onboarding, hardware integration, and developer tooling to accelerate development, improve reliability, and enable scalable testing. Key business/value outcomes include streamlined STM32 onboarding, robust BMC hardware integration for motor-control, and improved developer tooling/build-system for faster iteration and better diagnostics. Key features delivered: - STM32 onboarding and starter projects revamp: Documentation and starter projects updated for STM32 development, transitioning from STM32CubeIDE to STM32CubeMX to improve onboarding and project setup (commit 84249da84720c7efffca60732bc10cafd6e1e93f). - BMC hardware integration and motor-control enhancements: Added current sensor integration (AD8418A) for BMC, SPI/ADC functionalities, improved CAN communications, introduces a new H-Bridge setup for motor control, with logging enhancements and code refactor for maintainability; CI configurations for automated testing (commit bc32c697f171c28a803e01e5abefd5b7e277be24). - Developer tooling and build-system improvements: Enhances CMake build system to export compile commands and integrate clangd configuration; ensures .clangd is created during build and updates .gitignore for build artifacts (commit 95ea7b21e63bc7ac1f05e12bc51ba222284124d0). Major bugs fixed / stability improvements: - CI configurations and automated testing readiness improved for BMC and tooling efforts, reducing flaky tests and enabling faster feedback. - Logging robustness enhancements, including safeguards when UART is disabled to avoid spurious failures (referenced in the BMC tooling work and associated commits). - Build cleanliness and maintenance refactors, including cleanup of auto-generated drivers and better project structure for maintainability. Overall impact and accomplishments: - Accelerated onboarding and developer productivity for STM32-based projects through streamlined cubes-based setup, docs, and starter projects. - Expanded hardware capability with AD8418A current sensing, SPI/ADC integration, improved CAN, and a new H-Bridge, enabling more robust BMC control and diagnostics, plus CI-backed testing. - Strengthened developer experience and collaboration through improved tooling: export of compile commands, clangd configuration, on-demand .clangd, and better build hygiene via updated gitignore and project presets. Technologies/skills demonstrated: - Embedded: STM32CubeMX, STM32CubeIDE, CAN, SPI, ADC, AD8418A current sensor, H-Bridge motor control, DMA logging concepts. - Build/Dev tooling: CMake presets, compile_commands export, clangd, .clangd generation, cmake-based project organization, Git hygiene. - Quality/CI: CI configuration for automated testing, test harness considerations, and logging robustness.
3 Commits • 3 Features
Jan 1, 2026January 2026 monthly summary for umrover/mrover-esw: Focused on onboarding, hardware integration, and developer tooling to accelerate development, improve reliability, and enable scalable testing. Key business/value outcomes include streamlined STM32 onboarding, robust BMC hardware integration for motor-control, and improved developer tooling/build-system for faster iteration and better diagnostics. Key features delivered: - STM32 onboarding and starter projects revamp: Documentation and starter projects updated for STM32 development, transitioning from STM32CubeIDE to STM32CubeMX to improve onboarding and project setup (commit 84249da84720c7efffca60732bc10cafd6e1e93f). - BMC hardware integration and motor-control enhancements: Added current sensor integration (AD8418A) for BMC, SPI/ADC functionalities, improved CAN communications, introduces a new H-Bridge setup for motor control, with logging enhancements and code refactor for maintainability; CI configurations for automated testing (commit bc32c697f171c28a803e01e5abefd5b7e277be24). - Developer tooling and build-system improvements: Enhances CMake build system to export compile commands and integrate clangd configuration; ensures .clangd is created during build and updates .gitignore for build artifacts (commit 95ea7b21e63bc7ac1f05e12bc51ba222284124d0). Major bugs fixed / stability improvements: - CI configurations and automated testing readiness improved for BMC and tooling efforts, reducing flaky tests and enabling faster feedback. - Logging robustness enhancements, including safeguards when UART is disabled to avoid spurious failures (referenced in the BMC tooling work and associated commits). - Build cleanliness and maintenance refactors, including cleanup of auto-generated drivers and better project structure for maintainability. Overall impact and accomplishments: - Accelerated onboarding and developer productivity for STM32-based projects through streamlined cubes-based setup, docs, and starter projects. - Expanded hardware capability with AD8418A current sensing, SPI/ADC integration, improved CAN, and a new H-Bridge, enabling more robust BMC control and diagnostics, plus CI-backed testing. - Strengthened developer experience and collaboration through improved tooling: export of compile commands, clangd configuration, on-demand .clangd, and better build hygiene via updated gitignore and project presets. Technologies/skills demonstrated: - Embedded: STM32CubeMX, STM32CubeIDE, CAN, SPI, ADC, AD8418A current sensor, H-Bridge motor control, DMA logging concepts. - Build/Dev tooling: CMake presets, compile_commands export, clangd, .clangd generation, cmake-based project organization, Git hygiene. - Quality/CI: CI configuration for automated testing, test harness considerations, and logging robustness.
January 2026
December 2025
1 Commits • 1 Features
Dec 1, 2025December 2025 focused on delivering a scalable, automated CubeMX workflow for umrover/mrover-esw. Implemented CubeMX Project Generator and Patcher with integrated CMake tooling, enabling automated project creation, patching, and improved serial test capabilities. This reduces onboarding time, standardizes build configurations across devices, and positions the team for broader CubeMX-based support.
December 2025
1 Commits • 1 Features
Dec 1, 2025December 2025 focused on delivering a scalable, automated CubeMX workflow for umrover/mrover-esw. Implemented CubeMX Project Generator and Patcher with integrated CMake tooling, enabling automated project creation, patching, and improved serial test capabilities. This reduces onboarding time, standardizes build configurations across devices, and positions the team for broader CubeMX-based support.
November 2025
1 Commits • 1 Features
Nov 1, 2025November 2025 monthly summary focusing on delivering foundational toolchain reliability and observability through UART interface and enhanced logging in the esw repository. Key improvements include UART interface and logger integration, updated build scripts, and guards for disabled modules to prevent hardware handling issues. Also ensured that flashed code runs by default, reducing deployment friction and CI failures.
1 Commits • 1 Features
Nov 1, 2025November 2025 monthly summary focusing on delivering foundational toolchain reliability and observability through UART interface and enhanced logging in the esw repository. Key improvements include UART interface and logger integration, updated build scripts, and guards for disabled modules to prevent hardware handling issues. Also ensured that flashed code runs by default, reducing deployment friction and CI failures.
November 2025
September 2025
1 Commits • 1 Features
Sep 1, 2025September 2025 monthly summary for umrover/mrover-esw: Focused on delivering a scalable build and tooling foundation by introducing CMake, plus accompanying scripts and docs, to standardize embedded development workflows. This work positions the project for faster iteration, easier onboarding, and more reliable builds.
September 2025
1 Commits • 1 Features
Sep 1, 2025September 2025 monthly summary for umrover/mrover-esw: Focused on delivering a scalable build and tooling foundation by introducing CMake, plus accompanying scripts and docs, to standardize embedded development workflows. This work positions the project for faster iteration, easier onboarding, and more reliable builds.
Activity
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Quality Metrics
Correctness84.0%
Maintainability80.0%
Architecture84.0%
Performance78.0%
AI Usage32.0%
Skills & Technologies
Programming Languages
CC++CMakeMarkdownPythonShellYAML
Technical Skills
ADCBuild SystemsCC++CAN ProtocolCAN bus communicationCI/CDCMakeEmbedded SystemsEmbedded systems developmentMotor ControlPython scriptingSPISTM32 developmentScripting
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