projects

software

  • aulon NATS-core broker built around tokio-uring and fixed buffers. Implements borrowed-frame parsing, wildcard subscriptions, queue groups, and benchmark comparison against nats-server.
  • gretun Peer-to-peer GRE-over-FOU overlay for Linux hosts behind NAT. STUN and sealed disco messages establish the path; netlink configures the tunnel so forwarding stays in the kernel.
  • sensor-bridge Rust sensor pipeline for robotics systems. A no_std core, bounded queues, explicit backpressure, metrics, and network drivers make latency and dropped samples visible.
  • dredge Firmware triage pipeline that turns images and ELF binaries into a ranked review queue. Uses binwalk, Ghidra decompilation, local scoring, SQLite context, and bounded LLM review.
  • gatewind Vectorized quadrotor RL environments with procedural gate courses, wind disturbances, PPO training, and trajectory replay. Built to make simulation, control baselines, and evaluation artifacts easy to inspect.

hardware

  • ping-rs Async Rust scanning sonar on STM32. Servo-swept ranging, OLED polar rendering, USB JSON telemetry, and stale-sample handling run in one bounded embedded loop.
  • imu dead reckoning Embassy Rust inertial-navigation demo using an MPU-6050. Madgwick attitude estimation and strap-down integration show how quickly MEMS drift dominates dead reckoning.
  • esp32-s3 rf board Four-layer ESP32-S3 RF board generated from code. Uses a bare QFN56, chip antenna, u.FL test path, controlled 50 ohm feed, and fabrication-aware stackup.
  • stm32 uart driver Bare-metal C++17 UART driver for STM32F401. Interrupt-driven TX/RX, SPSC ring buffers, startup code, linker script, and host tests keep the whole path visible.