NEAT develops all the firmware running on its computers. We use VHDL for the HW and C/MISRA-C for SW.
Some parts of GeminiX Core Engine and several I/O interfaces have been lately integrated into FPGA devices. Their source codes and testbenches are part of the design database and can be reused when needed.
Many of our computers need Power-up Built-In Test capabilities. We usually develop a custom pre-boot firmware to be executed before the operating system is loaded in order to allow for full system diagnostics.