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Firmware is just software that runs in a different place.
Source: me, I write firmware sometimes at work.
By the way, “joystick” was kinda rude back in the day, but nobody even notices now.
What was more acceptable? “Control stick”?
No, “joystick” was the original term. Everyone in the past were a bunch of perverts.
It could have been worse. It could have been named enjoystick…
It was named by pilots. It’s in the, um, cockpit.