From a563640a1434312c2b891a11d49158bd266b9ba1 Mon Sep 17 00:00:00 2001
From: Kevinthegreat <92656833+kevinthegreat1@users.noreply.github.com>
Date: Wed, 8 Oct 2025 21:07:17 -0400
Subject: [PATCH 01/68] Add load switch component

---
 .../Components/CMakeLists.txt                 |  1 +
 .../Components/LoadSwitch/CMakeLists.txt      | 36 ++++++++++
 .../Components/LoadSwitch/LoadSwitch.cpp      | 28 ++++++++
 .../Components/LoadSwitch/LoadSwitch.fpp      | 60 +++++++++++++++++
 .../Components/LoadSwitch/LoadSwitch.hpp      | 42 ++++++++++++
 .../Components/LoadSwitch/docs/sdd.md         | 67 +++++++++++++++++++
 6 files changed, 234 insertions(+)
 create mode 100644 FprimeZephyrReference/Components/LoadSwitch/CMakeLists.txt
 create mode 100644 FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
 create mode 100644 FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
 create mode 100644 FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
 create mode 100644 FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md

diff --git a/FprimeZephyrReference/Components/CMakeLists.txt b/FprimeZephyrReference/Components/CMakeLists.txt
index b881a4a6..186ac4e0 100644
--- a/FprimeZephyrReference/Components/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/CMakeLists.txt
@@ -8,3 +8,4 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/NullPrmDb/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Burnwire/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/BootloaderTrigger/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LoadSwitch/")
diff --git a/FprimeZephyrReference/Components/LoadSwitch/CMakeLists.txt b/FprimeZephyrReference/Components/LoadSwitch/CMakeLists.txt
new file mode 100644
index 00000000..5be47b2d
--- /dev/null
+++ b/FprimeZephyrReference/Components/LoadSwitch/CMakeLists.txt
@@ -0,0 +1,36 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+# Module names are derived from the path from the nearest project/library/framework
+# root when not specifically overridden by the developer. i.e. The module defined by
+# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
+
+register_fprime_library(
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/LoadSwitch.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/LoadSwitch.cpp"
+#   DEPENDS
+#       MyPackage_MyOtherModule
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/LoadSwitch.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/LoadSwitchTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/LoadSwitchTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
new file mode 100644
index 00000000..7476eba7
--- /dev/null
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -0,0 +1,28 @@
+// ======================================================================
+// \title  LoadSwitch.cpp
+// \author kyang25
+// \brief  cpp file for LoadSwitch component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp"
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+LoadSwitch ::LoadSwitch(const char* const compName) : LoadSwitchComponentBase(compName) {}
+
+LoadSwitch ::~LoadSwitch() {}
+
+// ----------------------------------------------------------------------
+// Handler implementations for commands
+// ----------------------------------------------------------------------
+
+void LoadSwitch ::TODO_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+    // TODO
+    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
+}
+
+}  // namespace Components
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
new file mode 100644
index 00000000..32ce8d7e
--- /dev/null
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -0,0 +1,60 @@
+module Components {
+    @ A generic load switch for controlling power to components
+    active component LoadSwitch {
+
+        # One async command/port is required for active components
+        # This should be overridden by the developers with a useful command/port
+        @ TODO
+        async command TODO opcode 0
+
+        ##############################################################################
+        #### Uncomment the following examples to start customizing your component ####
+        ##############################################################################
+
+        # @ Example async command
+        # async command COMMAND_NAME(param_name: U32)
+
+        # @ Example telemetry counter
+        # telemetry ExampleCounter: U64
+
+        # @ Example event
+        # event ExampleStateEvent(example_state: Fw.On) severity activity high id 0 format "State set to {}"
+
+        # @ Example port: receiving calls from the rate group
+        # sync input port run: Svc.Sched
+
+        # @ Example parameter
+        # param PARAMETER_NAME: U32
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for sending command registrations
+        command reg port cmdRegOut
+
+        @ Port for receiving commands
+        command recv port cmdIn
+
+        @ Port for sending command responses
+        command resp port cmdResponseOut
+
+        @ Port for sending textual representation of events
+        text event port logTextOut
+
+        @ Port for sending events to downlink
+        event port logOut
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
+
+        @ Port to return the value of a parameter
+        param get port prmGetOut
+
+        @Port to set the value of a parameter
+        param set port prmSetOut
+
+    }
+}
\ No newline at end of file
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
new file mode 100644
index 00000000..ae2e61d4
--- /dev/null
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
@@ -0,0 +1,42 @@
+// ======================================================================
+// \title  LoadSwitch.hpp
+// \author kyang25
+// \brief  hpp file for LoadSwitch component implementation class
+// ======================================================================
+
+#ifndef Components_LoadSwitch_HPP
+#define Components_LoadSwitch_HPP
+
+#include "FprimeZephyrReference/Components/LoadSwitch/LoadSwitchComponentAc.hpp"
+
+namespace Components {
+
+class LoadSwitch final : public LoadSwitchComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct LoadSwitch object
+    LoadSwitch(const char* const compName  //!< The component name
+    );
+
+    //! Destroy LoadSwitch object
+    ~LoadSwitch();
+
+  private:
+    // ----------------------------------------------------------------------
+    // Handler implementations for commands
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for command TODO
+    //!
+    //! TODO
+    void TODO_cmdHandler(FwOpcodeType opCode,  //!< The opcode
+                         U32 cmdSeq            //!< The command sequence number
+                         ) override;
+};
+
+}  // namespace Components
+
+#endif
diff --git a/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md b/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
new file mode 100644
index 00000000..ccd6de36
--- /dev/null
+++ b/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
@@ -0,0 +1,67 @@
+# Components::LoadSwitch
+
+A generic load switch for controlling power to components
+
+## Usage Examples
+Add usage examples here
+
+### Diagrams
+Add diagrams here
+
+### Typical Usage
+And the typical usage of the component here
+
+## Class Diagram
+Add a class diagram here
+
+## Port Descriptions
+| Name | Description |
+|---|---|
+|---|---|
+
+## Component States
+| Name  | Description                          |
+|-------|--------------------------------------|
+| Off   | No power to the component            |
+| On    | Power supplied to the component      |
+| Error | An error occurred in the load switch |
+
+## Sequence Diagrams
+Add sequence diagrams here
+
+## Parameters
+| Name | Description |
+|---|---|
+|---|---|
+
+## Commands
+| Name | Description |
+|---|---|
+|---|---|
+
+## Events
+| Name | Description |
+|---|---|
+|---|---|
+
+## Telemetry
+| Name | Description |
+|---|---|
+|---|---|
+
+## Unit Tests
+Add unit test descriptions in the chart below
+| Name | Description | Output | Coverage |
+|---|---|---|---|
+|---|---|---|---|
+
+## Requirements
+Add requirements in the chart below
+| Name | Description | Validation |
+|---|---|---|
+|---|---|---|
+
+## Change Log
+| Date | Description |
+|---|---|
+|---| Initial Draft |
\ No newline at end of file

From 5d5648faba04dcca61c5d1a31c46c573ebe884a6 Mon Sep 17 00:00:00 2001
From: Kevinthegreat <92656833+kevinthegreat1@users.noreply.github.com>
Date: Wed, 22 Oct 2025 20:11:39 -0400
Subject: [PATCH 02/68] Fix tables

---
 FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md | 2 --
 1 file changed, 2 deletions(-)

diff --git a/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md b/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
index ccd6de36..92c0064d 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
+++ b/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
@@ -50,13 +50,11 @@ Add sequence diagrams here
 |---|---|
 
 ## Unit Tests
-Add unit test descriptions in the chart below
 | Name | Description | Output | Coverage |
 |---|---|---|---|
 |---|---|---|---|
 
 ## Requirements
-Add requirements in the chart below
 | Name | Description | Validation |
 |---|---|---|
 |---|---|---|

From 8f00e037a3783a5b4ab39be9f86b8792d92dd479 Mon Sep 17 00:00:00 2001
From: sarah <ssh2198@columbia.edu>
Date: Wed, 22 Oct 2025 20:33:26 -0400
Subject: [PATCH 03/68] Sarah Kevin MoMata Squad Load Switch

---
 .../Components/LoadSwitch/LoadSwitch.fpp            |  5 +++++
 .../Components/LoadSwitch/docs/sdd.md               | 13 +++++++------
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
index 32ce8d7e..de5f76a0 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -13,15 +13,20 @@ module Components {
 
         # @ Example async command
         # async command COMMAND_NAME(param_name: U32)
+        async command TURN_ON()
+        async command TURN_OFF()
 
         # @ Example telemetry counter
         # telemetry ExampleCounter: U64
+        telemetry IsOn: Fw.On
 
         # @ Example event
         # event ExampleStateEvent(example_state: Fw.On) severity activity high id 0 format "State set to {}"
+        event StatusChanged($state: Fw.On) severity activity high id 1 format "Load switch state changed to {}"
 
         # @ Example port: receiving calls from the rate group
         # sync input port run: Svc.Sched
+        output port Status: Fw.On
 
         # @ Example parameter
         # param PARAMETER_NAME: U32
diff --git a/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md b/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
index 92c0064d..0537abb4 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
+++ b/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
@@ -9,7 +9,7 @@ Add usage examples here
 Add diagrams here
 
 ### Typical Usage
-And the typical usage of the component here
+The load switch would be used whenever a sensor is to be turned on or off.
 
 ## Class Diagram
 Add a class diagram here
@@ -17,7 +17,7 @@ Add a class diagram here
 ## Port Descriptions
 | Name | Description |
 |---|---|
-|---|---|
+| Status | Boolean value displaying whether the load switch is on or not. |
 
 ## Component States
 | Name  | Description                          |
@@ -37,17 +37,18 @@ Add sequence diagrams here
 ## Commands
 | Name | Description |
 |---|---|
-|---|---|
+| On | Turn on power to the component |
+| Off | Turn off power to the component |
 
 ## Events
 | Name | Description |
 |---|---|
-|---|---|
+| StatusChanged | Emits event whenever the status of the load switch changes |
 
 ## Telemetry
 | Name | Description |
 |---|---|
-|---|---|
+| IsOn | Returns whether the load switch is supplying power to the component or not |
 
 ## Unit Tests
 | Name | Description | Output | Coverage |
@@ -62,4 +63,4 @@ Add sequence diagrams here
 ## Change Log
 | Date | Description |
 |---|---|
-|---| Initial Draft |
\ No newline at end of file
+| 10-22-2025 | Sarah, Kevin, and MoMata's first commit |
\ No newline at end of file

From 628fcbe5e4bbabddeb7fdafb68025c0298890e11 Mon Sep 17 00:00:00 2001
From: sarah <ssh2198@columbia.edu>
Date: Wed, 22 Oct 2025 20:42:09 -0400
Subject: [PATCH 04/68] Sarah Kevin and MoMata fixed a bug

---
 FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
index de5f76a0..b6167b85 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -4,8 +4,6 @@ module Components {
 
         # One async command/port is required for active components
         # This should be overridden by the developers with a useful command/port
-        @ TODO
-        async command TODO opcode 0
 
         ##############################################################################
         #### Uncomment the following examples to start customizing your component ####
@@ -26,7 +24,7 @@ module Components {
 
         # @ Example port: receiving calls from the rate group
         # sync input port run: Svc.Sched
-        output port Status: Fw.On
+        output port Status: Drv.GpioRead
 
         # @ Example parameter
         # param PARAMETER_NAME: U32

From 91b25fe9bbbccc5929a3cc4d70defe65b15bb15a Mon Sep 17 00:00:00 2001
From: sarah <ssh2198@columbia.edu>
Date: Wed, 22 Oct 2025 20:43:39 -0400
Subject: [PATCH 05/68] Commit farming

---
 .../Components/LoadSwitch/LoadSwitch.cpp        |  9 +++++++--
 .../Components/LoadSwitch/LoadSwitch.hpp        | 17 ++++++++++-------
 2 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index 7476eba7..a4c28a8d 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -1,6 +1,6 @@
 // ======================================================================
 // \title  LoadSwitch.cpp
-// \author kyang25
+// \author sarah
 // \brief  cpp file for LoadSwitch component implementation class
 // ======================================================================
 
@@ -20,7 +20,12 @@ LoadSwitch ::~LoadSwitch() {}
 // Handler implementations for commands
 // ----------------------------------------------------------------------
 
-void LoadSwitch ::TODO_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+void LoadSwitch ::TURN_ON_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+    // TODO
+    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
+}
+
+void LoadSwitch ::TURN_OFF_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
     // TODO
     this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
 }
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
index ae2e61d4..92e5dc3d 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
@@ -1,6 +1,6 @@
 // ======================================================================
 // \title  LoadSwitch.hpp
-// \author kyang25
+// \author sarah
 // \brief  hpp file for LoadSwitch component implementation class
 // ======================================================================
 
@@ -29,12 +29,15 @@ class LoadSwitch final : public LoadSwitchComponentBase {
     // Handler implementations for commands
     // ----------------------------------------------------------------------
 
-    //! Handler implementation for command TODO
-    //!
-    //! TODO
-    void TODO_cmdHandler(FwOpcodeType opCode,  //!< The opcode
-                         U32 cmdSeq            //!< The command sequence number
-                         ) override;
+    //! Handler implementation for command TURN_ON
+    void TURN_ON_cmdHandler(FwOpcodeType opCode,  //!< The opcode
+                            U32 cmdSeq            //!< The command sequence number
+                            ) override;
+
+    //! Handler implementation for command TURN_OFF
+    void TURN_OFF_cmdHandler(FwOpcodeType opCode,  //!< The opcode
+                             U32 cmdSeq            //!< The command sequence number
+                             ) override;
 };
 
 }  // namespace Components

From 076bf65e67e655de525ade13b85b4d8a2a27f7b0 Mon Sep 17 00:00:00 2001
From: Moises Mata <moisesmata2627@gmail.com>
Date: Wed, 22 Oct 2025 21:13:52 -0400
Subject: [PATCH 06/68] Added mcp23017 to v5 dtsi

---
 .../proves_flight_control_board_v5.dtsi          | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 397708c7..41715c98 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -137,4 +137,20 @@ zephyr_udc0: &usbd {
 		lsb-microamp = <100>;
 		label = "INA219";
 	};
+    mcp23017: mcp23017@20 {
+        compatible = "microchip,mcp23017";
+        reg = <0x20>;
+        gpio-controller;
+        #gpio-cells = <2>;
+
+        // GPIO line names for traceability
+        gpio-line-names = "FACE4_ENABLE", "FACE0_ENABLE", "FACE1_ENABLE", "FACE2_ENABLE",
+                          "FACE3_ENABLE", "FACE5_ENABLE", "READONLY", "CHARGE",
+                          "ENABLE_Heater", "PAYLOAD_PWR_ENABLE", "FIRE_DEPLOY2_B", "PAYLOAD_BATT_ENABLE",
+                          "RF2_IO2", "RF2_IO1", "RF2_IO0", "RF2_IO3";
+
+        reset-gpios = <&gpio0 18 GPIO_ACTIVE_LOW>;
+
+        ngpios = <16>;
+    };
 };

From 24a2e97777035706e14dd9e7eef9e49ebf97cb4b Mon Sep 17 00:00:00 2001
From: Moises Mata <moisesmata2627@gmail.com>
Date: Thu, 23 Oct 2025 12:53:24 -0400
Subject: [PATCH 07/68] Rough initial implementation + add to topology

---
 .../Components/LoadSwitch/LoadSwitch.cpp         | 16 ++++++++++++++--
 .../Components/LoadSwitch/LoadSwitch.hpp         | 11 +++++++++++
 .../Top/ReferenceDeploymentPackets.fppi          |  4 ++++
 .../Top/ReferenceDeploymentTopology.cpp          |  3 +++
 .../ReferenceDeployment/Top/instances.fpp        |  5 +++++
 .../ReferenceDeployment/Top/topology.fpp         |  2 ++
 6 files changed, 39 insertions(+), 2 deletions(-)

diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index a4c28a8d..c8420616 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -21,13 +21,25 @@ LoadSwitch ::~LoadSwitch() {}
 // ----------------------------------------------------------------------
 
 void LoadSwitch ::TURN_ON_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
-    // TODO
+    gpio_pin_set(m_device, m_pinNum, 1);
+    this->log_ACTIVITY_HI_StatusChanged(Fw::On::ON);
+    // I think some code needed to send this status to the port as well
     this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
 }
 
 void LoadSwitch ::TURN_OFF_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
-    // TODO
+    gpio_pin_set(m_device, m_pinNum, 0);
+    this->log_ACTIVITY_HI_StatusChanged(Fw::On::OFF);
+    // I think some code needed to send this status to the port as well
     this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
 }
 
+
+// This is meant to be used in Topology.cpp to configure the pin and device
+void LoadSwitch ::pin_configuration(const struct device* device, uint8_t pinNum) {
+    this->m_pinNum = pinNum;
+    this->m_device = device;
+    gpio_pin_configure(m_device, m_pinNum, GPIO_OUTPUT_INACTIVE);
+}
+
 }  // namespace Components
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
index 92e5dc3d..585e193d 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
@@ -8,6 +8,7 @@
 #define Components_LoadSwitch_HPP
 
 #include "FprimeZephyrReference/Components/LoadSwitch/LoadSwitchComponentAc.hpp"
+#include <zephyr/drivers/gpio.h>
 
 namespace Components {
 
@@ -24,6 +25,12 @@ class LoadSwitch final : public LoadSwitchComponentBase {
     //! Destroy LoadSwitch object
     ~LoadSwitch();
 
+    // ----------------------------------------------------------------------
+    // Configuration Meant to be used in ***Topology.cpp
+    // ----------------------------------------------------------------------
+
+    void pin_configuration(const struct device* device, uint8_t pinNum);
+
   private:
     // ----------------------------------------------------------------------
     // Handler implementations for commands
@@ -38,6 +45,10 @@ class LoadSwitch final : public LoadSwitchComponentBase {
     void TURN_OFF_cmdHandler(FwOpcodeType opCode,  //!< The opcode
                              U32 cmdSeq            //!< The command sequence number
                              ) override;
+
+    uint8_t m_pinNum;
+    static const struct device* m_device;
+
 };
 
 }  // namespace Components
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 4c2e3fc1..566f68a1 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -55,7 +55,11 @@ telemetry packets ReferenceDeploymentPackets {
   }
 
 
+
 } omit {
+  # Needs to be added appropriately later
+  loadSwitch1.IsOn
+
   CdhCore.cmdDisp.CommandErrors
   # Only has one library, no custom versions
   CdhCore.version.LibraryVersion02
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 21306966..156660ee 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -16,6 +16,8 @@
 static const struct gpio_dt_spec ledGpio = GPIO_DT_SPEC_GET(DT_NODELABEL(led0), gpios);
 static const struct gpio_dt_spec burnwire0Gpio = GPIO_DT_SPEC_GET(DT_NODELABEL(burnwire0), gpios);
 static const struct gpio_dt_spec burnwire1Gpio = GPIO_DT_SPEC_GET(DT_NODELABEL(burnwire1), gpios);
+static const struct device *mcp23017_dev = DEVICE_DT_GET(DT_NODELABEL(mcp23017));
+
 
 // Allows easy reference to objects in FPP/autocoder required namespaces
 using namespace ReferenceDeployment;
@@ -59,6 +61,7 @@ void configureTopology() {
     gpioDriver.open(ledGpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioBurnwire0.open(burnwire0Gpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioBurnwire1.open(burnwire1Gpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
+    loadSwitch1.pin_configuration(mcp23017_dev, 0);  // Pin 0 on MCP23017
 }
 
 // Public functions for use in main program are namespaced with deployment name ReferenceDeployment
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index bdbb36a8..133cc7d3 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -35,6 +35,11 @@ module ReferenceDeployment {
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 4
+  
+  instance loadSwitch1: Components.LoadSwitch base id 0x10003000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 5
 
   # ----------------------------------------------------------------------
   # Queued component instances
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 89626e35..3a25a838 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -42,6 +42,8 @@ module ReferenceDeployment {
     instance comSplitterTelemetry
     # For UART sideband communication
     instance comDriver
+    
+    instance loadSwitch1
 
   # ----------------------------------------------------------------------
   # Pattern graph specifiers

From 3761180c517bcd262c6dd8deb908e352f62ea0b4 Mon Sep 17 00:00:00 2001
From: Moises Mata <moisesmata2627@gmail.com>
Date: Thu, 23 Oct 2025 12:56:14 -0400
Subject: [PATCH 08/68] Ion even know any mane

---
 FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index c8420616..ed53998b 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -8,6 +8,7 @@
 
 namespace Components {
 
+const struct device* LoadSwitch::m_device = nullptr;
 // ----------------------------------------------------------------------
 // Component construction and destruction
 // ----------------------------------------------------------------------

From 3fec032d319372e918a1503ac7a6403e61a6ff75 Mon Sep 17 00:00:00 2001
From: Michael Pham <61564344+Mikefly123@users.noreply.github.com>
Date: Mon, 3 Nov 2025 14:25:28 -0800
Subject: [PATCH 09/68] Working Device Tree (But F Prime Crash)

---
 .../Components/LoadSwitch/LoadSwitch.cpp      |   1 +
 .../Components/LoadSwitch/LoadSwitch.hpp      |   4 +-
 .../proves_flight_control_board_v5.dtsi       | 112 +++++++++++++++++-
 3 files changed, 115 insertions(+), 2 deletions(-)

diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index 351e2ea5..e92b1aea 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -5,6 +5,7 @@
 // ======================================================================
 
 #include "FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp"
+#include <zephyr/drivers/gpio.h>
 
 namespace Components {
 
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
index bb4288b3..12d79c01 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
@@ -7,9 +7,11 @@
 #ifndef Components_LoadSwitch_HPP
 #define Components_LoadSwitch_HPP
 
-#include <zephyr/drivers/gpio.h>
 #include "FprimeZephyrReference/Components/LoadSwitch/LoadSwitchComponentAc.hpp"
 
+// Forward declare Zephyr types to avoid header conflicts
+struct device;
+
 namespace Components {
 
 class LoadSwitch final : public LoadSwitchComponentBase {
diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 4aa68723..d4db1c0d 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -178,8 +178,118 @@ zephyr_udc0: &usbd {
                           "ENABLE_Heater", "PAYLOAD_PWR_ENABLE", "FIRE_DEPLOY2_B", "PAYLOAD_BATT_ENABLE",
                           "RF2_IO2", "RF2_IO1", "RF2_IO0", "RF2_IO3";
 
-        reset-gpios = <&gpio0 18 GPIO_ACTIVE_LOW>;
+        reset-gpios = <&gpio0 20 GPIO_ACTIVE_LOW>;
 
         ngpios = <16>;
     };
 };
+
+// GPIO Expander IO
+/ {
+
+    // Define the GPIO outputs based on your schematic
+    gpio_outputs {
+        compatible = "gpio-leds";  // Using gpio-leds as a convenient container
+
+        face4_enable: face4-enable {
+
+            gpios = <&mcp23017 8 GPIO_ACTIVE_HIGH>;  // GPB0
+            label = "FACE4_ENABLE";
+        };
+
+        face0_enable: face0-enable {
+
+            gpios = <&mcp23017 9 GPIO_ACTIVE_HIGH>;  // GPB1
+            label = "FACE0_ENABLE";
+        };
+
+        face1_enable: face1-enable {
+
+            gpios = <&mcp23017 10 GPIO_ACTIVE_HIGH>;  // GPB2
+            label = "FACE1_ENABLE";
+        };
+
+        face2_enable: face2-enable {
+
+            gpios = <&mcp23017 11 GPIO_ACTIVE_HIGH>;  // GPB3
+            label = "FACE2_ENABLE";
+        };
+
+        face3_enable: face3-enable {
+
+            gpios = <&mcp23017 12 GPIO_ACTIVE_HIGH>;  // GPB4
+            label = "FACE3_ENABLE";
+        };
+
+        face5_enable: face5-enable {
+
+            gpios = <&mcp23017 13 GPIO_ACTIVE_HIGH>;  // GPB5
+            label = "FACE5_ENABLE";
+        };
+
+        enable_heater: enable-heater {
+
+            gpios = <&mcp23017 0 GPIO_ACTIVE_HIGH>;  // GPA0
+            label = "ENABLE_Heater";
+        };
+
+        payload_pwr_enable: payload-pwr-enable {
+
+            gpios = <&mcp23017 1 GPIO_ACTIVE_HIGH>;  // GPA1
+            label = "PAYLOAD_PWR_ENABLE";
+        };
+
+        fire_deploy2_b: fire-deploy2-b {
+
+            gpios = <&mcp23017 2 GPIO_ACTIVE_HIGH>;  // GPA2
+            label = "FIRE_DEPLOY2_B";
+        };
+
+        payload_batt_enable: payload-batt-enable {
+
+            gpios = <&mcp23017 3 GPIO_ACTIVE_HIGH>;  // GPA3
+            label = "PAYLOAD_BATT_ENABLE";
+        };
+    };
+
+    // Define GPIO inputs
+    gpio_inputs {
+        compatible = "gpio-keys";
+
+		charge: charge {
+
+            gpios = <&mcp23017 16 GPIO_ACTIVE_HIGH>;  // GPB7
+            label = "CHARGE";
+        };
+
+        readonly: readonly {
+
+            gpios = <&mcp23017 15 GPIO_ACTIVE_HIGH>;  // GPB6
+            label = "READONLY";
+        };
+
+        rf2_io2: rf2-io2 {
+
+            gpios = <&mcp23017 4 GPIO_ACTIVE_HIGH>;  // GPA4
+            label = "RF2_IO2";
+        };
+
+        rf2_io1: rf2-io1 {
+
+            gpios = <&mcp23017 5 GPIO_ACTIVE_HIGH>;  // GPA5
+            label = "RF2_IO1";
+        };
+
+        rf2_io0: rf2-io0 {
+
+            gpios = <&mcp23017 6 GPIO_ACTIVE_HIGH>;  // GPA6
+            label = "RF2_IO0";
+        };
+
+        rf2_io3: rf2-io3 {
+
+            gpios = <&mcp23017 7 GPIO_ACTIVE_HIGH>;  // GPA7
+            label = "RF2_IO3";
+        };
+    };
+};

From 09c61fdc4284ec3690e3e7b4dddcc035de2f93fa Mon Sep 17 00:00:00 2001
From: Michael Pham <61564344+Mikefly123@users.noreply.github.com>
Date: Mon, 3 Nov 2025 14:33:58 -0800
Subject: [PATCH 10/68] Update CommandDispatcherImplCfg.hpp

Fixed the Crashes!
---
 .../project/config/CommandDispatcherImplCfg.hpp                 | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp b/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
index ab88a46b..350367d4 100644
--- a/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
+++ b/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
@@ -11,7 +11,7 @@
 // Define configuration values for dispatcher
 
 enum {
-    CMD_DISPATCHER_DISPATCH_TABLE_SIZE = 50,   // !< The size of the table holding opcodes to dispatch
+    CMD_DISPATCHER_DISPATCH_TABLE_SIZE = 100,  // !< The size of the table holding opcodes to dispatch
     CMD_DISPATCHER_SEQUENCER_TABLE_SIZE = 10,  // !< The size of the table holding commands in progress
 };
 

From b5544e72a29ec50fe48ecca11732e4597469210a Mon Sep 17 00:00:00 2001
From: Moises Mata <mm6155@columbia.edu>
Date: Tue, 4 Nov 2025 11:13:29 -0500
Subject: [PATCH 11/68] Update Submodules

---
 lib/fprime        | 2 +-
 lib/fprime-zephyr | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/lib/fprime b/lib/fprime
index 064b6455..626473fc 160000
--- a/lib/fprime
+++ b/lib/fprime
@@ -1 +1 @@
-Subproject commit 064b64553f1c0dce5afd43453bbf58993004e1e2
+Subproject commit 626473fc4e89e491d43ad95bb0d1b7727014c80d
diff --git a/lib/fprime-zephyr b/lib/fprime-zephyr
index 11c2a109..dc83bef6 160000
--- a/lib/fprime-zephyr
+++ b/lib/fprime-zephyr
@@ -1 +1 @@
-Subproject commit 11c2a109c0225745237c46a0f45902ffc598500b
+Subproject commit dc83bef61c25c65d3854cf65b045daf42a6a58f9

From 5351c58c7df7578d7488d40d5ccc28142590a07a Mon Sep 17 00:00:00 2001
From: Michael Pham <61564344+Mikefly123@users.noreply.github.com>
Date: Tue, 4 Nov 2025 16:42:40 -0800
Subject: [PATCH 12/68] Revert "Update Submodules"

This reverts commit b5544e72a29ec50fe48ecca11732e4597469210a.
---
 lib/fprime        | 2 +-
 lib/fprime-zephyr | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/lib/fprime b/lib/fprime
index 626473fc..064b6455 160000
--- a/lib/fprime
+++ b/lib/fprime
@@ -1 +1 @@
-Subproject commit 626473fc4e89e491d43ad95bb0d1b7727014c80d
+Subproject commit 064b64553f1c0dce5afd43453bbf58993004e1e2
diff --git a/lib/fprime-zephyr b/lib/fprime-zephyr
index dc83bef6..11c2a109 160000
--- a/lib/fprime-zephyr
+++ b/lib/fprime-zephyr
@@ -1 +1 @@
-Subproject commit dc83bef61c25c65d3854cf65b045daf42a6a58f9
+Subproject commit 11c2a109c0225745237c46a0f45902ffc598500b

From e90ffe7a948db1597cdcd5ab0a07925bba7751a5 Mon Sep 17 00:00:00 2001
From: "Sam S. Yu" <25761223+yudataguy@users.noreply.github.com>
Date: Wed, 5 Nov 2025 10:48:40 -0800
Subject: [PATCH 13/68] need to add manager next

---
 .../Components/Drv/CMakeLists.txt             |  1 +
 .../Drv/Tmp112Manager/CMakeLists.txt          | 36 ++++++++++++
 .../Drv/Tmp112Manager/TMP112Manager.cpp       | 49 ++++++++++++++++
 .../Drv/Tmp112Manager/TMP112Manager.fpp       | 36 ++++++++++++
 .../Drv/Tmp112Manager/TMP112Manager.hpp       | 58 +++++++++++++++++++
 .../ReferenceDeployment/Main.cpp              |  2 +
 .../Top/ReferenceDeploymentPackets.fppi       |  1 +
 .../Top/ReferenceDeploymentTopology.cpp       |  1 +
 .../Top/ReferenceDeploymentTopologyDefs.hpp   |  1 +
 .../ReferenceDeployment/Top/instances.fpp     |  2 +
 .../ReferenceDeployment/Top/topology.fpp      |  1 +
 .../proves_flight_control_board_v5.dtsi       |  5 ++
 ...ht_control_board_v5c_rp2350a_m33_defconfig |  1 +
 ...ht_control_board_v5d_rp2350a_m33_defconfig |  1 +
 14 files changed, 195 insertions(+)
 create mode 100644 FprimeZephyrReference/Components/Drv/Tmp112Manager/CMakeLists.txt
 create mode 100644 FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
 create mode 100644 FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
 create mode 100644 FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp

diff --git a/FprimeZephyrReference/Components/Drv/CMakeLists.txt b/FprimeZephyrReference/Components/Drv/CMakeLists.txt
index efcd2f90..d55d258b 100644
--- a/FprimeZephyrReference/Components/Drv/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/Drv/CMakeLists.txt
@@ -2,4 +2,5 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Ina219Manager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/RtcManager")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Tmp112Manager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Types/")
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/CMakeLists.txt b/FprimeZephyrReference/Components/Drv/Tmp112Manager/CMakeLists.txt
new file mode 100644
index 00000000..744ebde3
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/CMakeLists.txt
@@ -0,0 +1,36 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+# Module names are derived from the path from the nearest project/library/framework
+# root when not specifically overridden by the developer. i.e. The module defined by
+# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
+
+register_fprime_library(
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/TMP112Manager.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/TMP112Manager.cpp"
+#   DEPENDS
+#       MyPackage_MyOtherModule
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/TMP112Manager.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/TMP112ManagerTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/TMP112ManagerTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
new file mode 100644
index 00000000..f66a86d0
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -0,0 +1,49 @@
+// ======================================================================
+// \title  TMP112Manager.cpp
+// \brief  cpp file for TMP112Manager component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp"
+#include <Fw/Types/Assert.hpp>
+
+namespace Drv {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+TMP112Manager ::TMP112Manager(const char* const compName) : TMP112ManagerComponentBase(compName) {}
+
+TMP112Manager ::~TMP112Manager() {}
+
+// ----------------------------------------------------------------------
+// Helper methods
+// ----------------------------------------------------------------------
+
+void TMP112Manager::configure(const struct device* dev) {
+    this->m_dev = dev;
+}
+
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+F64 TMP112Manager ::ambientTemperatureGet_handler(FwIndexType portNum) {
+    if (!device_is_ready(this->m_dev)) {
+        this->log_WARNING_HI_DeviceNotReady();
+        return 0;
+    }
+    this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
+
+    struct sensor_value temp;
+
+    sensor_sample_fetch(this->m_dev);
+
+    sensor_channel_get(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
+
+    this->tlmWrite_AmbientTemperature(sensor_value_to_double(&temp));
+
+    return sensor_value_to_double(&temp);
+}
+
+}  // namespace Drv
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
new file mode 100644
index 00000000..4eac8887
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -0,0 +1,36 @@
+module Drv {
+    port AmbientTemperatureGet -> F64
+}
+
+module Drv {
+    @ Manager for TMP112 device
+    passive component TMP112Manager {
+        # Ports
+        @ Port to read the ambient temperature in degrees Celsius
+        sync input port ambientTemperatureGet: AmbientTemperatureGet
+
+        # Telemetry channels
+
+        @ Telemetry channel for ambient temperature in degrees Celsius
+        telemetry AmbientTemperature: F64
+
+        @ Event for reporting TMP112 not ready error
+        event DeviceNotReady() severity warning high format "TMP112 device not ready" throttle 5
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for sending textual representation of events
+        text event port logTextOut
+
+        @ Port for sending events to downlink
+        event port logOut
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
+
+    }
+}
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
new file mode 100644
index 00000000..23b85a6f
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
@@ -0,0 +1,58 @@
+// ======================================================================
+// \title  TMP112Manager.hpp
+// \brief  hpp file for TMP112Manager component implementation class
+// ======================================================================
+
+#ifndef Drv_TMP112Manager_HPP
+#define Drv_TMP112Manager_HPP
+
+#include "FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112ManagerComponentAc.hpp"
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/kernel.h>
+namespace Drv {
+
+class TMP112Manager final : public TMP112ManagerComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct TMP112Manager object
+    TMP112Manager(const char* const compName  //!< The component name
+    );
+
+    //! Destroy TMP112Manager object
+    ~TMP112Manager();
+
+  public:
+    // ----------------------------------------------------------------------
+    // Helper methods
+    // ----------------------------------------------------------------------
+
+    //! Configure the TMP112 device
+    void configure(const struct device* dev);
+
+  private:
+    // ----------------------------------------------------------------------
+    // Handler implementations for typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for ambientTemperatureGet
+    //!
+    //! Port to read the ambient temperature in degrees Celsius
+    F64 ambientTemperatureGet_handler(FwIndexType portNum  //!< The port number
+                                      ) override;
+
+    // ----------------------------------------------------------------------
+    // Member variables
+    // ----------------------------------------------------------------------
+
+    //! Zephyr device stores the initialized TMP112 sensor
+    const struct device* m_dev;
+};
+
+}  // namespace Drv
+
+#endif
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index 6b5187a8..e87ba32e 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -16,6 +16,7 @@ const struct device* serial = DEVICE_DT_GET(DT_NODELABEL(cdc_acm_uart0));
 const struct device* lora = DEVICE_DT_GET(DT_NODELABEL(lora0));
 const struct device* lsm6dso = DEVICE_DT_GET(DT_NODELABEL(lsm6dso0));
 const struct device* lis2mdl = DEVICE_DT_GET(DT_NODELABEL(lis2mdl0));
+const struct device* tmp112 = device_get_binding("TMP112");
 
 int main(int argc, char* argv[]) {
     // ** DO NOT REMOVE **//
@@ -32,6 +33,7 @@ int main(int argc, char* argv[]) {
     inputs.uartDevice = serial;
     inputs.lsm6dsoDevice = lsm6dso;
     inputs.lis2mdlDevice = lis2mdl;
+    inputs.tmp112Device = tmp112;
     inputs.baudRate = 115200;
 
     // Setup, cycle, and teardown topology
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index e8e74ee4..3680f528 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -49,6 +49,7 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.lsm6dsoManager.AngularVelocity
     ReferenceDeployment.lsm6dsoManager.Temperature
     ReferenceDeployment.lis2mdlManager.MagneticField
+    ReferenceDeployment.tmp112Manager.AmbientTemperature
   }
 
   packet LoRa id 7 group 4 {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 0580479a..3db0ce13 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -92,6 +92,7 @@ void setupTopology(const TopologyState& state) {
     lis2mdlManager.configure(state.lis2mdlDevice);
     ina219SysManager.configure(state.ina219SysDevice);
     ina219SolManager.configure(state.ina219SolDevice);
+    tmp112Manager.configure(state.tmp112Device);
 }
 
 void startRateGroups() {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index fc9fe0ce..f4eaad02 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -75,6 +75,7 @@ struct TopologyState {
     const device* loraDevice;             //!< LoRa device path for communication
     const device* lsm6dsoDevice;          //!< LSM6DSO device path for accelerometer/gyroscope
     const device* lis2mdlDevice;          //!< LIS2MDL device path for magnetometer
+    const device* tmp112Device;           //!< TMP112 device path for temperature sensor
     U32 baudRate;                         //!< Baud rate for UART communication
     CdhCore::SubtopologyState cdhCore;    //!< Subtopology state for CdhCore
     ComCcsds::SubtopologyState comCcsds;  //!< Subtopology state for ComCcsds
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 4cf1dbf9..a666dba4 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -95,4 +95,6 @@ module ReferenceDeployment {
   instance ina219SysManager: Drv.Ina219Manager base id 0x10032000
 
   instance ina219SolManager: Drv.Ina219Manager base id 0x10033000
+
+  instance tmp112Manager: Drv.TMP112Manager base id 0x10034000
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 79169a2e..549c2719 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -47,6 +47,7 @@ module ReferenceDeployment {
     instance powerMonitor
     instance ina219SysManager
     instance ina219SolManager
+    instance tmp112Manager
 
 
   # ----------------------------------------------------------------------
diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 363ac07c..829739b8 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -190,4 +190,9 @@ zephyr_udc0: &usbd {
 		backup-switch-mode = "direct";
 		label = "RV3028";
 	};
+	tmp112: tmp112@48 {
+		compatible = "ti,tmp112";
+		reg = <0x48>;
+		label = "TMP112";
+	};
 };
diff --git a/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig b/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig
index 02bb4603..a1a4d236 100644
--- a/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig
+++ b/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig
@@ -17,6 +17,7 @@ CONFIG_LSM6DSO=y
 CONFIG_LSM6DSO_ENABLE_TEMP=y
 CONFIG_LIS2MDL=y
 CONFIG_INA219=y
+CONFIG_TMP112=y
 
 # Radio
 CONFIG_LORA=y
diff --git a/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig b/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig
index fccf5b0f..f0817de0 100644
--- a/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig
+++ b/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig
@@ -17,6 +17,7 @@ CONFIG_LSM6DSO=y
 CONFIG_LSM6DSO_ENABLE_TEMP=y
 CONFIG_LIS2MDL=y
 CONFIG_INA219=y
+CONFIG_TMP112=y
 
 # Radio
 CONFIG_LORA=y

From db0bc823880b7d36ad45d4f98374aefb65129a4c Mon Sep 17 00:00:00 2001
From: Michael Pham <61564344+Mikefly123@users.noreply.github.com>
Date: Wed, 5 Nov 2025 11:32:56 -0800
Subject: [PATCH 14/68] Updated Device Tree

---
 .../proves_flight_control_board_v5.dtsi       | 123 +++++++++++++++++-
 ...ht_control_board_v5c_rp2350a_m33_defconfig |   2 +
 ...ht_control_board_v5d_rp2350a_m33_defconfig |   2 +
 prj.conf                                      |   5 +
 4 files changed, 127 insertions(+), 5 deletions(-)

diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 829739b8..a3fe354e 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -163,6 +163,124 @@ zephyr_udc0: &usbd {
 		lsb-microamp = <61>;
 		label = "INA219 sol";
 	};
+
+	tca9548a: tca9548a@77 {
+		compatible = "ti,tca9548a";
+		status = "okay";
+		reg = <0x77>;
+		#address-cells = <1>;
+		#size-cells = <0>;
+		label = "TCA9548A";
+		reset-gpios = <&gpio0 26 GPIO_ACTIVE_LOW>;
+
+		i2c_mux@0 {
+			compatible = "ti,tca9548a-channel";
+			label = "face0_i2c";
+			reg = <0>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			face0_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+		};
+
+		i2c_mux@1 {
+			compatible = "ti,tca9548a-channel";
+			label = "face1_i2c";
+			reg = <1>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			face1_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+		};
+
+		i2c_mux@2 {
+			compatible = "ti,tca9548a-channel";
+			label = "face2_i2c";
+			reg = <2>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			face2_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+		};
+
+		i2c_mux@3 {
+			compatible = "ti,tca9548a-channel";
+			label = "face3_i2c";
+			reg = <3>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			face3_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+		};
+
+		i2c_mux@4 {
+			compatible = "ti,tca9548a-channel";
+			label = "battery_i2c";
+			reg = <4>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			batt_cell1_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+			batt_cell2_temp_sens: tmp112@73 {
+				compatible = "ti,tmp112";
+				reg = <0x73>;
+			};
+			batt_cell3_temp_sens: tmp112@74 {
+				compatible = "ti,tmp112";
+				reg = <0x74>;
+			};
+			batt_cell4_temp_sens: tmp112@75 {
+				compatible = "ti,tmp112";
+				reg = <0x75>;
+			};
+		};
+
+		i2c_mux@5 {
+			compatible = "ti,tca9548a-channel";
+			label = "face4_i2c";
+			reg = <5>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			face4_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+		};
+
+		i2c_mux@6 {
+			compatible = "ti,tca9548a-channel";
+			label = "face5_i2c";
+			reg = <6>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			face5_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+		};
+
+		i2c_mux@7 {
+			compatible = "ti,tca9548a-channel";
+			label = "top_i2c";
+			reg = <7>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			top_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+		};
+	};
 };
 
 
@@ -190,9 +308,4 @@ zephyr_udc0: &usbd {
 		backup-switch-mode = "direct";
 		label = "RV3028";
 	};
-	tmp112: tmp112@48 {
-		compatible = "ti,tmp112";
-		reg = <0x48>;
-		label = "TMP112";
-	};
 };
diff --git a/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig b/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig
index a1a4d236..28955a32 100644
--- a/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig
+++ b/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig
@@ -12,6 +12,8 @@ CONFIG_USB_DEVICE_STACK=y
 CONFIG_USB_DEVICE_PRODUCT="PROVES Flight Control Board v5c"
 CONFIG_USB_DEVICE_VID=0x0028
 
+CONFIG_I2C_TCA954X=y
+
 # Sensors
 CONFIG_LSM6DSO=y
 CONFIG_LSM6DSO_ENABLE_TEMP=y
diff --git a/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig b/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig
index f0817de0..c8df32a1 100644
--- a/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig
+++ b/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig
@@ -12,6 +12,8 @@ CONFIG_USB_DEVICE_STACK=y
 CONFIG_USB_DEVICE_PRODUCT="PROVES Flight Control Board v5d"
 CONFIG_USB_DEVICE_VID=0x0028
 
+CONFIG_I2C_TCA954X=y
+
 # Sensors
 CONFIG_LSM6DSO=y
 CONFIG_LSM6DSO_ENABLE_TEMP=y
diff --git a/prj.conf b/prj.conf
index b1e35675..51c30cce 100644
--- a/prj.conf
+++ b/prj.conf
@@ -32,6 +32,11 @@ CONFIG_SPI=y
 CONFIG_PINCTRL=y
 CONFIG_ASSERT=y
 
+#### I2C Multiplexer Configuration ####
+CONFIG_I2C_TCA954X=y
+CONFIG_I2C_TCA954X_ROOT_INIT_PRIO=50
+CONFIG_I2C_TCA954X_CHANNEL_INIT_PRIO=51
+
 CONFIG_DYNAMIC_THREAD=y
 CONFIG_KERNEL_MEM_POOL=y
 CONFIG_DYNAMIC_THREAD_ALLOC=n

From 46e660460cc7cb7e39e6d7aae99335afd88a27be Mon Sep 17 00:00:00 2001
From: Moises Mata <mm6155@columbia.edu>
Date: Wed, 5 Nov 2025 20:35:23 -0500
Subject: [PATCH 15/68] Add Reset port functionality

---
 .../Components/LoadSwitch/LoadSwitch.cpp            | 10 ++++++++++
 .../Components/LoadSwitch/LoadSwitch.fpp            |  5 +++++
 .../Components/LoadSwitch/LoadSwitch.hpp            | 13 +++++++++++++
 3 files changed, 28 insertions(+)

diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index e92b1aea..b61ff198 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -18,6 +18,16 @@ LoadSwitch ::LoadSwitch(const char* const compName) : LoadSwitchComponentBase(co
 
 LoadSwitch ::~LoadSwitch() {}
 
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+void LoadSwitch ::Reset_handler(FwIndexType portNum) {
+    gpio_pin_set(m_device, m_pinNum, 0);
+    k_sleep(K_MSEC(100));
+    gpio_pin_set(m_device, m_pinNum, 1);
+}
+
 // ----------------------------------------------------------------------
 // Handler implementations for commands
 // ----------------------------------------------------------------------
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
index ff564b24..d00d49b1 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -26,6 +26,11 @@ module Components {
         # sync input port run: Svc.Sched
         output port Status: Drv.GpioRead
 
+        
+        # Input that will be used by other components if they want to force a reset 
+        # (off and on again) of the load switch
+        async input port Reset: Fw.Signal
+
         # @ Example parameter
         # param PARAMETER_NAME: U32
 
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
index 12d79c01..bc94e4ea 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
@@ -8,6 +8,7 @@
 #define Components_LoadSwitch_HPP
 
 #include "FprimeZephyrReference/Components/LoadSwitch/LoadSwitchComponentAc.hpp"
+#include <zephyr/kernel.h>
 
 // Forward declare Zephyr types to avoid header conflicts
 struct device;
@@ -48,6 +49,18 @@ class LoadSwitch final : public LoadSwitchComponentBase {
                              U32 cmdSeq            //!< The command sequence number
                              ) override;
 
+    // ----------------------------------------------------------------------
+    // Handler implementations for typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for Reset
+    void Reset_handler(FwIndexType portNum  //!< The port number
+                       ) override;
+    
+    // ----------------------------------------------------------------------
+    // Member variables
+    // ----------------------------------------------------------------------
+
     uint8_t m_pinNum;
     static const struct device* m_device;
 };

From 98326f2630f9f875847e97ddab3fc6714d498337 Mon Sep 17 00:00:00 2001
From: Kevinthegreat <92656833+kevinthegreat1@users.noreply.github.com>
Date: Wed, 5 Nov 2025 20:54:13 -0500
Subject: [PATCH 16/68] Add remaining load switch instances

---
 .../Top/ReferenceDeploymentTopology.cpp       |  9 ++++-
 .../ReferenceDeployment/Top/instances.fpp     | 37 ++++++++++++++++++-
 .../ReferenceDeployment/Top/topology.fpp      |  9 ++++-
 3 files changed, 52 insertions(+), 3 deletions(-)

diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 7f242a01..da089523 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -61,7 +61,14 @@ void configureTopology() {
     gpioDriver.open(ledGpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioBurnwire0.open(burnwire0Gpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioBurnwire1.open(burnwire1Gpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
-    loadSwitch1.pin_configuration(mcp23017_dev, 0);  // Pin 0 on MCP23017
+    face4LoadSwitch.pin_configuration(mcp23017_dev, 0);  // Pin 0 on MCP23017
+    face0LoadSwitch.pin_configuration(mcp23017_dev, 1);  // Pin 1 on MCP23017
+    face1LoadSwitch.pin_configuration(mcp23017_dev, 2);  // Pin 2 on MCP23017
+    face2LoadSwitch.pin_configuration(mcp23017_dev, 3);  // Pin 3 on MCP23017
+    face3LoadSwitch.pin_configuration(mcp23017_dev, 4);  // Pin 4 on MCP23017
+    face5LoadSwitch.pin_configuration(mcp23017_dev, 5);  // Pin 5 on MCP23017
+    payloadPowerLoadSwitch.pin_configuration(mcp23017_dev, 7);  // Pin 7 on MCP23017
+    payloadBatteryLoadSwitch.pin_configuration(mcp23017_dev, 9);  // Pin 9 on MCP23017
 }
 
 // Public functions for use in main program are namespaced with deployment name ReferenceDeployment
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 19d28754..f98c69b6 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -37,7 +37,42 @@ module ReferenceDeployment {
     stack size Default.STACK_SIZE \
     priority 4
 
-  instance loadSwitch1: Components.LoadSwitch base id 0x10004000 \
+  instance face4LoadSwitch: Components.LoadSwitch base id 0x10014000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 5
+
+  instance face0LoadSwitch: Components.LoadSwitch base id 0x10010000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 5
+
+  instance face1LoadSwitch: Components.LoadSwitch base id 0x10011000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 5
+
+  instance face2LoadSwitch: Components.LoadSwitch base id 0x10012000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 5
+
+  instance face3LoadSwitch: Components.LoadSwitch base id 0x10013000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 5
+
+  instance face5LoadSwitch: Components.LoadSwitch base id 0x10015000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 5
+
+  instance payloadPowerLoadSwitch: Components.LoadSwitch base id 0x10016000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 5
+
+  instance payloadBatteryLoadSwitch: Components.LoadSwitch base id 0x10017000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 5
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 9b0cd82b..d96a5013 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -44,7 +44,14 @@ module ReferenceDeployment {
     # For UART sideband communication
     instance comDriver
 
-    instance loadSwitch1
+    instance face4LoadSwitch
+    instance face0LoadSwitch
+    instance face1LoadSwitch
+    instance face2LoadSwitch
+    instance face3LoadSwitch
+    instance face5LoadSwitch
+    instance payloadPowerLoadSwitch
+    instance payloadBatteryLoadSwitch
     instance fsSpace
 
 

From 9c72d7a550bcec6c6c16b4cfe0a7f1fb5451f502 Mon Sep 17 00:00:00 2001
From: Moises Mata <mm6155@columbia.edu>
Date: Wed, 5 Nov 2025 21:11:02 -0500
Subject: [PATCH 17/68] Small updates to extra loadSwitch instances, update max
 packets - Max packets from 8 to 9

---
 .../Top/ReferenceDeploymentPackets.fppi        | 13 ++++++++++---
 .../ReferenceDeployment/Top/instances.fpp      | 18 +++++++++---------
 .../project/config/TlmPacketizerCfg.hpp        |  2 +-
 3 files changed, 20 insertions(+), 13 deletions(-)

diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index e3097dab..ec186e21 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -61,11 +61,18 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.antennaDeployer.LastDistance
   }
 
+  packet LoadSwitches id 9 group 4 {
+    ReferenceDeployment.face4LoadSwitch.IsOn
+    ReferenceDeployment.face0LoadSwitch.IsOn
+    ReferenceDeployment.face1LoadSwitch.IsOn
+    ReferenceDeployment.face2LoadSwitch.IsOn
+    ReferenceDeployment.face3LoadSwitch.IsOn
+    ReferenceDeployment.face5LoadSwitch.IsOn
+    ReferenceDeployment.payloadPowerLoadSwitch.IsOn
+    ReferenceDeployment.payloadBatteryLoadSwitch.IsOn
+  }
 
 } omit {
-  # Needs to be added appropriately later
-  loadSwitch1.IsOn
-
   CdhCore.cmdDisp.CommandErrors
   # Only has one library, no custom versions
   CdhCore.version.LibraryVersion02
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index f98c69b6..016dee51 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -37,47 +37,47 @@ module ReferenceDeployment {
     stack size Default.STACK_SIZE \
     priority 4
 
-  instance face4LoadSwitch: Components.LoadSwitch base id 0x10014000 \
+  instance face4LoadSwitch: Components.LoadSwitch base id 0x10003000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 5
 
-  instance face0LoadSwitch: Components.LoadSwitch base id 0x10010000 \
+  instance face0LoadSwitch: Components.LoadSwitch base id 0x10004000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 5
 
-  instance face1LoadSwitch: Components.LoadSwitch base id 0x10011000 \
+  instance face1LoadSwitch: Components.LoadSwitch base id 0x10005000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 5
 
-  instance face2LoadSwitch: Components.LoadSwitch base id 0x10012000 \
+  instance face2LoadSwitch: Components.LoadSwitch base id 0x10006000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 5
 
-  instance face3LoadSwitch: Components.LoadSwitch base id 0x10013000 \
+  instance face3LoadSwitch: Components.LoadSwitch base id 0x10007000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 5
 
-  instance face5LoadSwitch: Components.LoadSwitch base id 0x10015000 \
+  instance face5LoadSwitch: Components.LoadSwitch base id 0x10008000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 5
 
-  instance payloadPowerLoadSwitch: Components.LoadSwitch base id 0x10016000 \
+  instance payloadPowerLoadSwitch: Components.LoadSwitch base id 0x10009000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 5
 
-  instance payloadBatteryLoadSwitch: Components.LoadSwitch base id 0x10017000 \
+  instance payloadBatteryLoadSwitch: Components.LoadSwitch base id 0x1000A000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 5
 
-  instance prmDb: Svc.PrmDb base id 0x10003000 \
+  instance prmDb: Svc.PrmDb base id 0x1000B000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 5
diff --git a/FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp b/FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp
index 3c11895d..e86a06c9 100644
--- a/FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp
+++ b/FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp
@@ -16,7 +16,7 @@
 #include <Fw/FPrimeBasicTypes.hpp>
 
 namespace Svc {
-static const FwChanIdType MAX_PACKETIZER_PACKETS = 8;
+static const FwChanIdType MAX_PACKETIZER_PACKETS = 9;
 static const FwChanIdType TLMPACKETIZER_NUM_TLM_HASH_SLOTS =
     15;  // !< Number of slots in the hash table.
          // Works best when set to about twice the number of components producing telemetry

From d7fce15cb716d9acb0ec37453beee03042a3b4a5 Mon Sep 17 00:00:00 2001
From: Moises Mata <mm6155@columbia.edu>
Date: Wed, 5 Nov 2025 21:13:19 -0500
Subject: [PATCH 18/68] Remove output read port, add output write port

---
 FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
index d00d49b1..8a166d55 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -24,7 +24,11 @@ module Components {
 
         # @ Example port: receiving calls from the rate group
         # sync input port run: Svc.Sched
-        output port Status: Drv.GpioRead
+        #output port Status: Drv.GpioRead
+        #We will not be putting a Drv.GpioRead port here, we are using the Gpio Driver component which has this already!
+        
+        @ Port sending calls to the GPIO driver
+        output port gpioSet: Drv.GpioWrite
 
         
         # Input that will be used by other components if they want to force a reset 

From c633bf9a993ca1afb24e638eb15f5a1e75344feb Mon Sep 17 00:00:00 2001
From: hrfarmer <aychar@aychar.dev>
Date: Wed, 5 Nov 2025 20:55:09 -0600
Subject: [PATCH 19/68] add magnetorquer component

---
 .../Components/Drv/CMakeLists.txt             |  1 +
 .../Drv/MagnetorquerManager/CMakeLists.txt    | 36 ++++++++++
 .../MagnetorquerManager.cpp                   | 42 ++++++++++++
 .../MagnetorquerManager.fpp                   | 57 ++++++++++++++++
 .../MagnetorquerManager.hpp                   | 44 +++++++++++++
 .../Drv/MagnetorquerManager/docs/sdd.md       | 66 +++++++++++++++++++
 .../ReferenceDeployment/Top/instances.fpp     |  2 +
 .../ReferenceDeployment/Top/topology.fpp      |  1 +
 .../proves_flight_control_board_v5.dtsi       | 26 ++++++++
 prj.conf                                      |  6 ++
 10 files changed, 281 insertions(+)
 create mode 100644 FprimeZephyrReference/Components/Drv/MagnetorquerManager/CMakeLists.txt
 create mode 100644 FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
 create mode 100644 FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp
 create mode 100644 FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
 create mode 100644 FprimeZephyrReference/Components/Drv/MagnetorquerManager/docs/sdd.md

diff --git a/FprimeZephyrReference/Components/Drv/CMakeLists.txt b/FprimeZephyrReference/Components/Drv/CMakeLists.txt
index efcd2f90..793c22a4 100644
--- a/FprimeZephyrReference/Components/Drv/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/Drv/CMakeLists.txt
@@ -3,3 +3,4 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/RtcManager")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Types/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/MagnetorquerManager/")
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/CMakeLists.txt b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/CMakeLists.txt
new file mode 100644
index 00000000..92da00df
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/CMakeLists.txt
@@ -0,0 +1,36 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+# Module names are derived from the path from the nearest project/library/framework
+# root when not specifically overridden by the developer. i.e. The module defined by
+# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
+
+register_fprime_library(
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/MagnetorquerManager.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/MagnetorquerManager.cpp"
+#   DEPENDS
+#       MyPackage_MyOtherModule
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/MagnetorquerManager.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/MagnetorquerManagerTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/MagnetorquerManagerTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
new file mode 100644
index 00000000..453947a6
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
@@ -0,0 +1,42 @@
+// ======================================================================
+// \title  MagnetorquerManager.cpp
+// \author aychar
+// \brief  cpp file for MagnetorquerManager component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp"
+
+#include <zephyr/drivers/haptics/drv2605.h>
+#include <zephyr/kernel.h>
+
+namespace Drv {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+MagnetorquerManager ::MagnetorquerManager(const char* const compName) : MagnetorquerManagerComponentBase(compName) {
+    dev = device_get_binding("DRV2605");
+}
+
+MagnetorquerManager ::~MagnetorquerManager() {}
+
+void MagnetorquerManager ::START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+    if (!device_is_ready(dev)) {
+        this->log_WARNING_HI_DeviceNotReady();
+        return;
+    }
+    drv2605_haptic_config(this->dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&this->rom);
+}
+
+void MagnetorquerManager ::START_PLAYBACK_TEST2_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+    if (!device_is_ready(dev)) {
+        this->log_WARNING_HI_DeviceNotReady();
+        return;
+    }
+
+    struct drv2605_rom_data rom2 = {.library = DRV2605_LIBRARY_TS2200_A, .seq_regs = {50, 0, 0, 0, 0, 0, 0, 0}};
+    drv2605_haptic_config(this->dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&rom2);
+}
+
+}  // namespace Drv
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp
new file mode 100644
index 00000000..62e23685
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp
@@ -0,0 +1,57 @@
+module Drv {
+    @ Component for F Prime FSW framework.
+    passive component MagnetorquerManager {
+
+        @ Event for reporting DRV2605 not ready error
+        event DeviceNotReady() severity warning high format "DRV2605 device not ready" throttle 5
+
+        @ Start DRV2605 playback with effect #47
+        sync command START_PLAYBACK_TEST()
+
+        @ Start DRV2605 playback with effect #50
+        sync command START_PLAYBACK_TEST2()
+
+        # @ Example telemetry counter
+        # telemetry ExampleCounter: U64
+
+        # @ Example event
+        # event ExampleStateEvent(example_state: Fw.On) severity activity high id 0 format "State set to {}"
+
+        # @ Example port: receiving calls from the rate group
+        # sync input port run: Svc.Sched
+
+        # @ Example parameter
+        # param PARAMETER_NAME: U32
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for sending command registrations
+        command reg port cmdRegOut
+
+        @ Port for receiving commands
+        command recv port cmdIn
+
+        @ Port for sending command responses
+        command resp port cmdResponseOut
+
+        @ Port for sending textual representation of events
+        text event port logTextOut
+
+        @ Port for sending events to downlink
+        event port logOut
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
+
+        @ Port to return the value of a parameter
+        param get port prmGetOut
+
+        @Port to set the value of a parameter
+        param set port prmSetOut
+
+    }
+}
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
new file mode 100644
index 00000000..7ed6ce28
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
@@ -0,0 +1,44 @@
+// ======================================================================
+// \title  MagnetorquerManager.hpp
+// \author aychar
+// \brief  hpp file for MagnetorquerManager component implementation class
+// ======================================================================
+
+#ifndef Drv_MagnetorquerManager_HPP
+#define Drv_MagnetorquerManager_HPP
+
+#include "FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManagerComponentAc.hpp"
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/kernel.h>
+
+#include <zephyr/drivers/haptics/drv2605.h>
+
+namespace Drv {
+
+class MagnetorquerManager final : public MagnetorquerManagerComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct MagnetorquerManager object
+    MagnetorquerManager(const char* const compName  //!< The component name
+    );
+
+    //! Destroy MagnetorquerManager object
+    ~MagnetorquerManager();
+
+  private:
+    //! Zephyr device to store initialized DRV2605
+    const struct device* dev;
+    struct drv2605_rom_data rom = {.library = DRV2605_LIBRARY_TS2200_A, .seq_regs = {47, 0, 0, 0, 0, 0, 0, 0}};
+
+    void START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) override;
+    void START_PLAYBACK_TEST2_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) override;
+};
+
+}  // namespace Drv
+
+#endif
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/docs/sdd.md b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/docs/sdd.md
new file mode 100644
index 00000000..43ec4dc8
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/docs/sdd.md
@@ -0,0 +1,66 @@
+# Drv::MagnetorquerManager
+
+Component for F Prime FSW framework.
+
+## Usage Examples
+Add usage examples here
+
+### Diagrams
+Add diagrams here
+
+### Typical Usage
+And the typical usage of the component here
+
+## Class Diagram
+Add a class diagram here
+
+## Port Descriptions
+| Name | Description |
+|---|---|
+|---|---|
+
+## Component States
+Add component states in the chart below
+| Name | Description |
+|---|---|
+|---|---|
+
+## Sequence Diagrams
+Add sequence diagrams here
+
+## Parameters
+| Name | Description |
+|---|---|
+|---|---|
+
+## Commands
+| Name | Description |
+|---|---|
+|---|---|
+
+## Events
+| Name | Description |
+|---|---|
+|---|---|
+
+## Telemetry
+| Name | Description |
+|---|---|
+|---|---|
+
+## Unit Tests
+Add unit test descriptions in the chart below
+| Name | Description | Output | Coverage |
+|---|---|---|---|
+|---|---|---|---|
+
+## Requirements
+Add requirements in the chart below
+| Name | Description | Validation |
+|---|---|---|
+|---|---|---|
+
+## Change Log
+| Date | Description |
+|---|---|
+|---| Initial Draft |
\ No newline at end of file
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 4cf1dbf9..5aa0f8fa 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -95,4 +95,6 @@ module ReferenceDeployment {
   instance ina219SysManager: Drv.Ina219Manager base id 0x10032000
 
   instance ina219SolManager: Drv.Ina219Manager base id 0x10033000
+
+  instance magnetorquerManager: Drv.MagnetorquerManager base id 0x10034000
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 79169a2e..cd5d82b8 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -47,6 +47,7 @@ module ReferenceDeployment {
     instance powerMonitor
     instance ina219SysManager
     instance ina219SolManager
+    instance magnetorquerManager
 
 
   # ----------------------------------------------------------------------
diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 363ac07c..8a5ced71 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -163,6 +163,32 @@ zephyr_udc0: &usbd {
 		lsb-microamp = <61>;
 		label = "INA219 sol";
 	};
+
+	tca9548a: tca9548a@70 {
+		compatible = "ti,tca9548a";
+		reg = <0x70>;
+		#address-cells = <1>;
+		#size-cells = <0>;
+		label = "TCA9548A";
+
+		tca_channel0: channel@0 {
+			compatible = "ti,tca9548a-channel";
+			reg = <0>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+
+			drv2605: drv2605@5a {
+				compatible = "ti,drv2605";
+				status = "okay";
+				reg = <0x5a>;
+				label = "DRV2605";
+
+				actuator-mode = "LRA";
+				loop-gain = "HIGH";
+				feedback-brake-factor = "2X";
+			};
+		};
+	};
 };
 
 
diff --git a/prj.conf b/prj.conf
index b1e35675..e4f3cf9b 100644
--- a/prj.conf
+++ b/prj.conf
@@ -28,6 +28,9 @@ CONFIG_GPIO=y
 CONFIG_LED=y
 CONFIG_PWM=n
 CONFIG_I2C=y
+# I2C multiplexer (TCA9548A) priority configuration
+CONFIG_I2C_TCA954X_ROOT_INIT_PRIO=70
+CONFIG_I2C_TCA954X_CHANNEL_INIT_PRIO=71
 CONFIG_SPI=y
 CONFIG_PINCTRL=y
 CONFIG_ASSERT=y
@@ -65,3 +68,6 @@ CONFIG_FAT_FILESYSTEM_ELM=y
 CONFIG_FS_FATFS_EXFAT=y
 CONFIG_FS_FATFS_MOUNT_MKFS=y
 CONFIG_FS_FATFS_FSTAB_AUTOMOUNT=y
+
+CONFIG_HAPTICS=y
+CONFIG_HAPTICS_DRV2605=y

From b456c1d818a666d80a4fae97b3416966a5a1a30d Mon Sep 17 00:00:00 2001
From: hrfarmer <aychar@aychar.dev>
Date: Wed, 5 Nov 2025 21:03:33 -0600
Subject: [PATCH 20/68] switch to use new device initialization pattern

---
 .../MagnetorquerManager.cpp                   | 20 ++++++++++++-------
 .../MagnetorquerManager.hpp                   |  5 ++++-
 .../ReferenceDeployment/Main.cpp              |  2 ++
 .../Top/ReferenceDeploymentTopology.cpp       |  1 +
 .../Top/ReferenceDeploymentTopologyDefs.hpp   | 13 ++++++------
 5 files changed, 27 insertions(+), 14 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
index 453947a6..4ae87c25 100644
--- a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
+++ b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
@@ -15,28 +15,34 @@ namespace Drv {
 // Component construction and destruction
 // ----------------------------------------------------------------------
 
-MagnetorquerManager ::MagnetorquerManager(const char* const compName) : MagnetorquerManagerComponentBase(compName) {
-    dev = device_get_binding("DRV2605");
-}
+MagnetorquerManager ::MagnetorquerManager(const char* const compName) : MagnetorquerManagerComponentBase(compName) {}
 
 MagnetorquerManager ::~MagnetorquerManager() {}
 
+// ----------------------------------------------------------------------
+// Helper methods
+// ----------------------------------------------------------------------
+
+void MagnetorquerManager ::configure(const struct device* dev) {
+    this->m_dev = dev;
+}
+
 void MagnetorquerManager ::START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
-    if (!device_is_ready(dev)) {
+    if (!device_is_ready(this->m_dev)) {
         this->log_WARNING_HI_DeviceNotReady();
         return;
     }
-    drv2605_haptic_config(this->dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&this->rom);
+    drv2605_haptic_config(this->m_dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&this->rom);
 }
 
 void MagnetorquerManager ::START_PLAYBACK_TEST2_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
-    if (!device_is_ready(dev)) {
+    if (!device_is_ready(this->m_dev)) {
         this->log_WARNING_HI_DeviceNotReady();
         return;
     }
 
     struct drv2605_rom_data rom2 = {.library = DRV2605_LIBRARY_TS2200_A, .seq_regs = {50, 0, 0, 0, 0, 0, 0, 0}};
-    drv2605_haptic_config(this->dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&rom2);
+    drv2605_haptic_config(this->m_dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&rom2);
 }
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
index 7ed6ce28..68a4480b 100644
--- a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
+++ b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
@@ -30,9 +30,12 @@ class MagnetorquerManager final : public MagnetorquerManagerComponentBase {
     //! Destroy MagnetorquerManager object
     ~MagnetorquerManager();
 
+    //! Configure the DRV2605 device
+    void configure(const struct device* dev);
+
   private:
     //! Zephyr device to store initialized DRV2605
-    const struct device* dev;
+    const struct device* m_dev;
     struct drv2605_rom_data rom = {.library = DRV2605_LIBRARY_TS2200_A, .seq_regs = {47, 0, 0, 0, 0, 0, 0, 0}};
 
     void START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) override;
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index 6b5187a8..b5b6aafa 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -16,6 +16,7 @@ const struct device* serial = DEVICE_DT_GET(DT_NODELABEL(cdc_acm_uart0));
 const struct device* lora = DEVICE_DT_GET(DT_NODELABEL(lora0));
 const struct device* lsm6dso = DEVICE_DT_GET(DT_NODELABEL(lsm6dso0));
 const struct device* lis2mdl = DEVICE_DT_GET(DT_NODELABEL(lis2mdl0));
+const struct device* drv2605 = device_get_binding("DRV2605");
 
 int main(int argc, char* argv[]) {
     // ** DO NOT REMOVE **//
@@ -32,6 +33,7 @@ int main(int argc, char* argv[]) {
     inputs.uartDevice = serial;
     inputs.lsm6dsoDevice = lsm6dso;
     inputs.lis2mdlDevice = lis2mdl;
+    inputs.drv2605Device = drv2605;
     inputs.baudRate = 115200;
 
     // Setup, cycle, and teardown topology
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 0580479a..12dd0814 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -92,6 +92,7 @@ void setupTopology(const TopologyState& state) {
     lis2mdlManager.configure(state.lis2mdlDevice);
     ina219SysManager.configure(state.ina219SysDevice);
     ina219SolManager.configure(state.ina219SolDevice);
+    magnetorquerManager.configure(state.drv2605Device);
 }
 
 void startRateGroups() {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index fc9fe0ce..71146aa3 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -69,12 +69,13 @@ namespace ReferenceDeployment {
  * autocoder. The contents are entirely up to the definition of the project. This deployment uses subtopologies.
  */
 struct TopologyState {
-    const device* ina219SysDevice;        //!< device path for battery board ina219
-    const device* ina219SolDevice;        //!< device path for solar panel ina219
-    const device* uartDevice;             //!< UART device path for communication
-    const device* loraDevice;             //!< LoRa device path for communication
-    const device* lsm6dsoDevice;          //!< LSM6DSO device path for accelerometer/gyroscope
-    const device* lis2mdlDevice;          //!< LIS2MDL device path for magnetometer
+    const device* ina219SysDevice;  //!< device path for battery board ina219
+    const device* ina219SolDevice;  //!< device path for solar panel ina219
+    const device* uartDevice;       //!< UART device path for communication
+    const device* loraDevice;       //!< LoRa device path for communication
+    const device* lsm6dsoDevice;    //!< LSM6DSO device path for accelerometer/gyroscope
+    const device* lis2mdlDevice;    //!< LIS2MDL device path for magnetometer
+    const device* drv2605Device;
     U32 baudRate;                         //!< Baud rate for UART communication
     CdhCore::SubtopologyState cdhCore;    //!< Subtopology state for CdhCore
     ComCcsds::SubtopologyState comCcsds;  //!< Subtopology state for ComCcsds

From 7ee7e146b026c3058d552915f8bf3f02700f7f9b Mon Sep 17 00:00:00 2001
From: hrfarmer <aychar@aychar.dev>
Date: Fri, 7 Nov 2025 14:05:37 -0600
Subject: [PATCH 21/68] increase command limit

---
 .../project/config/CommandDispatcherImplCfg.hpp               | 2 +-
 .../proves_flight_control_board_v5.dtsi                       | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp b/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
index ab88a46b..5af97d4c 100644
--- a/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
+++ b/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
@@ -11,7 +11,7 @@
 // Define configuration values for dispatcher
 
 enum {
-    CMD_DISPATCHER_DISPATCH_TABLE_SIZE = 50,   // !< The size of the table holding opcodes to dispatch
+    CMD_DISPATCHER_DISPATCH_TABLE_SIZE = 60,   // !< The size of the table holding opcodes to dispatch
     CMD_DISPATCHER_SEQUENCER_TABLE_SIZE = 10,  // !< The size of the table holding commands in progress
 };
 
diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 8a5ced71..22f75c96 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -164,9 +164,9 @@ zephyr_udc0: &usbd {
 		label = "INA219 sol";
 	};
 
-	tca9548a: tca9548a@70 {
+	tca9548a: tca9548a@77 {
 		compatible = "ti,tca9548a";
-		reg = <0x70>;
+		reg = <0x77>;
 		#address-cells = <1>;
 		#size-cells = <0>;
 		label = "TCA9548A";

From bdb62026c3ce92a7378b4bc8ba5b33a3bb0504d1 Mon Sep 17 00:00:00 2001
From: hrfarmer <aychar@aychar.dev>
Date: Fri, 7 Nov 2025 14:45:27 -0600
Subject: [PATCH 22/68] update dtsi

---
 .../proves_flight_control_board_v5.dtsi       | 165 +++++++++++++++++-
 1 file changed, 162 insertions(+), 3 deletions(-)

diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 22f75c96..35ed3949 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -164,30 +164,189 @@ zephyr_udc0: &usbd {
 		label = "INA219 sol";
 	};
 
+
 	tca9548a: tca9548a@77 {
 		compatible = "ti,tca9548a";
+		status = "okay";
 		reg = <0x77>;
 		#address-cells = <1>;
 		#size-cells = <0>;
 		label = "TCA9548A";
+		reset-gpios = <&gpio0 26 GPIO_ACTIVE_LOW>;
 
-		tca_channel0: channel@0 {
+		i2c_mux@0 {
 			compatible = "ti,tca9548a-channel";
+			label = "face0_i2c";
 			reg = <0>;
 			#address-cells = <1>;
 			#size-cells = <0>;
+			face0_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+
+			face0_drv2605: drv2605@5a {
+				compatible = "ti,drv2605";
+				status = "okay";
+				reg = <0x5a>;
+				label = "FACE0_DRV2605";
+
+				actuator-mode = "LRA";
+				loop-gain = "HIGH";
+				feedback-brake-factor = "2X";
+			};
+		};
+
+		i2c_mux@1 {
+			compatible = "ti,tca9548a-channel";
+			label = "face1_i2c";
+			reg = <1>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			face1_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+
+			face1_drv2605: drv2605@5a {
+				compatible = "ti,drv2605";
+				status = "okay";
+				reg = <0x5a>;
+				label = "FACE1_DRV2605";
+
+				actuator-mode = "LRA";
+				loop-gain = "HIGH";
+				feedback-brake-factor = "2X";
+			};
+		};
+
+		i2c_mux@2 {
+			compatible = "ti,tca9548a-channel";
+			label = "face2_i2c";
+			reg = <2>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			face2_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+
+			face2_drv2605: drv2605@5a {
+				compatible = "ti,drv2605";
+				status = "okay";
+				reg = <0x5a>;
+				label = "FACE2_DRV2605";
+
+				actuator-mode = "LRA";
+				loop-gain = "HIGH";
+				feedback-brake-factor = "2X";
+			};
+		};
+
+		i2c_mux@3 {
+			compatible = "ti,tca9548a-channel";
+			label = "face3_i2c";
+			reg = <3>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			face3_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+
+			face3_drv2605: drv2605@5a {
+				compatible = "ti,drv2605";
+				status = "okay";
+				reg = <0x5a>;
+				label = "FACE3_DRV2605";
+
+				actuator-mode = "LRA";
+				loop-gain = "HIGH";
+				feedback-brake-factor = "2X";
+			};
+		};
+
+		i2c_mux@4 {
+			compatible = "ti,tca9548a-channel";
+			label = "battery_i2c";
+			reg = <4>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			batt_cell1_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+			batt_cell2_temp_sens: tmp112@73 {
+				compatible = "ti,tmp112";
+				reg = <0x73>;
+			};
+			batt_cell3_temp_sens: tmp112@74 {
+				compatible = "ti,tmp112";
+				reg = <0x74>;
+			};
+			batt_cell4_temp_sens: tmp112@75 {
+				compatible = "ti,tmp112";
+				reg = <0x75>;
+			};
+		};
+
+		i2c_mux@5 {
+			compatible = "ti,tca9548a-channel";
+			label = "face4_i2c";
+			reg = <5>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			face4_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
 
-			drv2605: drv2605@5a {
+			face4_drv2605: drv2605@5a {
 				compatible = "ti,drv2605";
 				status = "okay";
 				reg = <0x5a>;
-				label = "DRV2605";
+				label = "FACE4_DRV2605";
 
 				actuator-mode = "LRA";
 				loop-gain = "HIGH";
 				feedback-brake-factor = "2X";
 			};
 		};
+
+		i2c_mux@6 {
+			compatible = "ti,tca9548a-channel";
+			label = "face5_i2c";
+			reg = <6>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			face5_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+
+			face5_drv2605: drv2605@5a {
+				compatible = "ti,drv2605";
+				status = "okay";
+				reg = <0x5a>;
+				label = "FACE5_DRV2605";
+
+				actuator-mode = "LRA";
+				loop-gain = "HIGH";
+				feedback-brake-factor = "2X";
+			};
+		};
+
+		i2c_mux@7 {
+			compatible = "ti,tca9548a-channel";
+			label = "top_i2c";
+			reg = <7>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			top_temp_sens: tmp112@72 {
+				compatible = "ti,tmp112";
+				reg = <0x72>;
+			};
+		};
 	};
 };
 

From d47659372ca994f8f40b36be283ff4a702e55d07 Mon Sep 17 00:00:00 2001
From: hrfarmer <aychar@aychar.dev>
Date: Fri, 7 Nov 2025 15:28:13 -0600
Subject: [PATCH 23/68] update everything to handle multiple devices
 initialized

---
 .../MagnetorquerManager.cpp                   | 33 ++++++++++++++-----
 .../MagnetorquerManager.fpp                   | 10 +++---
 .../MagnetorquerManager.hpp                   | 11 ++++---
 .../ReferenceDeployment/Main.cpp              | 16 +++++++--
 .../Top/ReferenceDeploymentTopology.cpp       |  2 +-
 .../Top/ReferenceDeploymentTopologyDefs.hpp   | 14 ++++----
 6 files changed, 60 insertions(+), 26 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
index 4ae87c25..971a1985 100644
--- a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
+++ b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
@@ -23,26 +23,43 @@ MagnetorquerManager ::~MagnetorquerManager() {}
 // Helper methods
 // ----------------------------------------------------------------------
 
-void MagnetorquerManager ::configure(const struct device* dev) {
-    this->m_dev = dev;
+void MagnetorquerManager ::configure(const struct device* const devices[6]) {
+    for (int i = 0; i < 6; ++i) {
+        this->m_devices[i] = devices[i];
+    }
 }
 
-void MagnetorquerManager ::START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
-    if (!device_is_ready(this->m_dev)) {
+void MagnetorquerManager ::START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, U8 faceIdx) {
+    // Validate face index (0..5)
+    if (faceIdx >= 6) {
+        this->log_WARNING_HI_DeviceNotReady();
+        return;
+    }
+
+    const struct device* dev = this->m_devices[faceIdx];
+    if (!device_is_ready(dev)) {
         this->log_WARNING_HI_DeviceNotReady();
         return;
     }
-    drv2605_haptic_config(this->m_dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&this->rom);
+
+    drv2605_haptic_config(dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&this->rom);
 }
 
-void MagnetorquerManager ::START_PLAYBACK_TEST2_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
-    if (!device_is_ready(this->m_dev)) {
+void MagnetorquerManager ::START_PLAYBACK_TEST2_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, U8 faceIdx) {
+    // Validate face index (0..5)
+    if (faceIdx >= 6) {
+        this->log_WARNING_HI_DeviceNotReady();
+        return;
+    }
+
+    const struct device* dev = this->m_devices[faceIdx];
+    if (!device_is_ready(dev)) {
         this->log_WARNING_HI_DeviceNotReady();
         return;
     }
 
     struct drv2605_rom_data rom2 = {.library = DRV2605_LIBRARY_TS2200_A, .seq_regs = {50, 0, 0, 0, 0, 0, 0, 0}};
-    drv2605_haptic_config(this->m_dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&rom2);
+    drv2605_haptic_config(dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&rom2);
 }
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp
index 62e23685..222f9bb0 100644
--- a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp
+++ b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp
@@ -5,11 +5,13 @@ module Drv {
         @ Event for reporting DRV2605 not ready error
         event DeviceNotReady() severity warning high format "DRV2605 device not ready" throttle 5
 
-        @ Start DRV2605 playback with effect #47
-        sync command START_PLAYBACK_TEST()
+    @ Start DRV2605 playback on a device with effect #47 on a specific face
+    @ faceIdx: index of the face to actuate (valid range: 0..5)
+    sync command START_PLAYBACK_TEST(faceIdx: U8)
 
-        @ Start DRV2605 playback with effect #50
-        sync command START_PLAYBACK_TEST2()
+    @ Start DRV2605 playback on a device with effect #50 on a specific face
+    @ faceIdx: index of the face to actuate (valid range: 0..5)
+    sync command START_PLAYBACK_TEST2(faceIdx: U8)
 
         # @ Example telemetry counter
         # telemetry ExampleCounter: U64
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
index 68a4480b..460ef2df 100644
--- a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
+++ b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
@@ -31,15 +31,18 @@ class MagnetorquerManager final : public MagnetorquerManagerComponentBase {
     ~MagnetorquerManager();
 
     //! Configure the DRV2605 device
-    void configure(const struct device* dev);
+    // Accept an array of six pointers to const device objects. The pointers themselves are const
+    // to match callers that provide const device* const* types.
+    void configure(const struct device* const devices[6]);
 
   private:
     //! Zephyr device to store initialized DRV2605
-    const struct device* m_dev;
+    const struct device* m_devices[6];
     struct drv2605_rom_data rom = {.library = DRV2605_LIBRARY_TS2200_A, .seq_regs = {47, 0, 0, 0, 0, 0, 0, 0}};
 
-    void START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) override;
-    void START_PLAYBACK_TEST2_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) override;
+    // Command handlers updated to accept a face index (0..5)
+    void START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, U8 faceIdx) override;
+    void START_PLAYBACK_TEST2_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, U8 faceIdx) override;
 };
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index b5b6aafa..43c9c073 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -16,7 +16,14 @@ const struct device* serial = DEVICE_DT_GET(DT_NODELABEL(cdc_acm_uart0));
 const struct device* lora = DEVICE_DT_GET(DT_NODELABEL(lora0));
 const struct device* lsm6dso = DEVICE_DT_GET(DT_NODELABEL(lsm6dso0));
 const struct device* lis2mdl = DEVICE_DT_GET(DT_NODELABEL(lis2mdl0));
-const struct device* drv2605 = device_get_binding("DRV2605");
+
+// Magnetorquer devices
+const struct device* face0_drv2605 = device_get_binding("FACE0_DRV2605");
+const struct device* face1_drv2605 = device_get_binding("FACE1_DRV2605");
+const struct device* face2_drv2605 = device_get_binding("FACE2_DRV2605");
+const struct device* face3_drv2605 = device_get_binding("FACE3_DRV2605");
+const struct device* face4_drv2605 = device_get_binding("FACE4_DRV2605");
+const struct device* face5_drv2605 = device_get_binding("FACE5_DRV2605");
 
 int main(int argc, char* argv[]) {
     // ** DO NOT REMOVE **//
@@ -33,7 +40,12 @@ int main(int argc, char* argv[]) {
     inputs.uartDevice = serial;
     inputs.lsm6dsoDevice = lsm6dso;
     inputs.lis2mdlDevice = lis2mdl;
-    inputs.drv2605Device = drv2605;
+    inputs.drv2605Devices[0] = face0_drv2605;
+    inputs.drv2605Devices[1] = face1_drv2605;
+    inputs.drv2605Devices[2] = face2_drv2605;
+    inputs.drv2605Devices[3] = face3_drv2605;
+    inputs.drv2605Devices[4] = face4_drv2605;
+    inputs.drv2605Devices[5] = face5_drv2605;
     inputs.baudRate = 115200;
 
     // Setup, cycle, and teardown topology
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 12dd0814..43296dd7 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -92,7 +92,7 @@ void setupTopology(const TopologyState& state) {
     lis2mdlManager.configure(state.lis2mdlDevice);
     ina219SysManager.configure(state.ina219SysDevice);
     ina219SolManager.configure(state.ina219SolDevice);
-    magnetorquerManager.configure(state.drv2605Device);
+    magnetorquerManager.configure(state.drv2605Devices);
 }
 
 void startRateGroups() {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index 71146aa3..ff27f01b 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -69,13 +69,13 @@ namespace ReferenceDeployment {
  * autocoder. The contents are entirely up to the definition of the project. This deployment uses subtopologies.
  */
 struct TopologyState {
-    const device* ina219SysDevice;  //!< device path for battery board ina219
-    const device* ina219SolDevice;  //!< device path for solar panel ina219
-    const device* uartDevice;       //!< UART device path for communication
-    const device* loraDevice;       //!< LoRa device path for communication
-    const device* lsm6dsoDevice;    //!< LSM6DSO device path for accelerometer/gyroscope
-    const device* lis2mdlDevice;    //!< LIS2MDL device path for magnetometer
-    const device* drv2605Device;
+    const device* ina219SysDevice;        //!< device path for battery board ina219
+    const device* ina219SolDevice;        //!< device path for solar panel ina219
+    const device* uartDevice;             //!< UART device path for communication
+    const device* loraDevice;             //!< LoRa device path for communication
+    const device* lsm6dsoDevice;          //!< LSM6DSO device path for accelerometer/gyroscope
+    const device* lis2mdlDevice;          //!< LIS2MDL device path for magnetometer
+    const device* drv2605Devices[6];      //!< Array of drv2605 devices (6)
     U32 baudRate;                         //!< Baud rate for UART communication
     CdhCore::SubtopologyState cdhCore;    //!< Subtopology state for CdhCore
     ComCcsds::SubtopologyState comCcsds;  //!< Subtopology state for ComCcsds

From 194a67a5ed6255315c509e863282351757e063d2 Mon Sep 17 00:00:00 2001
From: Michael Pham <61564344+Mikefly123@users.noreply.github.com>
Date: Fri, 7 Nov 2025 14:38:37 -0800
Subject: [PATCH 24/68] Hello World

---
 .../Top/ReferenceDeploymentTopology.cpp          | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 86e2791f..6571a0e5 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -61,14 +61,14 @@ void configureTopology() {
     gpioDriver.open(ledGpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioBurnwire0.open(burnwire0Gpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioBurnwire1.open(burnwire1Gpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
-    face4LoadSwitch.pin_configuration(mcp23017_dev, 0);  // Pin 0 on MCP23017
-    face0LoadSwitch.pin_configuration(mcp23017_dev, 1);  // Pin 1 on MCP23017
-    face1LoadSwitch.pin_configuration(mcp23017_dev, 2);  // Pin 2 on MCP23017
-    face2LoadSwitch.pin_configuration(mcp23017_dev, 3);  // Pin 3 on MCP23017
-    face3LoadSwitch.pin_configuration(mcp23017_dev, 4);  // Pin 4 on MCP23017
-    face5LoadSwitch.pin_configuration(mcp23017_dev, 5);  // Pin 5 on MCP23017
-    payloadPowerLoadSwitch.pin_configuration(mcp23017_dev, 7);  // Pin 7 on MCP23017
-    payloadBatteryLoadSwitch.pin_configuration(mcp23017_dev, 9);  // Pin 9 on MCP23017
+    face4LoadSwitch.pin_configuration(mcp23017_dev, 8);
+    face0LoadSwitch.pin_configuration(mcp23017_dev, 9);
+    face1LoadSwitch.pin_configuration(mcp23017_dev, 10);
+    face2LoadSwitch.pin_configuration(mcp23017_dev, 11);
+    face3LoadSwitch.pin_configuration(mcp23017_dev, 12);
+    face5LoadSwitch.pin_configuration(mcp23017_dev, 13);
+    payloadPowerLoadSwitch.pin_configuration(mcp23017_dev, 1);
+    payloadBatteryLoadSwitch.pin_configuration(mcp23017_dev, 3);
 }
 
 // Public functions for use in main program are namespaced with deployment name ReferenceDeployment

From c5f9066f0ba4712a5784af00e807868f002fe055 Mon Sep 17 00:00:00 2001
From: "Sam S. Yu" <25761223+yudataguy@users.noreply.github.com>
Date: Fri, 7 Nov 2025 16:30:07 -0800
Subject: [PATCH 25/68] current working tmp112 sensors

---
 .../Components/CMakeLists.txt                 |  1 +
 .../Components/ThermalManager/CMakeLists.txt  | 18 +++++++
 .../ThermalManager/ThermalManager.cpp         | 43 +++++++++++++++++
 .../ThermalManager/ThermalManager.fpp         | 47 +++++++++++++++++++
 .../ThermalManager/ThermalManager.hpp         | 41 ++++++++++++++++
 .../ReferenceDeployment/Main.cpp              | 29 +++++++++++-
 .../Top/ReferenceDeploymentPackets.fppi       | 15 +++++-
 .../Top/ReferenceDeploymentTopology.cpp       | 14 +++++-
 .../Top/ReferenceDeploymentTopologyDefs.hpp   | 15 +++++-
 .../ReferenceDeployment/Top/instances.fpp     | 24 +++++++++-
 .../ReferenceDeployment/Top/topology.fpp      | 28 ++++++++++-
 11 files changed, 268 insertions(+), 7 deletions(-)
 create mode 100644 FprimeZephyrReference/Components/ThermalManager/CMakeLists.txt
 create mode 100644 FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
 create mode 100644 FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
 create mode 100644 FprimeZephyrReference/Components/ThermalManager/ThermalManager.hpp

diff --git a/FprimeZephyrReference/Components/CMakeLists.txt b/FprimeZephyrReference/Components/CMakeLists.txt
index 9b9cab94..0902ae1c 100644
--- a/FprimeZephyrReference/Components/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/CMakeLists.txt
@@ -10,4 +10,5 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FsSpace/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ImuManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/NullPrmDb/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/PowerMonitor/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ThermalManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")
diff --git a/FprimeZephyrReference/Components/ThermalManager/CMakeLists.txt b/FprimeZephyrReference/Components/ThermalManager/CMakeLists.txt
new file mode 100644
index 00000000..16905ca2
--- /dev/null
+++ b/FprimeZephyrReference/Components/ThermalManager/CMakeLists.txt
@@ -0,0 +1,18 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+register_fprime_library(
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/ThermalManager.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/ThermalManager.cpp"
+)
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
new file mode 100644
index 00000000..7fcc7db0
--- /dev/null
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -0,0 +1,43 @@
+// ======================================================================
+// \title  ThermalManager.cpp
+// \brief  cpp file for ThermalManager component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/ThermalManager/ThermalManager.hpp"
+#include <Fw/Types/Assert.hpp>
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+ThermalManager::ThermalManager(const char* const compName) : ThermalManagerComponentBase(compName) {}
+
+ThermalManager::~ThermalManager() {}
+
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
+    // Read all 11 temperature sensors
+    // Cube face sensors (6 sensors)
+    this->face0TempGet_out(0);
+    this->face1TempGet_out(0);
+    this->face2TempGet_out(0);
+    this->face3TempGet_out(0);
+    this->face4TempGet_out(0);
+    this->face5TempGet_out(0);
+
+    // Top sensor
+    this->topTempGet_out(0);
+
+    // Battery cell sensors (4 sensors)
+    this->battCell1TempGet_out(0);
+    this->battCell2TempGet_out(0);
+    this->battCell3TempGet_out(0);
+    this->battCell4TempGet_out(0);
+}
+
+}  // namespace Components
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
new file mode 100644
index 00000000..65811c76
--- /dev/null
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
@@ -0,0 +1,47 @@
+module Components {
+    @ Thermal Manager Component for F Prime FSW framework.
+    @ Orchestrates temperature sensor readings from 11 TMP112 sensors
+    passive component ThermalManager {
+        sync input port run: Svc.Sched
+
+        # Output ports to TMP112Manager instances
+        @ Port for face 0 temperature sensor
+        output port face0TempGet: Drv.AmbientTemperatureGet
+
+        @ Port for face 1 temperature sensor
+        output port face1TempGet: Drv.AmbientTemperatureGet
+
+        @ Port for face 2 temperature sensor
+        output port face2TempGet: Drv.AmbientTemperatureGet
+
+        @ Port for face 3 temperature sensor
+        output port face3TempGet: Drv.AmbientTemperatureGet
+
+        @ Port for face 4 temperature sensor
+        output port face4TempGet: Drv.AmbientTemperatureGet
+
+        @ Port for face 5 temperature sensor
+        output port face5TempGet: Drv.AmbientTemperatureGet
+
+        @ Port for top temperature sensor
+        output port topTempGet: Drv.AmbientTemperatureGet
+
+        @ Port for battery cell 1 temperature sensor
+        output port battCell1TempGet: Drv.AmbientTemperatureGet
+
+        @ Port for battery cell 2 temperature sensor
+        output port battCell2TempGet: Drv.AmbientTemperatureGet
+
+        @ Port for battery cell 3 temperature sensor
+        output port battCell3TempGet: Drv.AmbientTemperatureGet
+
+        @ Port for battery cell 4 temperature sensor
+        output port battCell4TempGet: Drv.AmbientTemperatureGet
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+    }
+}
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.hpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.hpp
new file mode 100644
index 00000000..e307de18
--- /dev/null
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.hpp
@@ -0,0 +1,41 @@
+// ======================================================================
+// \title  ThermalManager.hpp
+// \brief  hpp file for ThermalManager component implementation class
+// ======================================================================
+
+#ifndef Components_ThermalManager_HPP
+#define Components_ThermalManager_HPP
+
+#include "FprimeZephyrReference/Components/ThermalManager/ThermalManagerComponentAc.hpp"
+
+namespace Components {
+
+class ThermalManager final : public ThermalManagerComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct ThermalManager object
+    ThermalManager(const char* const compName  //!< The component name
+    );
+
+    //! Destroy ThermalManager object
+    ~ThermalManager();
+
+  private:
+    // ----------------------------------------------------------------------
+    // Handler implementations for typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for run
+    //!
+    //! Scheduled port for periodic temperature reading
+    void run_handler(FwIndexType portNum,  //!< The port number
+                     U32 context            //!< The call order
+                     ) override;
+};
+
+}  // namespace Components
+
+#endif
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index e87ba32e..18889f8c 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -16,7 +16,19 @@ const struct device* serial = DEVICE_DT_GET(DT_NODELABEL(cdc_acm_uart0));
 const struct device* lora = DEVICE_DT_GET(DT_NODELABEL(lora0));
 const struct device* lsm6dso = DEVICE_DT_GET(DT_NODELABEL(lsm6dso0));
 const struct device* lis2mdl = DEVICE_DT_GET(DT_NODELABEL(lis2mdl0));
-const struct device* tmp112 = device_get_binding("TMP112");
+
+// TMP112 temperature sensors (11 sensors behind I2C multiplexer)
+const struct device* face0_temp = DEVICE_DT_GET(DT_NODELABEL(face0_temp_sens));
+const struct device* face1_temp = DEVICE_DT_GET(DT_NODELABEL(face1_temp_sens));
+const struct device* face2_temp = DEVICE_DT_GET(DT_NODELABEL(face2_temp_sens));
+const struct device* face3_temp = DEVICE_DT_GET(DT_NODELABEL(face3_temp_sens));
+const struct device* face4_temp = DEVICE_DT_GET(DT_NODELABEL(face4_temp_sens));
+const struct device* face5_temp = DEVICE_DT_GET(DT_NODELABEL(face5_temp_sens));
+const struct device* top_temp = DEVICE_DT_GET(DT_NODELABEL(top_temp_sens));
+const struct device* batt_cell1_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell1_temp_sens));
+const struct device* batt_cell2_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell2_temp_sens));
+const struct device* batt_cell3_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell3_temp_sens));
+const struct device* batt_cell4_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell4_temp_sens));
 
 int main(int argc, char* argv[]) {
     // ** DO NOT REMOVE **//
@@ -33,7 +45,20 @@ int main(int argc, char* argv[]) {
     inputs.uartDevice = serial;
     inputs.lsm6dsoDevice = lsm6dso;
     inputs.lis2mdlDevice = lis2mdl;
-    inputs.tmp112Device = tmp112;
+
+    // TMP112 temperature sensor devices
+    inputs.face0TempDevice = face0_temp;
+    inputs.face1TempDevice = face1_temp;
+    inputs.face2TempDevice = face2_temp;
+    inputs.face3TempDevice = face3_temp;
+    inputs.face4TempDevice = face4_temp;
+    inputs.face5TempDevice = face5_temp;
+    inputs.topTempDevice = top_temp;
+    inputs.battCell1TempDevice = batt_cell1_temp;
+    inputs.battCell2TempDevice = batt_cell2_temp;
+    inputs.battCell3TempDevice = batt_cell3_temp;
+    inputs.battCell4TempDevice = batt_cell4_temp;
+
     inputs.baudRate = 115200;
 
     // Setup, cycle, and teardown topology
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 3680f528..9184ee00 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -49,7 +49,6 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.lsm6dsoManager.AngularVelocity
     ReferenceDeployment.lsm6dsoManager.Temperature
     ReferenceDeployment.lis2mdlManager.MagneticField
-    ReferenceDeployment.tmp112Manager.AmbientTemperature
   }
 
   packet LoRa id 7 group 4 {
@@ -71,6 +70,20 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.ina219SolManager.Power
   }
 
+  packet Thermal id 10 group 4 {
+    ReferenceDeployment.tmp112Face0Manager.AmbientTemperature
+    ReferenceDeployment.tmp112Face1Manager.AmbientTemperature
+    ReferenceDeployment.tmp112Face2Manager.AmbientTemperature
+    ReferenceDeployment.tmp112Face3Manager.AmbientTemperature
+    ReferenceDeployment.tmp112Face4Manager.AmbientTemperature
+    ReferenceDeployment.tmp112Face5Manager.AmbientTemperature
+    ReferenceDeployment.tmp112TopManager.AmbientTemperature
+    ReferenceDeployment.tmp112BattCell1Manager.AmbientTemperature
+    ReferenceDeployment.tmp112BattCell2Manager.AmbientTemperature
+    ReferenceDeployment.tmp112BattCell3Manager.AmbientTemperature
+    ReferenceDeployment.tmp112BattCell4Manager.AmbientTemperature
+  }
+
 } omit {
   CdhCore.cmdDisp.CommandErrors
   # Only has one library, no custom versions
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 3db0ce13..3724eac2 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -92,7 +92,19 @@ void setupTopology(const TopologyState& state) {
     lis2mdlManager.configure(state.lis2mdlDevice);
     ina219SysManager.configure(state.ina219SysDevice);
     ina219SolManager.configure(state.ina219SolDevice);
-    tmp112Manager.configure(state.tmp112Device);
+
+    // Configure all 11 TMP112 temperature sensor managers
+    tmp112Face0Manager.configure(state.face0TempDevice);
+    tmp112Face1Manager.configure(state.face1TempDevice);
+    tmp112Face2Manager.configure(state.face2TempDevice);
+    tmp112Face3Manager.configure(state.face3TempDevice);
+    tmp112Face4Manager.configure(state.face4TempDevice);
+    tmp112Face5Manager.configure(state.face5TempDevice);
+    tmp112TopManager.configure(state.topTempDevice);
+    tmp112BattCell1Manager.configure(state.battCell1TempDevice);
+    tmp112BattCell2Manager.configure(state.battCell2TempDevice);
+    tmp112BattCell3Manager.configure(state.battCell3TempDevice);
+    tmp112BattCell4Manager.configure(state.battCell4TempDevice);
 }
 
 void startRateGroups() {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index f4eaad02..4012dd80 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -75,7 +75,20 @@ struct TopologyState {
     const device* loraDevice;             //!< LoRa device path for communication
     const device* lsm6dsoDevice;          //!< LSM6DSO device path for accelerometer/gyroscope
     const device* lis2mdlDevice;          //!< LIS2MDL device path for magnetometer
-    const device* tmp112Device;           //!< TMP112 device path for temperature sensor
+
+    // TMP112 temperature sensor devices (11 sensors)
+    const device* face0TempDevice;        //!< TMP112 device for cube face 0
+    const device* face1TempDevice;        //!< TMP112 device for cube face 1
+    const device* face2TempDevice;        //!< TMP112 device for cube face 2
+    const device* face3TempDevice;        //!< TMP112 device for cube face 3
+    const device* face4TempDevice;        //!< TMP112 device for cube face 4
+    const device* face5TempDevice;        //!< TMP112 device for cube face 5
+    const device* topTempDevice;          //!< TMP112 device for cube top
+    const device* battCell1TempDevice;    //!< TMP112 device for battery cell 1
+    const device* battCell2TempDevice;    //!< TMP112 device for battery cell 2
+    const device* battCell3TempDevice;    //!< TMP112 device for battery cell 3
+    const device* battCell4TempDevice;    //!< TMP112 device for battery cell 4
+
     U32 baudRate;                         //!< Baud rate for UART communication
     CdhCore::SubtopologyState cdhCore;    //!< Subtopology state for CdhCore
     ComCcsds::SubtopologyState comCcsds;  //!< Subtopology state for ComCcsds
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index a666dba4..b475576e 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -96,5 +96,27 @@ module ReferenceDeployment {
 
   instance ina219SolManager: Drv.Ina219Manager base id 0x10033000
 
-  instance tmp112Manager: Drv.TMP112Manager base id 0x10034000
+  instance thermalManager: Components.ThermalManager base id 0x10034000
+
+  instance tmp112Face0Manager: Drv.TMP112Manager base id 0x10035000
+
+  instance tmp112Face1Manager: Drv.TMP112Manager base id 0x10036000
+
+  instance tmp112Face2Manager: Drv.TMP112Manager base id 0x10037000
+
+  instance tmp112Face3Manager: Drv.TMP112Manager base id 0x10038000
+
+  instance tmp112Face4Manager: Drv.TMP112Manager base id 0x10039000
+
+  instance tmp112Face5Manager: Drv.TMP112Manager base id 0x1003A000
+
+  instance tmp112TopManager: Drv.TMP112Manager base id 0x1003B000
+
+  instance tmp112BattCell1Manager: Drv.TMP112Manager base id 0x1003C000
+
+  instance tmp112BattCell2Manager: Drv.TMP112Manager base id 0x1003D000
+
+  instance tmp112BattCell3Manager: Drv.TMP112Manager base id 0x1003E000
+
+  instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x1003F000
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 549c2719..deafc464 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -47,7 +47,18 @@ module ReferenceDeployment {
     instance powerMonitor
     instance ina219SysManager
     instance ina219SolManager
-    instance tmp112Manager
+    instance thermalManager
+    instance tmp112Face0Manager
+    instance tmp112Face1Manager
+    instance tmp112Face2Manager
+    instance tmp112Face3Manager
+    instance tmp112Face4Manager
+    instance tmp112Face5Manager
+    instance tmp112TopManager
+    instance tmp112BattCell1Manager
+    instance tmp112BattCell2Manager
+    instance tmp112BattCell3Manager
+    instance tmp112BattCell4Manager
 
 
   # ----------------------------------------------------------------------
@@ -142,6 +153,7 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[8] -> antennaDeployer.schedIn
       rateGroup1Hz.RateGroupMemberOut[9] -> fsSpace.run
       rateGroup1Hz.RateGroupMemberOut[10] -> powerMonitor.run
+      rateGroup1Hz.RateGroupMemberOut[11] -> thermalManager.run
 
     }
 
@@ -176,5 +188,19 @@ module ReferenceDeployment {
       powerMonitor.solPowerGet -> ina219SolManager.powerGet
     }
 
+    connections thermalMonitor {
+      thermalManager.face0TempGet -> tmp112Face0Manager.ambientTemperatureGet
+      thermalManager.face1TempGet -> tmp112Face1Manager.ambientTemperatureGet
+      thermalManager.face2TempGet -> tmp112Face2Manager.ambientTemperatureGet
+      thermalManager.face3TempGet -> tmp112Face3Manager.ambientTemperatureGet
+      thermalManager.face4TempGet -> tmp112Face4Manager.ambientTemperatureGet
+      thermalManager.face5TempGet -> tmp112Face5Manager.ambientTemperatureGet
+      thermalManager.topTempGet -> tmp112TopManager.ambientTemperatureGet
+      thermalManager.battCell1TempGet -> tmp112BattCell1Manager.ambientTemperatureGet
+      thermalManager.battCell2TempGet -> tmp112BattCell2Manager.ambientTemperatureGet
+      thermalManager.battCell3TempGet -> tmp112BattCell3Manager.ambientTemperatureGet
+      thermalManager.battCell4TempGet -> tmp112BattCell4Manager.ambientTemperatureGet
+    }
+
   }
 }

From c1e1efb00220dd453dc8ee78c9ebc55292499051 Mon Sep 17 00:00:00 2001
From: "Sam S. Yu" <25761223+yudataguy@users.noreply.github.com>
Date: Tue, 11 Nov 2025 19:37:23 -0800
Subject: [PATCH 26/68] maybe not the best working code, possible revert to
 previous commit

---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       |   7 ++
 .../Components/LoadSwitch/LoadSwitch.cpp      |   3 +-
 .../Components/LoadSwitch/LoadSwitch.hpp      |   2 +-
 .../ReferenceDeployment/Main.cpp              | 101 +++++++++++++-----
 .../Top/ReferenceDeploymentTopology.cpp       |  27 +++++
 prj.conf                                      |  14 +--
 6 files changed, 121 insertions(+), 33 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index ffdc8268..7b1b9fd2 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -5,6 +5,7 @@
 
 #include "FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp"
 #include <Fw/Types/Assert.hpp>
+#include <zephyr/sys/printk.h>
 
 namespace Drv {
 
@@ -31,6 +32,8 @@ void TMP112Manager::configure(const struct device* dev) {
 F64 TMP112Manager ::ambientTemperatureGet_handler(FwIndexType portNum) {
     if (!device_is_ready(this->m_dev)) {
         this->log_WARNING_HI_DeviceNotReady();
+        printk("[TMP112Manager] Device not ready: %s (ptr: %p)\n",
+               this->m_dev->name, this->m_dev);
         return 0;
     }
     this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
@@ -40,12 +43,16 @@ F64 TMP112Manager ::ambientTemperatureGet_handler(FwIndexType portNum) {
     int rc = sensor_sample_fetch_chan(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP);
     if (rc != 0) {
         // Sensor fetch failed - return 0 to indicate error
+        printk("[TMP112Manager] sensor_sample_fetch_chan failed for %s: rc=%d\n",
+               this->m_dev->name, rc);
         return 0;
     }
 
     rc = sensor_channel_get(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
     if (rc != 0) {
         // Channel get failed - return 0 to indicate error
+        printk("[TMP112Manager] sensor_channel_get failed for %s: rc=%d\n",
+               this->m_dev->name, rc);
         return 0;
     }
 
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index b61ff198..1bbd1fcd 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -9,7 +9,6 @@
 
 namespace Components {
 
-const struct device* LoadSwitch::m_device = nullptr;
 // ----------------------------------------------------------------------
 // Component construction and destruction
 // ----------------------------------------------------------------------
@@ -50,7 +49,7 @@ void LoadSwitch ::TURN_OFF_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
 void LoadSwitch ::pin_configuration(const struct device* device, uint8_t pinNum) {
     this->m_pinNum = pinNum;
     this->m_device = device;
-    gpio_pin_configure(m_device, m_pinNum, GPIO_OUTPUT_INACTIVE);
+    gpio_pin_configure(m_device, m_pinNum, GPIO_OUTPUT_ACTIVE);
 }
 
 }  // namespace Components
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
index bc94e4ea..796694a0 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
@@ -62,7 +62,7 @@ class LoadSwitch final : public LoadSwitchComponentBase {
     // ----------------------------------------------------------------------
 
     uint8_t m_pinNum;
-    static const struct device* m_device;
+    const struct device* m_device;
 };
 
 }  // namespace Components
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index 9be6e369..ca044d5e 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -9,6 +9,7 @@
 
 #include <zephyr/kernel.h>
 #include <zephyr/sys/printk.h>
+#include <zephyr/drivers/gpio.h>
 
 const struct device* ina219Sys = device_get_binding("INA219 sys");
 const struct device* ina219Sol = device_get_binding("INA219 sol");
@@ -16,19 +17,7 @@ const struct device* serial = DEVICE_DT_GET(DT_NODELABEL(cdc_acm_uart0));
 const struct device* lora = DEVICE_DT_GET(DT_NODELABEL(lora0));
 const struct device* lsm6dso = DEVICE_DT_GET(DT_NODELABEL(lsm6dso0));
 const struct device* lis2mdl = DEVICE_DT_GET(DT_NODELABEL(lis2mdl0));
-
-// TMP112 temperature sensors (11 sensors behind I2C multiplexer)
-const struct device* face0_temp = DEVICE_DT_GET(DT_NODELABEL(face0_temp_sens));
-const struct device* face1_temp = DEVICE_DT_GET(DT_NODELABEL(face1_temp_sens));
-const struct device* face2_temp = DEVICE_DT_GET(DT_NODELABEL(face2_temp_sens));
-const struct device* face3_temp = DEVICE_DT_GET(DT_NODELABEL(face3_temp_sens));
-const struct device* face4_temp = DEVICE_DT_GET(DT_NODELABEL(face4_temp_sens));
-const struct device* face5_temp = DEVICE_DT_GET(DT_NODELABEL(face5_temp_sens));
-const struct device* top_temp = DEVICE_DT_GET(DT_NODELABEL(top_temp_sens));
-const struct device* batt_cell1_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell1_temp_sens));
-const struct device* batt_cell2_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell2_temp_sens));
-const struct device* batt_cell3_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell3_temp_sens));
-const struct device* batt_cell4_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell4_temp_sens));
+const struct device* mcp23017 = DEVICE_DT_GET(DT_NODELABEL(mcp23017));
 
 // Magnetorquer devices
 const struct device* face0_drv2605 = device_get_binding("FACE0_DRV2605");
@@ -38,6 +27,47 @@ const struct device* face3_drv2605 = device_get_binding("FACE3_DRV2605");
 const struct device* face4_drv2605 = device_get_binding("FACE4_DRV2605");
 const struct device* face5_drv2605 = device_get_binding("FACE5_DRV2605");
 
+/**
+ * @brief Early boot initialization function to power on load switches
+ *
+ * This function runs during system initialization BEFORE sensor devices initialize.
+ * It powers on all face board and battery board load switches to ensure TMP112
+ * sensors have power when their init functions run.
+ *
+ * Priority: 75 (after I2C mux channels at 71, before sensors at 90)
+ */
+static int proves_board_power_init(void) {
+    const struct device* mcp23017_dev = DEVICE_DT_GET(DT_NODELABEL(mcp23017));
+
+    if (!device_is_ready(mcp23017_dev)) {
+        printk("ERROR: MCP23017 not ready during early boot init!\n");
+        return -1;
+    }
+
+    printk("[Early Init] Powering on all face boards and battery board...\n");
+
+    // Turn on all 6 face board load switches
+    gpio_pin_configure(mcp23017_dev, 8, GPIO_OUTPUT_ACTIVE);  // face4
+    gpio_pin_configure(mcp23017_dev, 9, GPIO_OUTPUT_ACTIVE);  // face0
+    gpio_pin_configure(mcp23017_dev, 10, GPIO_OUTPUT_ACTIVE); // face1
+    gpio_pin_configure(mcp23017_dev, 11, GPIO_OUTPUT_ACTIVE); // face2
+    gpio_pin_configure(mcp23017_dev, 12, GPIO_OUTPUT_ACTIVE); // face3
+    gpio_pin_configure(mcp23017_dev, 13, GPIO_OUTPUT_ACTIVE); // face5
+
+    // Turn on battery board load switch
+    gpio_pin_configure(mcp23017_dev, 3, GPIO_OUTPUT_ACTIVE);  // battery
+
+    // Allow 100ms for power to stabilize before sensor init
+    k_sleep(K_MSEC(100));
+
+    printk("[Early Init] All boards powered on, ready for sensor initialization\n");
+
+    return 0;
+}
+
+// Register early init function to run after I2C mux (71) but before sensors (90)
+SYS_INIT(proves_board_power_init, POST_KERNEL, 75);
+
 int main(int argc, char* argv[]) {
     // ** DO NOT REMOVE **//
     //
@@ -45,6 +75,10 @@ int main(int argc, char* argv[]) {
     // the application starts writing to it.
     k_sleep(K_MSEC(3000));
     Os::init();
+
+    // NOTE: Load switches are now powered on during early boot (SYS_INIT)
+    // before sensor initialization. See proves_board_power_init() above.
+
     // Object for communicating state to the topology
     ReferenceDeployment::TopologyState inputs;
     inputs.ina219SysDevice = ina219Sys;
@@ -55,17 +89,36 @@ int main(int argc, char* argv[]) {
     inputs.lis2mdlDevice = lis2mdl;
 
     // TMP112 temperature sensor devices
-    inputs.face0TempDevice = face0_temp;
-    inputs.face1TempDevice = face1_temp;
-    inputs.face2TempDevice = face2_temp;
-    inputs.face3TempDevice = face3_temp;
-    inputs.face4TempDevice = face4_temp;
-    inputs.face5TempDevice = face5_temp;
-    inputs.topTempDevice = top_temp;
-    inputs.battCell1TempDevice = batt_cell1_temp;
-    inputs.battCell2TempDevice = batt_cell2_temp;
-    inputs.battCell3TempDevice = batt_cell3_temp;
-    inputs.battCell4TempDevice = batt_cell4_temp;
+    inputs.face0TempDevice = DEVICE_DT_GET(DT_NODELABEL(face0_temp_sens));
+    inputs.face1TempDevice = DEVICE_DT_GET(DT_NODELABEL(face1_temp_sens));
+    inputs.face2TempDevice = DEVICE_DT_GET(DT_NODELABEL(face2_temp_sens));
+    inputs.face3TempDevice = DEVICE_DT_GET(DT_NODELABEL(face3_temp_sens));
+    inputs.face4TempDevice = DEVICE_DT_GET(DT_NODELABEL(face4_temp_sens));
+    inputs.face5TempDevice = DEVICE_DT_GET(DT_NODELABEL(face5_temp_sens));
+    inputs.topTempDevice = DEVICE_DT_GET(DT_NODELABEL(top_temp_sens));
+    inputs.battCell1TempDevice = DEVICE_DT_GET(DT_NODELABEL(batt_cell1_temp_sens));
+    inputs.battCell2TempDevice = DEVICE_DT_GET(DT_NODELABEL(batt_cell2_temp_sens));
+    inputs.battCell3TempDevice = DEVICE_DT_GET(DT_NODELABEL(batt_cell3_temp_sens));
+    inputs.battCell4TempDevice = DEVICE_DT_GET(DT_NODELABEL(batt_cell4_temp_sens));
+
+    // Diagnostic: Check which TMP112 sensors are ready
+    printk("\n=== TMP112 Sensor Ready Status ===\n");
+    const struct device* sensors[] = {
+        inputs.face0TempDevice, inputs.face1TempDevice,
+        inputs.face2TempDevice, inputs.face3TempDevice,
+        inputs.face4TempDevice, inputs.face5TempDevice,
+        inputs.topTempDevice,
+        inputs.battCell1TempDevice, inputs.battCell2TempDevice,
+        inputs.battCell3TempDevice, inputs.battCell4TempDevice
+    };
+    const char* names[] = {"face0", "face1", "face2", "face3",
+                           "face4", "face5", "top",
+                           "batt1", "batt2", "batt3", "batt4"};
+    for(int i=0; i<11; i++) {
+        int ready = device_is_ready(sensors[i]);
+        printk("  %s: %s (ptr: %p)\n", names[i], ready ? "READY" : "NOT READY", sensors[i]);
+    }
+    printk("==================================\n\n");
 
     // Magnetorquer devices
     inputs.drv2605Devices[0] = face0_drv2605;
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 2244b200..ab61e569 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -12,6 +12,7 @@
 #include <Fw/Types/MallocAllocator.hpp>
 
 #include <zephyr/drivers/gpio.h>
+#include <zephyr/kernel.h>
 
 static const struct gpio_dt_spec ledGpio = GPIO_DT_SPEC_GET(DT_NODELABEL(led0), gpios);
 static const struct gpio_dt_spec burnwire0Gpio = GPIO_DT_SPEC_GET(DT_NODELABEL(burnwire0), gpios);
@@ -69,6 +70,32 @@ void configureTopology() {
     face5LoadSwitch.pin_configuration(mcp23017_dev, 13);
     payloadPowerLoadSwitch.pin_configuration(mcp23017_dev, 1);
     payloadBatteryLoadSwitch.pin_configuration(mcp23017_dev, 3);
+    
+    // TMP112 temperature sensors (11 sensors behind I2C multiplexer)
+    const struct device* face0_temp = DEVICE_DT_GET(DT_NODELABEL(face0_temp_sens));
+    const struct device* face1_temp = DEVICE_DT_GET(DT_NODELABEL(face1_temp_sens));
+    const struct device* face2_temp = DEVICE_DT_GET(DT_NODELABEL(face2_temp_sens));
+    const struct device* face3_temp = DEVICE_DT_GET(DT_NODELABEL(face3_temp_sens));
+    const struct device* face4_temp = DEVICE_DT_GET(DT_NODELABEL(face4_temp_sens));
+    const struct device* face5_temp = DEVICE_DT_GET(DT_NODELABEL(face5_temp_sens));
+    const struct device* top_temp = DEVICE_DT_GET(DT_NODELABEL(top_temp_sens));
+    const struct device* batt_cell1_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell1_temp_sens));
+    const struct device* batt_cell2_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell2_temp_sens));
+    const struct device* batt_cell3_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell3_temp_sens));
+    const struct device* batt_cell4_temp = DEVICE_DT_GET(DT_NODELABEL(batt_cell4_temp_sens));
+
+    // Suppress unused variable warnings
+    (void)face0_temp;
+    (void)face1_temp;
+    (void)face2_temp;
+    (void)face3_temp;
+    (void)face4_temp;
+    (void)face5_temp;
+    (void)top_temp;
+    (void)batt_cell1_temp;
+    (void)batt_cell2_temp;
+    (void)batt_cell3_temp;
+    (void)batt_cell4_temp;
 }
 
 // Public functions for use in main program are namespaced with deployment name ReferenceDeployment
diff --git a/prj.conf b/prj.conf
index 463d40a1..153833b5 100644
--- a/prj.conf
+++ b/prj.conf
@@ -28,17 +28,16 @@ CONFIG_GPIO=y
 CONFIG_LED=y
 CONFIG_PWM=n
 CONFIG_I2C=y
-# I2C multiplexer (TCA9548A) priority configuration
-CONFIG_I2C_TCA954X_ROOT_INIT_PRIO=70
-CONFIG_I2C_TCA954X_CHANNEL_INIT_PRIO=71
 CONFIG_SPI=y
 CONFIG_PINCTRL=y
 CONFIG_ASSERT=y
 
 #### I2C Multiplexer Configuration ####
 CONFIG_I2C_TCA954X=y
-CONFIG_I2C_TCA954X_ROOT_INIT_PRIO=50
-CONFIG_I2C_TCA954X_CHANNEL_INIT_PRIO=51
+# Priority order: I2C Bus (16) < GPIO (11) < Mux Root (70) < Mux Channels (71) < Load Switches (75) < Sensors (90)
+# Mux must initialize AFTER I2C bus (16) and GPIO (11) but BEFORE sensors (90)
+CONFIG_I2C_TCA954X_ROOT_INIT_PRIO=70
+CONFIG_I2C_TCA954X_CHANNEL_INIT_PRIO=71
 
 CONFIG_DYNAMIC_THREAD=y
 CONFIG_KERNEL_MEM_POOL=y
@@ -58,8 +57,11 @@ CONFIG_COMMON_LIBC_MALLOC=y
 
 CONFIG_SENSOR=y
 
-CONFIG_LOG=n
+# Enable detailed logging for I2C and sensor debugging
+CONFIG_LOG=y
 CONFIG_LOG_DEFAULT_LEVEL=3
+CONFIG_I2C_LOG_LEVEL_DBG=y
+CONFIG_SENSOR_LOG_LEVEL_DBG=y
 
 CONFIG_CBPRINTF_FP_SUPPORT=y
 

From 712cc6fd97563bb11aa0f1d19985566403a671a5 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Wed, 26 Nov 2025 16:04:02 -0600
Subject: [PATCH 27/68] Remove loadswitch

---
 .../Components/CMakeLists.txt                 |  1 -
 .../Components/LoadSwitch/CMakeLists.txt      | 36 ----------
 .../Components/LoadSwitch/LoadSwitch.cpp      | 55 --------------
 .../Components/LoadSwitch/LoadSwitch.fpp      | 72 -------------------
 .../Components/LoadSwitch/LoadSwitch.hpp      | 70 ------------------
 .../Components/LoadSwitch/docs/sdd.md         | 66 -----------------
 6 files changed, 300 deletions(-)
 delete mode 100644 FprimeZephyrReference/Components/LoadSwitch/CMakeLists.txt
 delete mode 100644 FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
 delete mode 100644 FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
 delete mode 100644 FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
 delete mode 100644 FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md

diff --git a/FprimeZephyrReference/Components/CMakeLists.txt b/FprimeZephyrReference/Components/CMakeLists.txt
index 3d371a43..0902ae1c 100644
--- a/FprimeZephyrReference/Components/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/CMakeLists.txt
@@ -12,4 +12,3 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/NullPrmDb/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/PowerMonitor/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ThermalManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LoadSwitch/")
diff --git a/FprimeZephyrReference/Components/LoadSwitch/CMakeLists.txt b/FprimeZephyrReference/Components/LoadSwitch/CMakeLists.txt
deleted file mode 100644
index 5be47b2d..00000000
--- a/FprimeZephyrReference/Components/LoadSwitch/CMakeLists.txt
+++ /dev/null
@@ -1,36 +0,0 @@
-####
-# F Prime CMakeLists.txt:
-#
-# SOURCES: list of source files (to be compiled)
-# AUTOCODER_INPUTS: list of files to be passed to the autocoders
-# DEPENDS: list of libraries that this module depends on
-#
-# More information in the F´ CMake API documentation:
-# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
-#
-####
-
-# Module names are derived from the path from the nearest project/library/framework
-# root when not specifically overridden by the developer. i.e. The module defined by
-# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
-
-register_fprime_library(
-    AUTOCODER_INPUTS
-        "${CMAKE_CURRENT_LIST_DIR}/LoadSwitch.fpp"
-    SOURCES
-        "${CMAKE_CURRENT_LIST_DIR}/LoadSwitch.cpp"
-#   DEPENDS
-#       MyPackage_MyOtherModule
-)
-
-### Unit Tests ###
-# register_fprime_ut(
-#     AUTOCODER_INPUTS
-#         "${CMAKE_CURRENT_LIST_DIR}/LoadSwitch.fpp"
-#     SOURCES
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/LoadSwitchTestMain.cpp"
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/LoadSwitchTester.cpp"
-#     DEPENDS
-#         STest # For rules-based testing
-#     UT_AUTO_HELPERS
-# )
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
deleted file mode 100644
index 1bbd1fcd..00000000
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ /dev/null
@@ -1,55 +0,0 @@
-// ======================================================================
-// \title  LoadSwitch.cpp
-// \author sarah
-// \brief  cpp file for LoadSwitch component implementation class
-// ======================================================================
-
-#include "FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp"
-#include <zephyr/drivers/gpio.h>
-
-namespace Components {
-
-// ----------------------------------------------------------------------
-// Component construction and destruction
-// ----------------------------------------------------------------------
-
-LoadSwitch ::LoadSwitch(const char* const compName) : LoadSwitchComponentBase(compName) {}
-
-LoadSwitch ::~LoadSwitch() {}
-
-// ----------------------------------------------------------------------
-// Handler implementations for typed input ports
-// ----------------------------------------------------------------------
-
-void LoadSwitch ::Reset_handler(FwIndexType portNum) {
-    gpio_pin_set(m_device, m_pinNum, 0);
-    k_sleep(K_MSEC(100));
-    gpio_pin_set(m_device, m_pinNum, 1);
-}
-
-// ----------------------------------------------------------------------
-// Handler implementations for commands
-// ----------------------------------------------------------------------
-
-void LoadSwitch ::TURN_ON_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
-    gpio_pin_set(m_device, m_pinNum, 1);
-    this->log_ACTIVITY_HI_StatusChanged(Fw::On::ON);
-    // I think some code needed to send this status to the port as well
-    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
-}
-
-void LoadSwitch ::TURN_OFF_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
-    gpio_pin_set(m_device, m_pinNum, 0);
-    this->log_ACTIVITY_HI_StatusChanged(Fw::On::OFF);
-    // I think some code needed to send this status to the port as well
-    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
-}
-
-// This is meant to be used in Topology.cpp to configure the pin and device
-void LoadSwitch ::pin_configuration(const struct device* device, uint8_t pinNum) {
-    this->m_pinNum = pinNum;
-    this->m_device = device;
-    gpio_pin_configure(m_device, m_pinNum, GPIO_OUTPUT_ACTIVE);
-}
-
-}  // namespace Components
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
deleted file mode 100644
index 8a166d55..00000000
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ /dev/null
@@ -1,72 +0,0 @@
-module Components {
-    @ A generic load switch for controlling power to components
-    active component LoadSwitch {
-
-        # One async command/port is required for active components
-        # This should be overridden by the developers with a useful command/port
-
-        ##############################################################################
-        #### Uncomment the following examples to start customizing your component ####
-        ##############################################################################
-
-        # @ Example async command
-        # async command COMMAND_NAME(param_name: U32)
-        async command TURN_ON()
-        async command TURN_OFF()
-
-        # @ Example telemetry counter
-        # telemetry ExampleCounter: U64
-        telemetry IsOn: Fw.On
-
-        # @ Example event
-        # event ExampleStateEvent(example_state: Fw.On) severity activity high id 0 format "State set to {}"
-        event StatusChanged($state: Fw.On) severity activity high id 1 format "Load switch state changed to {}"
-
-        # @ Example port: receiving calls from the rate group
-        # sync input port run: Svc.Sched
-        #output port Status: Drv.GpioRead
-        #We will not be putting a Drv.GpioRead port here, we are using the Gpio Driver component which has this already!
-        
-        @ Port sending calls to the GPIO driver
-        output port gpioSet: Drv.GpioWrite
-
-        
-        # Input that will be used by other components if they want to force a reset 
-        # (off and on again) of the load switch
-        async input port Reset: Fw.Signal
-
-        # @ Example parameter
-        # param PARAMETER_NAME: U32
-
-        ###############################################################################
-        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
-        ###############################################################################
-        @ Port for requesting the current time
-        time get port timeCaller
-
-        @ Port for sending command registrations
-        command reg port cmdRegOut
-
-        @ Port for receiving commands
-        command recv port cmdIn
-
-        @ Port for sending command responses
-        command resp port cmdResponseOut
-
-        @ Port for sending textual representation of events
-        text event port logTextOut
-
-        @ Port for sending events to downlink
-        event port logOut
-
-        @ Port for sending telemetry channels to downlink
-        telemetry port tlmOut
-
-        @ Port to return the value of a parameter
-        param get port prmGetOut
-
-        @Port to set the value of a parameter
-        param set port prmSetOut
-
-    }
-}
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
deleted file mode 100644
index 796694a0..00000000
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
+++ /dev/null
@@ -1,70 +0,0 @@
-// ======================================================================
-// \title  LoadSwitch.hpp
-// \author sarah
-// \brief  hpp file for LoadSwitch component implementation class
-// ======================================================================
-
-#ifndef Components_LoadSwitch_HPP
-#define Components_LoadSwitch_HPP
-
-#include "FprimeZephyrReference/Components/LoadSwitch/LoadSwitchComponentAc.hpp"
-#include <zephyr/kernel.h>
-
-// Forward declare Zephyr types to avoid header conflicts
-struct device;
-
-namespace Components {
-
-class LoadSwitch final : public LoadSwitchComponentBase {
-  public:
-    // ----------------------------------------------------------------------
-    // Component construction and destruction
-    // ----------------------------------------------------------------------
-
-    //! Construct LoadSwitch object
-    LoadSwitch(const char* const compName  //!< The component name
-    );
-
-    //! Destroy LoadSwitch object
-    ~LoadSwitch();
-
-    // ----------------------------------------------------------------------
-    // Configuration Meant to be used in ***Topology.cpp
-    // ----------------------------------------------------------------------
-
-    void pin_configuration(const struct device* device, uint8_t pinNum);
-
-  private:
-    // ----------------------------------------------------------------------
-    // Handler implementations for commands
-    // ----------------------------------------------------------------------
-
-    //! Handler implementation for command TURN_ON
-    void TURN_ON_cmdHandler(FwOpcodeType opCode,  //!< The opcode
-                            U32 cmdSeq            //!< The command sequence number
-                            ) override;
-
-    //! Handler implementation for command TURN_OFF
-    void TURN_OFF_cmdHandler(FwOpcodeType opCode,  //!< The opcode
-                             U32 cmdSeq            //!< The command sequence number
-                             ) override;
-
-    // ----------------------------------------------------------------------
-    // Handler implementations for typed input ports
-    // ----------------------------------------------------------------------
-
-    //! Handler implementation for Reset
-    void Reset_handler(FwIndexType portNum  //!< The port number
-                       ) override;
-    
-    // ----------------------------------------------------------------------
-    // Member variables
-    // ----------------------------------------------------------------------
-
-    uint8_t m_pinNum;
-    const struct device* m_device;
-};
-
-}  // namespace Components
-
-#endif
diff --git a/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md b/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
deleted file mode 100644
index c1bbcfe8..00000000
--- a/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
+++ /dev/null
@@ -1,66 +0,0 @@
-# Components::LoadSwitch
-
-A generic load switch for controlling power to components
-
-## Usage Examples
-Add usage examples here
-
-### Diagrams
-Add diagrams here
-
-### Typical Usage
-The load switch would be used whenever a sensor is to be turned on or off.
-
-## Class Diagram
-Add a class diagram here
-
-## Port Descriptions
-| Name | Description |
-|---|---|
-| Status | Boolean value displaying whether the load switch is on or not. |
-
-## Component States
-| Name  | Description                          |
-|-------|--------------------------------------|
-| Off   | No power to the component            |
-| On    | Power supplied to the component      |
-| Error | An error occurred in the load switch |
-
-## Sequence Diagrams
-Add sequence diagrams here
-
-## Parameters
-| Name | Description |
-|---|---|
-|---|---|
-
-## Commands
-| Name | Description |
-|---|---|
-| On | Turn on power to the component |
-| Off | Turn off power to the component |
-
-## Events
-| Name | Description |
-|---|---|
-| StatusChanged | Emits event whenever the status of the load switch changes |
-
-## Telemetry
-| Name | Description |
-|---|---|
-| IsOn | Returns whether the load switch is supplying power to the component or not |
-
-## Unit Tests
-| Name | Description | Output | Coverage |
-|---|---|---|---|
-|---|---|---|---|
-
-## Requirements
-| Name | Description | Validation |
-|---|---|---|
-|---|---|---|
-
-## Change Log
-| Date | Description |
-|---|---|
-| 10-22-2025 | Sarah, Kevin, and MoMata's first commit |

From 2898d23543d4a1d75847e8ac3e50252068860d8d Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Wed, 26 Nov 2025 19:10:36 -0600
Subject: [PATCH 28/68] Reduce lines changed

---
 .../Components/Drv/CMakeLists.txt             |  1 -
 .../Drv/MagnetorquerManager/CMakeLists.txt    | 36 ----------
 .../MagnetorquerManager.cpp                   | 65 ------------------
 .../MagnetorquerManager.fpp                   | 59 -----------------
 .../MagnetorquerManager.hpp                   | 48 --------------
 .../Drv/MagnetorquerManager/docs/sdd.md       | 66 -------------------
 .../ReferenceDeployment/Main.cpp              |  4 --
 .../Top/ReferenceDeploymentTopology.cpp       |  1 -
 .../Top/ReferenceDeploymentTopologyDefs.hpp   | 28 ++++----
 .../ReferenceDeployment/Top/topology.fpp      |  1 +
 10 files changed, 14 insertions(+), 295 deletions(-)
 delete mode 100644 FprimeZephyrReference/Components/Drv/MagnetorquerManager/CMakeLists.txt
 delete mode 100644 FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
 delete mode 100644 FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp
 delete mode 100644 FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
 delete mode 100644 FprimeZephyrReference/Components/Drv/MagnetorquerManager/docs/sdd.md

diff --git a/FprimeZephyrReference/Components/Drv/CMakeLists.txt b/FprimeZephyrReference/Components/Drv/CMakeLists.txt
index 28009305..d55d258b 100644
--- a/FprimeZephyrReference/Components/Drv/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/Drv/CMakeLists.txt
@@ -4,4 +4,3 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/RtcManager")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Tmp112Manager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Types/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/MagnetorquerManager/")
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/CMakeLists.txt b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/CMakeLists.txt
deleted file mode 100644
index 92da00df..00000000
--- a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/CMakeLists.txt
+++ /dev/null
@@ -1,36 +0,0 @@
-####
-# F Prime CMakeLists.txt:
-#
-# SOURCES: list of source files (to be compiled)
-# AUTOCODER_INPUTS: list of files to be passed to the autocoders
-# DEPENDS: list of libraries that this module depends on
-#
-# More information in the F´ CMake API documentation:
-# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
-#
-####
-
-# Module names are derived from the path from the nearest project/library/framework
-# root when not specifically overridden by the developer. i.e. The module defined by
-# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
-
-register_fprime_library(
-    AUTOCODER_INPUTS
-        "${CMAKE_CURRENT_LIST_DIR}/MagnetorquerManager.fpp"
-    SOURCES
-        "${CMAKE_CURRENT_LIST_DIR}/MagnetorquerManager.cpp"
-#   DEPENDS
-#       MyPackage_MyOtherModule
-)
-
-### Unit Tests ###
-# register_fprime_ut(
-#     AUTOCODER_INPUTS
-#         "${CMAKE_CURRENT_LIST_DIR}/MagnetorquerManager.fpp"
-#     SOURCES
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/MagnetorquerManagerTestMain.cpp"
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/MagnetorquerManagerTester.cpp"
-#     DEPENDS
-#         STest # For rules-based testing
-#     UT_AUTO_HELPERS
-# )
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
deleted file mode 100644
index 971a1985..00000000
--- a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-// ======================================================================
-// \title  MagnetorquerManager.cpp
-// \author aychar
-// \brief  cpp file for MagnetorquerManager component implementation class
-// ======================================================================
-
-#include "FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp"
-
-#include <zephyr/drivers/haptics/drv2605.h>
-#include <zephyr/kernel.h>
-
-namespace Drv {
-
-// ----------------------------------------------------------------------
-// Component construction and destruction
-// ----------------------------------------------------------------------
-
-MagnetorquerManager ::MagnetorquerManager(const char* const compName) : MagnetorquerManagerComponentBase(compName) {}
-
-MagnetorquerManager ::~MagnetorquerManager() {}
-
-// ----------------------------------------------------------------------
-// Helper methods
-// ----------------------------------------------------------------------
-
-void MagnetorquerManager ::configure(const struct device* const devices[6]) {
-    for (int i = 0; i < 6; ++i) {
-        this->m_devices[i] = devices[i];
-    }
-}
-
-void MagnetorquerManager ::START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, U8 faceIdx) {
-    // Validate face index (0..5)
-    if (faceIdx >= 6) {
-        this->log_WARNING_HI_DeviceNotReady();
-        return;
-    }
-
-    const struct device* dev = this->m_devices[faceIdx];
-    if (!device_is_ready(dev)) {
-        this->log_WARNING_HI_DeviceNotReady();
-        return;
-    }
-
-    drv2605_haptic_config(dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&this->rom);
-}
-
-void MagnetorquerManager ::START_PLAYBACK_TEST2_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, U8 faceIdx) {
-    // Validate face index (0..5)
-    if (faceIdx >= 6) {
-        this->log_WARNING_HI_DeviceNotReady();
-        return;
-    }
-
-    const struct device* dev = this->m_devices[faceIdx];
-    if (!device_is_ready(dev)) {
-        this->log_WARNING_HI_DeviceNotReady();
-        return;
-    }
-
-    struct drv2605_rom_data rom2 = {.library = DRV2605_LIBRARY_TS2200_A, .seq_regs = {50, 0, 0, 0, 0, 0, 0, 0}};
-    drv2605_haptic_config(dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&rom2);
-}
-
-}  // namespace Drv
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp
deleted file mode 100644
index 222f9bb0..00000000
--- a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp
+++ /dev/null
@@ -1,59 +0,0 @@
-module Drv {
-    @ Component for F Prime FSW framework.
-    passive component MagnetorquerManager {
-
-        @ Event for reporting DRV2605 not ready error
-        event DeviceNotReady() severity warning high format "DRV2605 device not ready" throttle 5
-
-    @ Start DRV2605 playback on a device with effect #47 on a specific face
-    @ faceIdx: index of the face to actuate (valid range: 0..5)
-    sync command START_PLAYBACK_TEST(faceIdx: U8)
-
-    @ Start DRV2605 playback on a device with effect #50 on a specific face
-    @ faceIdx: index of the face to actuate (valid range: 0..5)
-    sync command START_PLAYBACK_TEST2(faceIdx: U8)
-
-        # @ Example telemetry counter
-        # telemetry ExampleCounter: U64
-
-        # @ Example event
-        # event ExampleStateEvent(example_state: Fw.On) severity activity high id 0 format "State set to {}"
-
-        # @ Example port: receiving calls from the rate group
-        # sync input port run: Svc.Sched
-
-        # @ Example parameter
-        # param PARAMETER_NAME: U32
-
-        ###############################################################################
-        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
-        ###############################################################################
-        @ Port for requesting the current time
-        time get port timeCaller
-
-        @ Port for sending command registrations
-        command reg port cmdRegOut
-
-        @ Port for receiving commands
-        command recv port cmdIn
-
-        @ Port for sending command responses
-        command resp port cmdResponseOut
-
-        @ Port for sending textual representation of events
-        text event port logTextOut
-
-        @ Port for sending events to downlink
-        event port logOut
-
-        @ Port for sending telemetry channels to downlink
-        telemetry port tlmOut
-
-        @ Port to return the value of a parameter
-        param get port prmGetOut
-
-        @Port to set the value of a parameter
-        param set port prmSetOut
-
-    }
-}
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
deleted file mode 100644
index 2be93a64..00000000
--- a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp
+++ /dev/null
@@ -1,48 +0,0 @@
-// ======================================================================
-// \title  MagnetorquerManager.hpp
-// \author aychar
-// \brief  hpp file for MagnetorquerManager component implementation class
-// ======================================================================
-
-#ifndef Drv_MagnetorquerManager_HPP
-#define Drv_MagnetorquerManager_HPP
-
-#include "FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManagerComponentAc.hpp"
-#include <zephyr/device.h>
-#include <zephyr/drivers/haptics/drv2605.h>
-#include <zephyr/drivers/sensor.h>
-#include <zephyr/kernel.h>
-
-namespace Drv {
-
-class MagnetorquerManager final : public MagnetorquerManagerComponentBase {
-  public:
-    // ----------------------------------------------------------------------
-    // Component construction and destruction
-    // ----------------------------------------------------------------------
-
-    //! Construct MagnetorquerManager object
-    MagnetorquerManager(const char* const compName  //!< The component name
-    );
-
-    //! Destroy MagnetorquerManager object
-    ~MagnetorquerManager();
-
-    //! Configure the DRV2605 device
-    // Accept an array of six pointers to const device objects. The pointers themselves are const
-    // to match callers that provide const device* const* types.
-    void configure(const struct device* const devices[6]);
-
-  private:
-    //! Zephyr device to store initialized DRV2605
-    const struct device* m_devices[6];
-    struct drv2605_rom_data rom = {.library = DRV2605_LIBRARY_TS2200_A, .seq_regs = {47, 0, 0, 0, 0, 0, 0, 0}};
-
-    // Command handlers updated to accept a face index (0..5)
-    void START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, U8 faceIdx) override;
-    void START_PLAYBACK_TEST2_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, U8 faceIdx) override;
-};
-
-}  // namespace Drv
-
-#endif
diff --git a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/docs/sdd.md b/FprimeZephyrReference/Components/Drv/MagnetorquerManager/docs/sdd.md
deleted file mode 100644
index b94fdaf3..00000000
--- a/FprimeZephyrReference/Components/Drv/MagnetorquerManager/docs/sdd.md
+++ /dev/null
@@ -1,66 +0,0 @@
-# Drv::MagnetorquerManager
-
-Component for F Prime FSW framework.
-
-## Usage Examples
-Add usage examples here
-
-### Diagrams
-Add diagrams here
-
-### Typical Usage
-And the typical usage of the component here
-
-## Class Diagram
-Add a class diagram here
-
-## Port Descriptions
-| Name | Description |
-|---|---|
-|---|---|
-
-## Component States
-Add component states in the chart below
-| Name | Description |
-|---|---|
-|---|---|
-
-## Sequence Diagrams
-Add sequence diagrams here
-
-## Parameters
-| Name | Description |
-|---|---|
-|---|---|
-
-## Commands
-| Name | Description |
-|---|---|
-|---|---|
-
-## Events
-| Name | Description |
-|---|---|
-|---|---|
-
-## Telemetry
-| Name | Description |
-|---|---|
-|---|---|
-
-## Unit Tests
-Add unit test descriptions in the chart below
-| Name | Description | Output | Coverage |
-|---|---|---|---|
-|---|---|---|---|
-
-## Requirements
-Add requirements in the chart below
-| Name | Description | Validation |
-|---|---|---|
-|---|---|---|
-
-## Change Log
-| Date | Description |
-|---|---|
-|---| Initial Draft |
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index 223d2472..0130fd31 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -7,7 +7,6 @@
 
 #include <FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.hpp>
 
-#include <zephyr/drivers/gpio.h>
 #include <zephyr/kernel.h>
 #include <zephyr/sys/printk.h>
 
@@ -40,9 +39,6 @@ int main(int argc, char* argv[]) {
     k_sleep(K_MSEC(3000));
     Os::init();
 
-    // NOTE: Load switches are now powered on during early boot (SYS_INIT)
-    // before sensor initialization. See proves_board_power_init() above.
-
     // Object for communicating state to the topology
     ReferenceDeployment::TopologyState inputs;
     inputs.ina219SysDevice = ina219Sys;
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 1b6f161c..f54f2eda 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -12,7 +12,6 @@
 #include <Fw/Types/MallocAllocator.hpp>
 
 #include <zephyr/drivers/gpio.h>
-#include <zephyr/kernel.h>
 
 static const struct gpio_dt_spec ledGpio = GPIO_DT_SPEC_GET(DT_NODELABEL(led0), gpios);
 static const struct gpio_dt_spec burnwire0Gpio = GPIO_DT_SPEC_GET(DT_NODELABEL(burnwire0), gpios);
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index 7f8c23ed..d342eef1 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -24,7 +24,6 @@
 // Include autocoded FPP constants
 #include "FprimeZephyrReference/ReferenceDeployment/Top/FppConstantsAc.hpp"
 #include <zephyr/device.h>
-#include <zephyr/drivers/gpio.h>
 #include <zephyr/drivers/uart.h>
 #include <zephyr/kernel.h>
 
@@ -70,15 +69,19 @@ namespace ReferenceDeployment {
  * autocoder. The contents are entirely up to the definition of the project. This deployment uses subtopologies.
  */
 struct TopologyState {
-    // FC devices
-    const device* ina219SysDevice;  //!< device path for battery board ina219
-    const device* ina219SolDevice;  //!< device path for solar panel ina219
-    const device* uartDevice;       //!< UART device path for communication
-    const device* loraDevice;       //!< LoRa device path for communication
-    const device* lsm6dsoDevice;    //!< LSM6DSO device path for accelerometer/gyroscope
-    const device* lis2mdlDevice;    //!< LIS2MDL device path for magnetometer
-    const device* rtcDevice;        //!< RTC device path
-    const device* mcp23017;         //!< MCP23017 GPIO expander device path
+    const device* uartDevice;  //!< UART device path for communication
+    const device* loraDevice;  //!< LoRa device path for communication
+
+    U32 baudRate;                                 //!< Baud rate for UART communication
+    CdhCore::SubtopologyState cdhCore;            //!< Subtopology state for CdhCore
+    ComCcsds::SubtopologyState comCcsds;          //!< Subtopology state for ComCcsds
+    FileHandling::SubtopologyState fileHandling;  //!< Subtopology state for FileHandling
+    const device* ina219SysDevice;                //!< device path for battery board ina219
+    const device* ina219SolDevice;                //!< device path for solar panel ina219
+    const device* lsm6dsoDevice;                  //!< LSM6DSO device path for accelerometer/gyroscope
+    const device* lis2mdlDevice;                  //!< LIS2MDL device path for magnetometer
+    const device* rtcDevice;                      //!< RTC device path
+    const device* mcp23017;                       //!< MCP23017 GPIO expander device path
 
     // Face devices
     // - Temperature sensors
@@ -93,11 +96,6 @@ struct TopologyState {
     const device* battCell2TempDevice;  //!< TMP112 device for battery cell 2
     const device* battCell3TempDevice;  //!< TMP112 device for battery cell 3
     const device* battCell4TempDevice;  //!< TMP112 device for battery cell 4
-
-    U32 baudRate;                                 //!< Baud rate for UART communication
-    CdhCore::SubtopologyState cdhCore;            //!< Subtopology state for CdhCore
-    ComCcsds::SubtopologyState comCcsds;          //!< Subtopology state for ComCcsds
-    FileHandling::SubtopologyState fileHandling;  //!< Subtopology state for FileHandling
 };
 
 namespace PingEntries = ::PingEntries;
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index f8d24569..43e76c52 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -283,5 +283,6 @@ module ReferenceDeployment {
       modeManager.loadSwitchTurnOff[6] -> payloadPowerLoadSwitch.turnOff
       modeManager.loadSwitchTurnOff[7] -> payloadBatteryLoadSwitch.turnOff
     }
+
   }
 }

From 058b6076a8a7997c6cef2597125ca02fb9ae55e6 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Wed, 26 Nov 2025 20:25:54 -0600
Subject: [PATCH 29/68] Building with Michael certified device tree

---
 .../ThermalManager/ThermalManager.cpp         |   7 -
 .../ThermalManager/ThermalManager.fpp         |  12 --
 .../ReferenceDeployment/Main.cpp              |   4 -
 .../Top/ReferenceDeploymentPackets.fppi       |   4 -
 .../Top/ReferenceDeploymentTopology.cpp       |   2 -
 .../Top/ReferenceDeploymentTopologyDefs.hpp   |   2 -
 .../ReferenceDeployment/Top/instances.fpp     |  14 +-
 .../ReferenceDeployment/Top/topology.fpp      |   4 -
 .../proves_flight_control_board_v5.dtsi       | 128 ++++++++++++------
 9 files changed, 92 insertions(+), 85 deletions(-)

diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 8d38f6f7..64705c5f 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -37,16 +37,9 @@ void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
     F64 face3Temp = this->face3TempGet_out(0);
     this->tlmWrite_Face3Temperature(face3Temp);
 
-    F64 face4Temp = this->face4TempGet_out(0);
-    this->tlmWrite_Face4Temperature(face4Temp);
-
     F64 face5Temp = this->face5TempGet_out(0);
     this->tlmWrite_Face5Temperature(face5Temp);
 
-    // Top sensor
-    F64 topTemp = this->topTempGet_out(0);
-    this->tlmWrite_TopTemperature(topTemp);
-
     // Battery cell sensors (4 sensors)
     F64 battCell1Temp = this->battCell1TempGet_out(0);
     this->tlmWrite_BattCell1Temperature(battCell1Temp);
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
index b2fae677..70473096 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
@@ -17,15 +17,9 @@ module Components {
         @ Port for face 3 temperature sensor
         output port face3TempGet: Drv.AmbientTemperatureGet
 
-        @ Port for face 4 temperature sensor
-        output port face4TempGet: Drv.AmbientTemperatureGet
-
         @ Port for face 5 temperature sensor
         output port face5TempGet: Drv.AmbientTemperatureGet
 
-        @ Port for top temperature sensor
-        output port topTempGet: Drv.AmbientTemperatureGet
-
         @ Port for battery cell 1 temperature sensor
         output port battCell1TempGet: Drv.AmbientTemperatureGet
 
@@ -53,15 +47,9 @@ module Components {
         @ Face 3 temperature in degrees Celsius
         telemetry Face3Temperature: F64
 
-        @ Face 4 temperature in degrees Celsius
-        telemetry Face4Temperature: F64
-
         @ Face 5 temperature in degrees Celsius
         telemetry Face5Temperature: F64
 
-        @ Top temperature in degrees Celsius
-        telemetry TopTemperature: F64
-
         @ Battery cell 1 temperature in degrees Celsius
         telemetry BattCell1Temperature: F64
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index 0130fd31..644f602c 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -23,9 +23,7 @@ const struct device* face0_temp_sens = DEVICE_DT_GET(DT_NODELABEL(face0_temp_sen
 const struct device* face1_temp_sens = DEVICE_DT_GET(DT_NODELABEL(face1_temp_sens));
 const struct device* face2_temp_sens = DEVICE_DT_GET(DT_NODELABEL(face2_temp_sens));
 const struct device* face3_temp_sens = DEVICE_DT_GET(DT_NODELABEL(face3_temp_sens));
-const struct device* face4_temp_sens = DEVICE_DT_GET(DT_NODELABEL(face4_temp_sens));
 const struct device* face5_temp_sens = DEVICE_DT_GET(DT_NODELABEL(face5_temp_sens));
-const struct device* top_temp_sens = DEVICE_DT_GET(DT_NODELABEL(top_temp_sens));
 const struct device* batt_cell1_temp_sens = DEVICE_DT_GET(DT_NODELABEL(batt_cell1_temp_sens));
 const struct device* batt_cell2_temp_sens = DEVICE_DT_GET(DT_NODELABEL(batt_cell2_temp_sens));
 const struct device* batt_cell3_temp_sens = DEVICE_DT_GET(DT_NODELABEL(batt_cell3_temp_sens));
@@ -56,9 +54,7 @@ int main(int argc, char* argv[]) {
     inputs.face1TempDevice = face1_temp_sens;
     inputs.face2TempDevice = face2_temp_sens;
     inputs.face3TempDevice = face3_temp_sens;
-    inputs.face4TempDevice = face4_temp_sens;
     inputs.face5TempDevice = face5_temp_sens;
-    inputs.topTempDevice = top_temp_sens;
     inputs.battCell1TempDevice = batt_cell1_temp_sens;
     inputs.battCell2TempDevice = batt_cell2_temp_sens;
     inputs.battCell3TempDevice = batt_cell3_temp_sens;
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 529b0a9a..5fb5ecaf 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -99,9 +99,7 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.thermalManager.Face1Temperature
     ReferenceDeployment.thermalManager.Face2Temperature
     ReferenceDeployment.thermalManager.Face3Temperature
-    ReferenceDeployment.thermalManager.Face4Temperature
     ReferenceDeployment.thermalManager.Face5Temperature
-    ReferenceDeployment.thermalManager.TopTemperature
     ReferenceDeployment.thermalManager.BattCell1Temperature
     ReferenceDeployment.thermalManager.BattCell2Temperature
     ReferenceDeployment.thermalManager.BattCell3Temperature
@@ -115,9 +113,7 @@ telemetry packets ReferenceDeploymentPackets {
   ReferenceDeployment.tmp112Face1Manager.AmbientTemperature
   ReferenceDeployment.tmp112Face2Manager.AmbientTemperature
   ReferenceDeployment.tmp112Face3Manager.AmbientTemperature
-  ReferenceDeployment.tmp112Face4Manager.AmbientTemperature
   ReferenceDeployment.tmp112Face5Manager.AmbientTemperature
-  ReferenceDeployment.tmp112TopManager.AmbientTemperature
   ReferenceDeployment.tmp112BattCell1Manager.AmbientTemperature
   ReferenceDeployment.tmp112BattCell2Manager.AmbientTemperature
   ReferenceDeployment.tmp112BattCell3Manager.AmbientTemperature
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index f54f2eda..0fbac5dd 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -124,9 +124,7 @@ void setupTopology(const TopologyState& state) {
     tmp112Face1Manager.configure(state.face1TempDevice);
     tmp112Face2Manager.configure(state.face2TempDevice);
     tmp112Face3Manager.configure(state.face3TempDevice);
-    tmp112Face4Manager.configure(state.face4TempDevice);
     tmp112Face5Manager.configure(state.face5TempDevice);
-    tmp112TopManager.configure(state.topTempDevice);
     tmp112BattCell1Manager.configure(state.battCell1TempDevice);
     tmp112BattCell2Manager.configure(state.battCell2TempDevice);
     tmp112BattCell3Manager.configure(state.battCell3TempDevice);
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index d342eef1..38546486 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -89,9 +89,7 @@ struct TopologyState {
     const device* face1TempDevice;      //!< TMP112 device for cube face 1
     const device* face2TempDevice;      //!< TMP112 device for cube face 2
     const device* face3TempDevice;      //!< TMP112 device for cube face 3
-    const device* face4TempDevice;      //!< TMP112 device for cube face 4
     const device* face5TempDevice;      //!< TMP112 device for cube face 5
-    const device* topTempDevice;        //!< TMP112 device for cube top
     const device* battCell1TempDevice;  //!< TMP112 device for battery cell 1
     const device* battCell2TempDevice;  //!< TMP112 device for battery cell 2
     const device* battCell3TempDevice;  //!< TMP112 device for battery cell 3
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index da37b33b..e1bf3065 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -152,18 +152,14 @@ module ReferenceDeployment {
 
   instance tmp112Face3Manager: Drv.TMP112Manager base id 0x10045000
 
-  instance tmp112Face4Manager: Drv.TMP112Manager base id 0x10046000
+  instance tmp112Face5Manager: Drv.TMP112Manager base id 0x10046000
 
-  instance tmp112Face5Manager: Drv.TMP112Manager base id 0x10047000
+  instance tmp112BattCell1Manager: Drv.TMP112Manager base id 0x10047000
 
-  instance tmp112TopManager: Drv.TMP112Manager base id 0x10048000
+  instance tmp112BattCell2Manager: Drv.TMP112Manager base id 0x10048000
 
-  instance tmp112BattCell1Manager: Drv.TMP112Manager base id 0x10049000
+  instance tmp112BattCell3Manager: Drv.TMP112Manager base id 0x10049000
 
-  instance tmp112BattCell2Manager: Drv.TMP112Manager base id 0x1004A000
-
-  instance tmp112BattCell3Manager: Drv.TMP112Manager base id 0x1004B000
-
-  instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x1004C000
+  instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x1004A000
 
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 43e76c52..873b3d0c 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -71,9 +71,7 @@ module ReferenceDeployment {
     instance tmp112Face1Manager
     instance tmp112Face2Manager
     instance tmp112Face3Manager
-    instance tmp112Face4Manager
     instance tmp112Face5Manager
-    instance tmp112TopManager
     instance tmp112BattCell1Manager
     instance tmp112BattCell2Manager
     instance tmp112BattCell3Manager
@@ -247,9 +245,7 @@ module ReferenceDeployment {
       thermalManager.face1TempGet -> tmp112Face1Manager.ambientTemperatureGet
       thermalManager.face2TempGet -> tmp112Face2Manager.ambientTemperatureGet
       thermalManager.face3TempGet -> tmp112Face3Manager.ambientTemperatureGet
-      thermalManager.face4TempGet -> tmp112Face4Manager.ambientTemperatureGet
       thermalManager.face5TempGet -> tmp112Face5Manager.ambientTemperatureGet
-      thermalManager.topTempGet -> tmp112TopManager.ambientTemperatureGet
       thermalManager.battCell1TempGet -> tmp112BattCell1Manager.ambientTemperatureGet
       thermalManager.battCell2TempGet -> tmp112BattCell2Manager.ambientTemperatureGet
       thermalManager.battCell3TempGet -> tmp112BattCell3Manager.ambientTemperatureGet
diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 7ed83a58..d8d39c61 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -146,16 +146,27 @@ zephyr_udc0: &usbd {
 		label = "TCA9548A";
 		reset-gpios = <&gpio0 26 GPIO_ACTIVE_LOW>;
 
-		i2c_mux@0 {
+		mux_channel_0: i2c_mux@0 {
 			compatible = "ti,tca9548a-channel";
-			label = "face0_i2c";
+			label = "mux_channel_0";
 			reg = <0>;
 			#address-cells = <1>;
 			#size-cells = <0>;
+
 			face0_temp_sens: tmp112@48 {
 				compatible = "ti,tmp112";
 				reg = <0x48>;
 				status = "okay";
+				label = "FACE0_TMP112";
+				zephyr,deferred-init;
+			};
+
+			face0_light_sens: light@29 {
+				compatible = "vishay,veml6031";
+				reg = <0x29>;
+				status = "okay";
+				label = "FACE0_VEML6031";
+				zephyr,deferred-init;
 			};
 
 			face0_drv2605: drv2605@5a {
@@ -163,23 +174,36 @@ zephyr_udc0: &usbd {
 				status = "okay";
 				reg = <0x5a>;
 				label = "FACE0_DRV2605";
+				zephyr,deferred-init;
 
 				actuator-mode = "LRA";
 				loop-gain = "HIGH";
 				feedback-brake-factor = "2X";
 			};
+
 		};
 
-		i2c_mux@1 {
+		mux_channel_1: i2c_mux@1 {
 			compatible = "ti,tca9548a-channel";
-			label = "face1_i2c";
+			label = "mux_channel_1";
 			reg = <1>;
 			#address-cells = <1>;
 			#size-cells = <0>;
+
 			face1_temp_sens: tmp112@48 {
 				compatible = "ti,tmp112";
 				reg = <0x48>;
 				status = "okay";
+				label = "FACE1_TMP112";
+				zephyr,deferred-init;
+			};
+
+			face1_light_sens: light@29 {
+				compatible = "vishay,veml6031";
+				reg = <0x29>;
+				status = "okay";
+				label = "FACE1_VEML6031";
+				zephyr,deferred-init;
 			};
 
 			face1_drv2605: drv2605@5a {
@@ -187,23 +211,36 @@ zephyr_udc0: &usbd {
 				status = "okay";
 				reg = <0x5a>;
 				label = "FACE1_DRV2605";
+				zephyr,deferred-init;
 
 				actuator-mode = "LRA";
 				loop-gain = "HIGH";
 				feedback-brake-factor = "2X";
 			};
+
 		};
 
-		i2c_mux@2 {
+		mux_channel_2: i2c_mux@2 {
 			compatible = "ti,tca9548a-channel";
-			label = "face2_i2c";
+			label = "mux_channel_2";
 			reg = <2>;
 			#address-cells = <1>;
 			#size-cells = <0>;
+
 			face2_temp_sens: tmp112@48 {
 				compatible = "ti,tmp112";
 				reg = <0x48>;
 				status = "okay";
+				label = "FACE2_TMP112";
+				zephyr,deferred-init;
+			};
+
+			face2_light_sens: light@29 {
+				compatible = "vishay,veml6031";
+				reg = <0x29>;
+				status = "okay";
+				label = "FACE2_VEML6031";
+				zephyr,deferred-init;
 			};
 
 			face2_drv2605: drv2605@5a {
@@ -211,23 +248,36 @@ zephyr_udc0: &usbd {
 				status = "okay";
 				reg = <0x5a>;
 				label = "FACE2_DRV2605";
+				zephyr,deferred-init;
 
 				actuator-mode = "LRA";
 				loop-gain = "HIGH";
 				feedback-brake-factor = "2X";
 			};
+
 		};
 
-		i2c_mux@3 {
+		mux_channel_3: i2c_mux@3 {
 			compatible = "ti,tca9548a-channel";
-			label = "face3_i2c";
+			label = "mux_channel_3";
 			reg = <3>;
 			#address-cells = <1>;
 			#size-cells = <0>;
+
 			face3_temp_sens: tmp112@48 {
 				compatible = "ti,tmp112";
 				reg = <0x48>;
 				status = "okay";
+				label = "FACE3_TMP112";
+				zephyr,deferred-init;
+			};
+
+			face3_light_sens: light@29 {
+				compatible = "vishay,veml6031";
+				reg = <0x29>;
+				status = "okay";
+				label = "FACE3_VEML6031";
+				zephyr,deferred-init;
 			};
 
 			face3_drv2605: drv2605@5a {
@@ -235,17 +285,20 @@ zephyr_udc0: &usbd {
 				status = "okay";
 				reg = <0x5a>;
 				label = "FACE3_DRV2605";
+				zephyr,deferred-init;
 
 				actuator-mode = "LRA";
 				loop-gain = "HIGH";
 				feedback-brake-factor = "2X";
 			};
+
 		};
 
-		i2c_mux@4 {
+		// Battery
+		mux_channel_4: i2c_mux@4 {
 			compatible = "ti,tca9548a-channel";
-			label = "battery_i2c";
-			reg = <4>;
+			label = "mux_channel_4";
+			reg = <7>;
 			#address-cells = <1>;
 			#size-cells = <0>;
 			batt_cell1_temp_sens: tmp112@48 {
@@ -270,40 +323,28 @@ zephyr_udc0: &usbd {
 			};
 		};
 
-		i2c_mux@5 {
+		// Z- Face
+		mux_channel_5: i2c_mux@5 {
 			compatible = "ti,tca9548a-channel";
-			label = "face4_i2c";
-			reg = <5>;
+			label = "mux_channel_5";
+			reg = <4>;
 			#address-cells = <1>;
 			#size-cells = <0>;
-			face4_temp_sens: tmp112@48 {
+
+			face5_temp_sens: tmp112@48 {
 				compatible = "ti,tmp112";
 				reg = <0x48>;
 				status = "okay";
+				label = "FACE5_TMP112";
+				zephyr,deferred-init;
 			};
 
-			face4_drv2605: drv2605@5a {
-				compatible = "ti,drv2605";
-				status = "okay";
-				reg = <0x5a>;
-				label = "FACE4_DRV2605";
-
-				actuator-mode = "LRA";
-				loop-gain = "HIGH";
-				feedback-brake-factor = "2X";
-			};
-		};
-
-		i2c_mux@6 {
-			compatible = "ti,tca9548a-channel";
-			label = "face5_i2c";
-			reg = <6>;
-			#address-cells = <1>;
-			#size-cells = <0>;
-			face5_temp_sens: tmp112@48 {
-				compatible = "ti,tmp112";
-				reg = <0x48>;
+			face5_light_sens: light@29 {
+				compatible = "vishay,veml6031";
+				reg = <0x29>;
 				status = "okay";
+				label = "FACE5_VEML6031";
+				zephyr,deferred-init;
 			};
 
 			face5_drv2605: drv2605@5a {
@@ -311,23 +352,28 @@ zephyr_udc0: &usbd {
 				status = "okay";
 				reg = <0x5a>;
 				label = "FACE5_DRV2605";
+				zephyr,deferred-init;
 
 				actuator-mode = "LRA";
 				loop-gain = "HIGH";
 				feedback-brake-factor = "2X";
 			};
+
 		};
 
-		i2c_mux@7 {
+		// Top is always powered so no deferred init needed
+		mux_channel_7: i2c_mux@7 {
 			compatible = "ti,tca9548a-channel";
-			label = "top_i2c";
+			label = "mux_channel_7";
 			reg = <7>;
 			#address-cells = <1>;
 			#size-cells = <0>;
-			top_temp_sens: tmp112@48 {
-				compatible = "ti,tmp112";
-				reg = <0x48>;
+			// TODO add top cap temp sensor (it's not a TMP112)
+			face7_light_sens: light@29 {
+				compatible = "vishay,veml6031";
+				reg = <0x29>;
 				status = "okay";
+				label = "FACE7_VEML6031";
 			};
 		};
 	};

From 47ef8b6b07194da86aebdc10e72fc3b45a0b8c3c Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Wed, 26 Nov 2025 21:52:22 -0600
Subject: [PATCH 30/68] Return success conditions and attempt init every time

---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       | 17 ++++-
 .../Drv/Tmp112Manager/TMP112Manager.fpp       | 16 ++--
 .../Drv/Tmp112Manager/TMP112Manager.hpp       | 15 +++-
 .../ThermalManager/ThermalManager.cpp         | 74 +++++++++++-------
 .../ThermalManager/ThermalManager.fpp         | 75 +++++++++----------
 .../Top/ReferenceDeploymentPackets.fppi       | 28 +++----
 .../ReferenceDeployment/Top/topology.fpp      | 35 ++++++---
 7 files changed, 154 insertions(+), 106 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index a1de6596..545e6435 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -31,7 +31,20 @@ void TMP112Manager::configure(const struct device* dev) {
 // Handler implementations for typed input ports
 // ----------------------------------------------------------------------
 
-F64 TMP112Manager ::ambientTemperatureGet_handler(FwIndexType portNum) {
+void TMP112Manager ::init_handler(FwIndexType portNum, Fw::Success& condition) {
+    int ret = device_init(this->m_dev);
+    if (ret != 0 && ret != -EALREADY) {
+        // Emit an error? or ignore because face is off? Talk to load manager to see if face is on before erroring?
+        this->log_WARNING_HI_DeviceInitFailed(ret);
+        condition = Fw::Success::FAILURE;
+        return;
+    }
+
+    this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
+    condition = Fw::Success::SUCCESS;
+}
+
+F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum) {
     if (!device_is_ready(this->m_dev)) {
         this->log_WARNING_HI_DeviceNotReady();
         printk("[TMP112Manager] Device not ready: %s (ptr: %p)\n", this->m_dev->name, this->m_dev);
@@ -55,7 +68,7 @@ F64 TMP112Manager ::ambientTemperatureGet_handler(FwIndexType portNum) {
         return 0;
     }
 
-    this->tlmWrite_AmbientTemperature(sensor_value_to_double(&temp));
+    this->tlmWrite_Temperature(sensor_value_to_double(&temp));
 
     return sensor_value_to_double(&temp);
 }
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index 4eac8887..a4b7da31 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -1,22 +1,28 @@
 module Drv {
-    port AmbientTemperatureGet -> F64
+    port temperatureGet -> F64
 }
 
 module Drv {
     @ Manager for TMP112 device
     passive component TMP112Manager {
         # Ports
-        @ Port to read the ambient temperature in degrees Celsius
-        sync input port ambientTemperatureGet: AmbientTemperatureGet
+        @ Port to initialize the TMP112 device
+        sync input port init: Fw.SuccessCondition
+
+        @ Port to read the temperature in degrees Celsius
+        sync input port temperatureGet: temperatureGet
 
         # Telemetry channels
 
-        @ Telemetry channel for ambient temperature in degrees Celsius
-        telemetry AmbientTemperature: F64
+        @ Telemetry channel for temperature in degrees Celsius
+        telemetry Temperature: F64
 
         @ Event for reporting TMP112 not ready error
         event DeviceNotReady() severity warning high format "TMP112 device not ready" throttle 5
 
+        @ Event for reporting TMP112 initialization failure
+        event DeviceInitFailed(ret: U8) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
+
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
         ###############################################################################
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
index 8721762a..5c373850 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
@@ -38,11 +38,18 @@ class TMP112Manager final : public TMP112ManagerComponentBase {
     // Handler implementations for typed input ports
     // ----------------------------------------------------------------------
 
-    //! Handler implementation for ambientTemperatureGet
+    //! Handler implementation for init
     //!
-    //! Port to read the ambient temperature in degrees Celsius
-    F64 ambientTemperatureGet_handler(FwIndexType portNum  //!< The port number
-                                      ) override;
+    //! Port to initialize the TMP112 device
+    void init_handler(FwIndexType portNum,    //!< The port number
+                      Fw::Success& condition  //!< Condition success/failure
+                      ) override;
+
+    //! Handler implementation for temperatureGet
+    //!
+    //! Port to read the temperature in degrees Celsius
+    F64 temperatureGet_handler(FwIndexType portNum  //!< The port number
+                               ) override;
 
     // ----------------------------------------------------------------------
     // Member variables
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 64705c5f..5d574bc8 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -22,36 +22,54 @@ ThermalManager::~ThermalManager() {}
 // ----------------------------------------------------------------------
 
 void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
-    // Read all 11 temperature sensors and write telemetry
-
-    // Cube face sensors (6 sensors)
-    F64 face0Temp = this->face0TempGet_out(0);
-    this->tlmWrite_Face0Temperature(face0Temp);
-
-    F64 face1Temp = this->face1TempGet_out(0);
-    this->tlmWrite_Face1Temperature(face1Temp);
-
-    F64 face2Temp = this->face2TempGet_out(0);
-    this->tlmWrite_Face2Temperature(face2Temp);
-
-    F64 face3Temp = this->face3TempGet_out(0);
-    this->tlmWrite_Face3Temperature(face3Temp);
-
-    F64 face5Temp = this->face5TempGet_out(0);
-    this->tlmWrite_Face5Temperature(face5Temp);
+    // Cube face sensors (5 sensors)
+    Fw::Success condition;
+
+    this->face0Init_out(0, condition);
+    if (condition == Fw::Success::SUCCESS) {
+        this->face0TempGet_out(0);
+    }
+
+    this->face1Init_out(0, condition);
+    if (condition == Fw::Success::SUCCESS) {
+        this->face1TempGet_out(0);
+    }
+
+    this->face2Init_out(0, condition);
+    if (condition == Fw::Success::SUCCESS) {
+        this->face2TempGet_out(0);
+    }
+
+    this->face3Init_out(0, condition);
+    if (condition == Fw::Success::SUCCESS) {
+        this->face3TempGet_out(0);
+    }
+
+    this->face5Init_out(0, condition);
+    if (condition == Fw::Success::SUCCESS) {
+        this->face5TempGet_out(0);
+    }
 
     // Battery cell sensors (4 sensors)
-    F64 battCell1Temp = this->battCell1TempGet_out(0);
-    this->tlmWrite_BattCell1Temperature(battCell1Temp);
-
-    F64 battCell2Temp = this->battCell2TempGet_out(0);
-    this->tlmWrite_BattCell2Temperature(battCell2Temp);
-
-    F64 battCell3Temp = this->battCell3TempGet_out(0);
-    this->tlmWrite_BattCell3Temperature(battCell3Temp);
-
-    F64 battCell4Temp = this->battCell4TempGet_out(0);
-    this->tlmWrite_BattCell4Temperature(battCell4Temp);
+    this->battCell1Init_out(0, condition);
+    if (condition == Fw::Success::SUCCESS) {
+        this->battCell1TempGet_out(0);
+    }
+
+    this->battCell2Init_out(0, condition);
+    if (condition == Fw::Success::SUCCESS) {
+        this->battCell2TempGet_out(0);
+    }
+
+    this->battCell3Init_out(0, condition);
+    if (condition == Fw::Success::SUCCESS) {
+        this->battCell3TempGet_out(0);
+    }
+
+    this->battCell4Init_out(0, condition);
+    if (condition == Fw::Success::SUCCESS) {
+        this->battCell4TempGet_out(0);
+    }
 }
 
 }  // namespace Components
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
index 70473096..aac090a1 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
@@ -5,62 +5,59 @@ module Components {
         sync input port run: Svc.Sched
 
         # Output ports to TMP112Manager instances
+        @ Port for face 0 temperature sensor initialization
+        output port face0Init: Fw.SuccessCondition
+
         @ Port for face 0 temperature sensor
-        output port face0TempGet: Drv.AmbientTemperatureGet
+        output port face0TempGet: Drv.temperatureGet
 
-        @ Port for face 1 temperature sensor
-        output port face1TempGet: Drv.AmbientTemperatureGet
+        @ Port for face 1 temperature sensor initialization
+        output port face1Init: Fw.SuccessCondition
 
-        @ Port for face 2 temperature sensor
-        output port face2TempGet: Drv.AmbientTemperatureGet
-
-        @ Port for face 3 temperature sensor
-        output port face3TempGet: Drv.AmbientTemperatureGet
+        @ Port for face 1 temperature sensor
+        output port face1TempGet: Drv.temperatureGet
 
-        @ Port for face 5 temperature sensor
-        output port face5TempGet: Drv.AmbientTemperatureGet
+        @ Port for face 2 temperature sensor initialization
+        output port face2Init: Fw.SuccessCondition
 
-        @ Port for battery cell 1 temperature sensor
-        output port battCell1TempGet: Drv.AmbientTemperatureGet
+        @ Port for face 2 temperature sensor
+        output port face2TempGet: Drv.temperatureGet
 
-        @ Port for battery cell 2 temperature sensor
-        output port battCell2TempGet: Drv.AmbientTemperatureGet
+        @ Port for face 3 temperature sensor initialization
+        output port face3Init: Fw.SuccessCondition
 
-        @ Port for battery cell 3 temperature sensor
-        output port battCell3TempGet: Drv.AmbientTemperatureGet
+        @ Port for face 3 temperature sensor
+        output port face3TempGet: Drv.temperatureGet
 
-        @ Port for battery cell 4 temperature sensor
-        output port battCell4TempGet: Drv.AmbientTemperatureGet
+        @ Port for face 5 temperature sensor initialization
+        output port face5Init: Fw.SuccessCondition
 
-        ###############################################################################
-        # Telemetry Channels                                                          #
-        ###############################################################################
-        @ Face 0 temperature in degrees Celsius
-        telemetry Face0Temperature: F64
+        @ Port for face 5 temperature sensor
+        output port face5TempGet: Drv.temperatureGet
 
-        @ Face 1 temperature in degrees Celsius
-        telemetry Face1Temperature: F64
+        @ Port for battery cell 1 temperature sensor initialization
+        output port battCell1Init: Fw.SuccessCondition
 
-        @ Face 2 temperature in degrees Celsius
-        telemetry Face2Temperature: F64
+        @ Port for battery cell 1 temperature sensor
+        output port battCell1TempGet: Drv.temperatureGet
 
-        @ Face 3 temperature in degrees Celsius
-        telemetry Face3Temperature: F64
+        @ Port for battery cell 2 temperature sensor initialization
+        output port battCell2Init: Fw.SuccessCondition
 
-        @ Face 5 temperature in degrees Celsius
-        telemetry Face5Temperature: F64
+        @ Port for battery cell 2 temperature sensor
+        output port battCell2TempGet: Drv.temperatureGet
 
-        @ Battery cell 1 temperature in degrees Celsius
-        telemetry BattCell1Temperature: F64
+        @ Port for battery cell 3 temperature sensor initialization
+        output port battCell3Init: Fw.SuccessCondition
 
-        @ Battery cell 2 temperature in degrees Celsius
-        telemetry BattCell2Temperature: F64
+        @ Port for battery cell 3 temperature sensor
+        output port battCell3TempGet: Drv.temperatureGet
 
-        @ Battery cell 3 temperature in degrees Celsius
-        telemetry BattCell3Temperature: F64
+        @ Port for battery cell 4 temperature sensor initialization
+        output port battCell4Init: Fw.SuccessCondition
 
-        @ Battery cell 4 temperature in degrees Celsius
-        telemetry BattCell4Temperature: F64
+        @ Port for battery cell 4 temperature sensor
+        output port battCell4TempGet: Drv.temperatureGet
 
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 5fb5ecaf..70f11255 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -95,29 +95,19 @@ telemetry packets ReferenceDeploymentPackets {
   }
 
   packet Thermal id 12 group 4 {
-    ReferenceDeployment.thermalManager.Face0Temperature
-    ReferenceDeployment.thermalManager.Face1Temperature
-    ReferenceDeployment.thermalManager.Face2Temperature
-    ReferenceDeployment.thermalManager.Face3Temperature
-    ReferenceDeployment.thermalManager.Face5Temperature
-    ReferenceDeployment.thermalManager.BattCell1Temperature
-    ReferenceDeployment.thermalManager.BattCell2Temperature
-    ReferenceDeployment.thermalManager.BattCell3Temperature
-    ReferenceDeployment.thermalManager.BattCell4Temperature
+    ReferenceDeployment.tmp112Face0Manager.Temperature
+    ReferenceDeployment.tmp112Face1Manager.Temperature
+    ReferenceDeployment.tmp112Face2Manager.Temperature
+    ReferenceDeployment.tmp112Face3Manager.Temperature
+    ReferenceDeployment.tmp112Face5Manager.Temperature
+    ReferenceDeployment.tmp112BattCell1Manager.Temperature
+    ReferenceDeployment.tmp112BattCell2Manager.Temperature
+    ReferenceDeployment.tmp112BattCell3Manager.Temperature
+    ReferenceDeployment.tmp112BattCell4Manager.Temperature
   }
 
 } omit {
   CdhCore.cmdDisp.CommandErrors
-  # TMP112Manager channels are aggregated through ThermalManager
-  ReferenceDeployment.tmp112Face0Manager.AmbientTemperature
-  ReferenceDeployment.tmp112Face1Manager.AmbientTemperature
-  ReferenceDeployment.tmp112Face2Manager.AmbientTemperature
-  ReferenceDeployment.tmp112Face3Manager.AmbientTemperature
-  ReferenceDeployment.tmp112Face5Manager.AmbientTemperature
-  ReferenceDeployment.tmp112BattCell1Manager.AmbientTemperature
-  ReferenceDeployment.tmp112BattCell2Manager.AmbientTemperature
-  ReferenceDeployment.tmp112BattCell3Manager.AmbientTemperature
-  ReferenceDeployment.tmp112BattCell4Manager.AmbientTemperature
   # Only has one library, no custom versions
   CdhCore.version.LibraryVersion02
   CdhCore.version.LibraryVersion03
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 873b3d0c..d3b24051 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -241,15 +241,32 @@ module ReferenceDeployment {
     }
 
     connections thermalMonitor {
-      thermalManager.face0TempGet -> tmp112Face0Manager.ambientTemperatureGet
-      thermalManager.face1TempGet -> tmp112Face1Manager.ambientTemperatureGet
-      thermalManager.face2TempGet -> tmp112Face2Manager.ambientTemperatureGet
-      thermalManager.face3TempGet -> tmp112Face3Manager.ambientTemperatureGet
-      thermalManager.face5TempGet -> tmp112Face5Manager.ambientTemperatureGet
-      thermalManager.battCell1TempGet -> tmp112BattCell1Manager.ambientTemperatureGet
-      thermalManager.battCell2TempGet -> tmp112BattCell2Manager.ambientTemperatureGet
-      thermalManager.battCell3TempGet -> tmp112BattCell3Manager.ambientTemperatureGet
-      thermalManager.battCell4TempGet -> tmp112BattCell4Manager.ambientTemperatureGet
+      thermalManager.face0Init -> tmp112Face0Manager.init
+      thermalManager.face0TempGet -> tmp112Face0Manager.temperatureGet
+
+      thermalManager.face1Init -> tmp112Face1Manager.init
+      thermalManager.face1TempGet -> tmp112Face1Manager.temperatureGet
+
+      thermalManager.face2Init -> tmp112Face2Manager.init
+      thermalManager.face2TempGet -> tmp112Face2Manager.temperatureGet
+
+      thermalManager.face3Init -> tmp112Face3Manager.init
+      thermalManager.face3TempGet -> tmp112Face3Manager.temperatureGet
+
+      thermalManager.face5Init -> tmp112Face5Manager.init
+      thermalManager.face5TempGet -> tmp112Face5Manager.temperatureGet
+
+      thermalManager.battCell1Init -> tmp112BattCell1Manager.init
+      thermalManager.battCell1TempGet -> tmp112BattCell1Manager.temperatureGet
+
+      thermalManager.battCell2Init -> tmp112BattCell2Manager.init
+      thermalManager.battCell2TempGet -> tmp112BattCell2Manager.temperatureGet
+
+      thermalManager.battCell3Init -> tmp112BattCell3Manager.init
+      thermalManager.battCell3TempGet -> tmp112BattCell3Manager.temperatureGet
+
+      thermalManager.battCell4Init -> tmp112BattCell4Manager.init
+      thermalManager.battCell4TempGet -> tmp112BattCell4Manager.temperatureGet
     }
 
     connections ModeManager {

From 6cf3048df6f0fa398ea2b7d8579f20f645197e36 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Thu, 27 Nov 2025 23:53:15 -0600
Subject: [PATCH 31/68] GenericDeviceMonitor for tca and mux channels

---
 .../Components/CMakeLists.txt                 |  1 +
 .../Drv/Tmp112Manager/TMP112Manager.cpp       | 20 +++++-
 .../Drv/Tmp112Manager/TMP112Manager.fpp       | 12 +++-
 .../GenericDeviceMonitor/CMakeLists.txt       | 36 ++++++++++
 .../GenericDeviceMonitor.cpp                  | 45 +++++++++++++
 .../GenericDeviceMonitor.fpp                  | 38 +++++++++++
 .../GenericDeviceMonitor.hpp                  | 65 ++++++++++++++++++
 .../GenericDeviceMonitor/docs/sdd.md          | 66 +++++++++++++++++++
 .../Components/LoadSwitch/LoadSwitch.cpp      |  6 ++
 .../Components/LoadSwitch/LoadSwitch.fpp      | 36 ++++------
 .../Components/LoadSwitch/LoadSwitch.hpp      |  6 ++
 .../ThermalManager/ThermalManager.cpp         | 40 ++++++-----
 .../ThermalManager/ThermalManager.fpp         | 15 +++++
 .../ReferenceDeployment/Main.cpp              | 41 ++++++------
 .../Top/ReferenceDeploymentPackets.fppi       | 13 +++-
 .../Top/ReferenceDeploymentTopology.cpp       |  8 +++
 .../Top/ReferenceDeploymentTopologyDefs.hpp   |  9 ++-
 .../ReferenceDeployment/Top/instances.fpp     | 36 +++++++---
 .../ReferenceDeployment/Top/topology.fpp      | 40 ++++++++++-
 .../project/config/AcConstants.fpp            |  2 +-
 prj.conf                                      |  1 +
 21 files changed, 459 insertions(+), 77 deletions(-)
 create mode 100644 FprimeZephyrReference/Components/GenericDeviceMonitor/CMakeLists.txt
 create mode 100644 FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.cpp
 create mode 100644 FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.fpp
 create mode 100644 FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.hpp
 create mode 100644 FprimeZephyrReference/Components/GenericDeviceMonitor/docs/sdd.md

diff --git a/FprimeZephyrReference/Components/CMakeLists.txt b/FprimeZephyrReference/Components/CMakeLists.txt
index 57a704f8..face4e63 100644
--- a/FprimeZephyrReference/Components/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/CMakeLists.txt
@@ -8,6 +8,7 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ComDelay/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Drv/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FatalHandler")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FsSpace/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/GenericDeviceMonitor/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ImuManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LoadSwitch/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ModeManager/")
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index 545e6435..620d2fa8 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -33,14 +33,28 @@ void TMP112Manager::configure(const struct device* dev) {
 
 void TMP112Manager ::init_handler(FwIndexType portNum, Fw::Success& condition) {
     int ret = device_init(this->m_dev);
-    if (ret != 0 && ret != -EALREADY) {
+    // do i need to start the mux first?
+    // if (ret != 0 && ret != -EALREADY) {
+    // if (ret == -EALREADY) {
+    //     // Device already initialized - treat as success
+    //     this->log_WARNING_HI_DeviceAlreadyInitialized();
+    //     return;
+    // }
+    if (ret != 0) {
         // Emit an error? or ignore because face is off? Talk to load manager to see if face is on before erroring?
         this->log_WARNING_HI_DeviceInitFailed(ret);
         condition = Fw::Success::FAILURE;
+
+        // Even after a failure to init, the device will stay in an initialized state
+        // so we need to deinit to allow future init attempts
+        int deinit_ret = device_deinit(this->m_dev);  // TODO: Check output?
+        if (deinit_ret != 0) {
+            this->log_WARNING_HI_DeviceDeinitFailed(deinit_ret);
+        }
         return;
     }
 
-    this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
+    // this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
     condition = Fw::Success::SUCCESS;
 }
 
@@ -50,7 +64,7 @@ F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum) {
         printk("[TMP112Manager] Device not ready: %s (ptr: %p)\n", this->m_dev->name, this->m_dev);
         return 0;
     }
-    this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
+    // this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
 
     struct sensor_value temp;
 
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index a4b7da31..1f592adf 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -18,10 +18,18 @@ module Drv {
         telemetry Temperature: F64
 
         @ Event for reporting TMP112 not ready error
-        event DeviceNotReady() severity warning high format "TMP112 device not ready" throttle 5
+        event DeviceNotReady() severity warning high format "TMP112 device not ready"
+        # event DeviceNotReady() severity warning high format "TMP112 device not ready" throttle 5
 
         @ Event for reporting TMP112 initialization failure
-        event DeviceInitFailed(ret: U8) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
+        event DeviceInitFailed(ret: I8) severity warning high format "TMP112 initialization failed with return code: {}"
+        # event DeviceInitFailed(ret: U8) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
+
+        @ Event for reporting TMP112 deinitialization failure
+        event DeviceDeinitFailed(ret: I8) severity warning high format "TMP112 initialization failed with return code: {}"
+
+        # TODO: REMOVE ME
+        # event DeviceAlreadyInitialized() severity warning high format "TMP112 device already initialized"
 
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
diff --git a/FprimeZephyrReference/Components/GenericDeviceMonitor/CMakeLists.txt b/FprimeZephyrReference/Components/GenericDeviceMonitor/CMakeLists.txt
new file mode 100644
index 00000000..731a72e3
--- /dev/null
+++ b/FprimeZephyrReference/Components/GenericDeviceMonitor/CMakeLists.txt
@@ -0,0 +1,36 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+# Module names are derived from the path from the nearest project/library/framework
+# root when not specifically overridden by the developer. i.e. The module defined by
+# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
+
+register_fprime_library(
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/GenericDeviceMonitor.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/GenericDeviceMonitor.cpp"
+#   DEPENDS
+#       MyPackage_MyOtherModule
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/GenericDeviceMonitor.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/GenericDeviceMonitorTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/GenericDeviceMonitorTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )
diff --git a/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.cpp b/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.cpp
new file mode 100644
index 00000000..17bca66e
--- /dev/null
+++ b/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.cpp
@@ -0,0 +1,45 @@
+// ======================================================================
+// \title  GenericDeviceMonitor.cpp
+// \author nate
+// \brief  cpp file for GenericDeviceMonitor component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.hpp"
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+GenericDeviceMonitor ::GenericDeviceMonitor(const char* const compName) : GenericDeviceMonitorComponentBase(compName) {}
+
+GenericDeviceMonitor ::~GenericDeviceMonitor() {}
+
+// ----------------------------------------------------------------------
+// Helper methods
+// ----------------------------------------------------------------------
+
+void GenericDeviceMonitor::configure(const struct device* dev) {
+    this->m_dev = dev;
+}
+
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+Fw::Health GenericDeviceMonitor ::healthGet_handler(FwIndexType portNum) {
+    return device_is_ready(this->m_dev) ? Fw::Health::HEALTHY : Fw::Health::FAILED;
+}
+
+void GenericDeviceMonitor ::run_handler(FwIndexType portNum, U32 context) {
+    if (!device_is_ready(this->m_dev)) {
+        this->tlmWrite_Healthy(Fw::Health::FAILED);
+        this->log_WARNING_LO_DeviceNotReady();
+        return;
+    }
+
+    this->tlmWrite_Healthy(Fw::Health::HEALTHY);
+}
+
+}  // namespace Components
diff --git a/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.fpp b/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.fpp
new file mode 100644
index 00000000..e5da4abc
--- /dev/null
+++ b/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.fpp
@@ -0,0 +1,38 @@
+module Components {
+    port HealthGet -> Fw.Health
+}
+
+module Components {
+    @ Generic Device Health Reporter
+    @ Use for devices which only need to report simple health status and have no interactivity
+    passive component GenericDeviceMonitor {
+
+        @ Port receiving calls from the rate group
+        sync input port run: Svc.Sched
+
+        @ Port receiving calls to request device health
+        sync input port healthGet: HealthGet
+
+        @ Telemetry showing device health
+        telemetry Healthy: Fw.Health
+
+        @ Event indicating device not ready
+        event DeviceNotReady() severity warning low id 0 format "Device not ready" throttle 5
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for sending textual representation of events
+        text event port logTextOut
+
+        @ Port for sending events to downlink
+        event port logOut
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
+
+    }
+}
diff --git a/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.hpp b/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.hpp
new file mode 100644
index 00000000..ea0d741f
--- /dev/null
+++ b/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.hpp
@@ -0,0 +1,65 @@
+// ======================================================================
+// \title  GenericDeviceMonitor.hpp
+// \author nate
+// \brief  hpp file for GenericDeviceMonitor component implementation class
+// ======================================================================
+
+#ifndef Components_GenericDeviceMonitor_HPP
+#define Components_GenericDeviceMonitor_HPP
+
+#include "FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitorComponentAc.hpp"
+#include <zephyr/device.h>
+
+namespace Components {
+
+class GenericDeviceMonitor final : public GenericDeviceMonitorComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct GenericDeviceMonitor object
+    GenericDeviceMonitor(const char* const compName  //!< The component name
+    );
+
+    //! Destroy GenericDeviceMonitor object
+    ~GenericDeviceMonitor();
+
+  public:
+    // ----------------------------------------------------------------------
+    // Public helper methods
+    // ----------------------------------------------------------------------
+
+    //! Configure the zephyr mux channel device
+    void configure(const struct device* dev);
+
+  private:
+    // ----------------------------------------------------------------------
+    // Handler implementations for typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for healthGet
+    //!
+    //! Port receiving calls to request device health
+    Fw::Health healthGet_handler(FwIndexType portNum  //!< The port number
+                                 ) override;
+
+    //! Handler implementation for run
+    //!
+    //! Port receiving calls from the rate group
+    void run_handler(FwIndexType portNum,  //!< The port number
+                     U32 context           //!< The call order
+                     ) override;
+
+  private:
+    // ----------------------------------------------------------------------
+    // Private member variables
+    // ----------------------------------------------------------------------
+
+    //! Zephyr device stores the initialized mux channel
+    const struct device* m_dev;
+};
+
+}  // namespace Components
+
+#endif
diff --git a/FprimeZephyrReference/Components/GenericDeviceMonitor/docs/sdd.md b/FprimeZephyrReference/Components/GenericDeviceMonitor/docs/sdd.md
new file mode 100644
index 00000000..fb0ea3d4
--- /dev/null
+++ b/FprimeZephyrReference/Components/GenericDeviceMonitor/docs/sdd.md
@@ -0,0 +1,66 @@
+# Components::GenericDeviceMonitor
+
+Mux Channel Health Reporter
+
+## Usage Examples
+Add usage examples here
+
+### Diagrams
+Add diagrams here
+
+### Typical Usage
+And the typical usage of the component here
+
+## Class Diagram
+Add a class diagram here
+
+## Port Descriptions
+| Name | Description |
+|---|---|
+|---|---|
+
+## Component States
+Add component states in the chart below
+| Name | Description |
+|---|---|
+|---|---|
+
+## Sequence Diagrams
+Add sequence diagrams here
+
+## Parameters
+| Name | Description |
+|---|---|
+|---|---|
+
+## Commands
+| Name | Description |
+|---|---|
+|---|---|
+
+## Events
+| Name | Description |
+|---|---|
+|---|---|
+
+## Telemetry
+| Name | Description |
+|---|---|
+|---|---|
+
+## Unit Tests
+Add unit test descriptions in the chart below
+| Name | Description | Output | Coverage |
+|---|---|---|---|
+|---|---|---|---|
+
+## Requirements
+Add requirements in the chart below
+| Name | Description | Validation |
+|---|---|---|
+|---|---|---|
+
+## Change Log
+| Date | Description |
+|---|---|
+|---| Initial Draft |
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index 002d8b6e..e86e4fba 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -28,6 +28,12 @@ void LoadSwitch ::Reset_handler(FwIndexType portNum) {
     this->setLoadSwitchState(Fw::On::ON);
 }
 
+Fw::On LoadSwitch ::loadSwitchStateGet_handler(FwIndexType portNum) {
+    Fw::Logic state;
+    this->gpioGet_out(0, state);
+    return state ? Fw::On::ON : Fw::On::OFF;
+}
+
 void LoadSwitch ::turnOn_handler(FwIndexType portNum) {
     this->setLoadSwitchState(Fw::On::ON);
 }
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
index 33540ad0..7d0dedc8 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -1,38 +1,30 @@
+module Components {
+    port loadSwitchState -> Fw.On
+}
+
 module Components {
     @ A generic load switch for controlling power to components
     passive component LoadSwitch {
 
-        # One async command/port is required for active components
-        # This should be overridden by the developers with a useful command/port
-
-        ##############################################################################
-        #### Uncomment the following examples to start customizing your component ####
-        ##############################################################################
-
-        # @ Example async command
-        # async command COMMAND_NAME(param_name: U32)
+        @ Command to turn the load switch on
         sync command TURN_ON()
+
+        @ Command to turn the load switch off
         sync command TURN_OFF()
 
-        # @ Example telemetry counter
-        # telemetry ExampleCounter: U64
+        @ Telemetry channel for load switch state
         telemetry IsOn: Fw.On
 
-        # @ Example event
-        # event ExampleStateEvent(example_state: Fw.On) severity activity high id 0 format "State set to {}"
+        @ Event for reporting load switch state change
         event StatusChanged($state: Fw.On) severity activity high id 1 format "Load switch state changed to {}"
 
-        # @ Example port: receiving calls from the rate group
-        # sync input port run: Svc.Sched
-        #output port Status: Drv.GpioRead
-        #We will not be putting a Drv.GpioRead port here, we are using the Gpio Driver component which has this already!
-
         @ Port sending calls to the GPIO driver
         output port gpioSet: Drv.GpioWrite
 
+        @ Port sending calls to the GPIO driver to read state
+        output port gpioGet: Drv.GpioRead
 
-        # Input that will be used by other components if they want to force a reset
-        # (off and on again) of the load switch
+        @ Input port to reset the load switch (called by other components)
         sync input port Reset: Fw.Signal
 
         @ Input port to turn on the load switch (called by other components)
@@ -41,8 +33,8 @@ module Components {
         @ Input port to turn off the load switch (called by other components)
         sync input port turnOff: Fw.Signal
 
-        # @ Example parameter
-        # param PARAMETER_NAME: U32
+        @ Input port to get the state of the load switch (called by other components)
+        sync input port loadSwitchStateGet: loadSwitchState
 
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
index 7e2862e2..d24ddb10 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
@@ -51,6 +51,12 @@ class LoadSwitch final : public LoadSwitchComponentBase {
     void Reset_handler(FwIndexType portNum  //!< The port number
                        ) override;
 
+    //! Handler implementation for loadSwitchStateGet
+    //!
+    //! Input port to get the state of the load switch (called by other components)
+    Fw::On loadSwitchStateGet_handler(FwIndexType portNum  //!< The port number
+                                      ) override;
+
     //! Handler implementation for turnOn
     void turnOn_handler(FwIndexType portNum  //!< The port number
                         ) override;
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 5d574bc8..85f5d842 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -25,29 +25,39 @@ void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
     // Cube face sensors (5 sensors)
     Fw::Success condition;
 
-    this->face0Init_out(0, condition);
-    if (condition == Fw::Success::SUCCESS) {
-        this->face0TempGet_out(0);
+    if (this->face0LoadSwitchStateGet_out(0) == Fw::On::ON) {
+        this->face0Init_out(0, condition);  // If init fails, try deinit?
+        if (condition == Fw::Success::SUCCESS) {
+            this->face0TempGet_out(0);
+        }
     }
 
-    this->face1Init_out(0, condition);
-    if (condition == Fw::Success::SUCCESS) {
-        this->face1TempGet_out(0);
+    if (this->face1LoadSwitchStateGet_out(0) == Fw::On::ON) {
+        this->face1Init_out(0, condition);
+        if (condition == Fw::Success::SUCCESS) {
+            this->face1TempGet_out(0);
+        }
     }
 
-    this->face2Init_out(0, condition);
-    if (condition == Fw::Success::SUCCESS) {
-        this->face2TempGet_out(0);
+    if (this->face2LoadSwitchStateGet_out(0) == Fw::On::ON) {
+        this->face2Init_out(0, condition);
+        if (condition == Fw::Success::SUCCESS) {
+            this->face2TempGet_out(0);
+        }
     }
 
-    this->face3Init_out(0, condition);
-    if (condition == Fw::Success::SUCCESS) {
-        this->face3TempGet_out(0);
+    if (this->face3LoadSwitchStateGet_out(0) == Fw::On::ON) {
+        this->face3Init_out(0, condition);
+        if (condition == Fw::Success::SUCCESS) {
+            this->face3TempGet_out(0);
+        }
     }
 
-    this->face5Init_out(0, condition);
-    if (condition == Fw::Success::SUCCESS) {
-        this->face5TempGet_out(0);
+    if (this->face5LoadSwitchStateGet_out(0) == Fw::On::ON) {
+        this->face5Init_out(0, condition);
+        if (condition == Fw::Success::SUCCESS) {
+            this->face5TempGet_out(0);
+        }
     }
 
     // Battery cell sensors (4 sensors)
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
index aac090a1..364d8ea5 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
@@ -5,30 +5,45 @@ module Components {
         sync input port run: Svc.Sched
 
         # Output ports to TMP112Manager instances
+        @ Port to return the state of the load switch for face 0
+        output port face0LoadSwitchStateGet: Components.loadSwitchState
+
         @ Port for face 0 temperature sensor initialization
         output port face0Init: Fw.SuccessCondition
 
         @ Port for face 0 temperature sensor
         output port face0TempGet: Drv.temperatureGet
 
+        @ Port for face 1 load switch state
+        output port face1LoadSwitchStateGet: Components.loadSwitchState
+
         @ Port for face 1 temperature sensor initialization
         output port face1Init: Fw.SuccessCondition
 
         @ Port for face 1 temperature sensor
         output port face1TempGet: Drv.temperatureGet
 
+        @ Port for face 2 load switch state
+        output port face2LoadSwitchStateGet: Components.loadSwitchState
+
         @ Port for face 2 temperature sensor initialization
         output port face2Init: Fw.SuccessCondition
 
         @ Port for face 2 temperature sensor
         output port face2TempGet: Drv.temperatureGet
 
+        @ Port for face 3 load switch state
+        output port face3LoadSwitchStateGet: Components.loadSwitchState
+
         @ Port for face 3 temperature sensor initialization
         output port face3Init: Fw.SuccessCondition
 
         @ Port for face 3 temperature sensor
         output port face3TempGet: Drv.temperatureGet
 
+        @ Port for face 5 load switch state
+        output port face5LoadSwitchStateGet: Components.loadSwitchState
+
         @ Port for face 5 temperature sensor initialization
         output port face5Init: Fw.SuccessCondition
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index 644f602c..6c93a555 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -18,7 +18,14 @@ const struct device* lora = DEVICE_DT_GET(DT_NODELABEL(lora0));
 const struct device* lsm6dso = DEVICE_DT_GET(DT_NODELABEL(lsm6dso0));
 const struct device* lis2mdl = DEVICE_DT_GET(DT_NODELABEL(lis2mdl0));
 const struct device* rtc = DEVICE_DT_GET(DT_NODELABEL(rtc0));
-const struct device* mcp23017 = DEVICE_DT_GET(DT_NODELABEL(mcp23017));
+const struct device* tca9548a = DEVICE_DT_GET(DT_NODELABEL(tca9548a));
+const struct device* mux_channel_0 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_0));
+const struct device* mux_channel_1 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_1));
+const struct device* mux_channel_2 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_2));
+const struct device* mux_channel_3 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_3));
+const struct device* mux_channel_4 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_4));
+const struct device* mux_channel_5 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_5));
+const struct device* mux_channel_7 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_7));
 const struct device* face0_temp_sens = DEVICE_DT_GET(DT_NODELABEL(face0_temp_sens));
 const struct device* face1_temp_sens = DEVICE_DT_GET(DT_NODELABEL(face1_temp_sens));
 const struct device* face2_temp_sens = DEVICE_DT_GET(DT_NODELABEL(face2_temp_sens));
@@ -39,6 +46,8 @@ int main(int argc, char* argv[]) {
 
     // Object for communicating state to the topology
     ReferenceDeployment::TopologyState inputs;
+
+    // Flight Control Board device bindings
     inputs.ina219SysDevice = ina219Sys;
     inputs.ina219SolDevice = ina219Sol;
     inputs.loraDevice = lora;
@@ -46,9 +55,16 @@ int main(int argc, char* argv[]) {
     inputs.lsm6dsoDevice = lsm6dso;
     inputs.lis2mdlDevice = lis2mdl;
     inputs.rtcDevice = rtc;
-    inputs.mcp23017 = mcp23017;
-    inputs.baudRate = 115200;
+    inputs.tca9548aDevice = tca9548a;
+    inputs.muxChannel0Device = mux_channel_0;
+    inputs.muxChannel1Device = mux_channel_1;
+    inputs.muxChannel2Device = mux_channel_2;
+    inputs.muxChannel3Device = mux_channel_3;
+    inputs.muxChannel4Device = mux_channel_4;
+    inputs.muxChannel5Device = mux_channel_5;
+    inputs.muxChannel7Device = mux_channel_7;
 
+    // Face Board device bindings
     // TMP112 temperature sensor devices
     inputs.face0TempDevice = face0_temp_sens;
     inputs.face1TempDevice = face1_temp_sens;
@@ -60,24 +76,7 @@ int main(int argc, char* argv[]) {
     inputs.battCell3TempDevice = batt_cell3_temp_sens;
     inputs.battCell4TempDevice = batt_cell4_temp_sens;
 
-    // Diagnostic: Check which TMP112 sensors are ready
-    // printk("\n=== TMP112 Sensor Ready Status ===\n");
-    // const struct device* sensors[] = {
-    //     inputs.face0TempDevice, inputs.face1TempDevice,
-    //     inputs.face2TempDevice, inputs.face3TempDevice,
-    //     inputs.face4TempDevice, inputs.face5TempDevice,
-    //     inputs.topTempDevice,
-    //     inputs.battCell1TempDevice, inputs.battCell2TempDevice,
-    //     inputs.battCell3TempDevice, inputs.battCell4TempDevice
-    // };
-    // const char* names[] = {"face0", "face1", "face2", "face3",
-    //                        "face4", "face5", "top",
-    //                        "batt1", "batt2", "batt3", "batt4"};
-    // for(int i=0; i<11; i++) {
-    //     int ready = device_is_ready(sensors[i]);
-    //     printk("  %s: %s (ptr: %p)\n", names[i], ready ? "READY" : "NOT READY", sensors[i]);
-    // }
-    // printk("==================================\n\n");
+    inputs.baudRate = 115200;
 
     // Setup, cycle, and teardown topology
     ReferenceDeployment::setupTopology(inputs);
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 70f11255..0b1695b2 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -94,7 +94,18 @@ telemetry packets ReferenceDeploymentPackets {
 
   }
 
-  packet Thermal id 12 group 4 {
+  packet TcaMonitor id 12 group 4 {
+    ReferenceDeployment.tcaMonitor.Healthy
+    ReferenceDeployment.muxChannel0Monitor.Healthy
+    ReferenceDeployment.muxChannel1Monitor.Healthy
+    ReferenceDeployment.muxChannel2Monitor.Healthy
+    ReferenceDeployment.muxChannel3Monitor.Healthy
+    ReferenceDeployment.muxChannel4Monitor.Healthy
+    ReferenceDeployment.muxChannel5Monitor.Healthy
+    ReferenceDeployment.muxChannel7Monitor.Healthy
+  }
+
+  packet Thermal id 13 group 4 {
     ReferenceDeployment.tmp112Face0Manager.Temperature
     ReferenceDeployment.tmp112Face1Manager.Temperature
     ReferenceDeployment.tmp112Face2Manager.Temperature
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 0fbac5dd..b043e002 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -118,6 +118,14 @@ void setupTopology(const TopologyState& state) {
     lis2mdlManager.configure(state.lis2mdlDevice);
     ina219SysManager.configure(state.ina219SysDevice);
     ina219SolManager.configure(state.ina219SolDevice);
+    tcaMonitor.configure(state.tca9548aDevice);
+    muxChannel0Monitor.configure(state.muxChannel0Device);
+    muxChannel1Monitor.configure(state.muxChannel1Device);
+    muxChannel2Monitor.configure(state.muxChannel2Device);
+    muxChannel3Monitor.configure(state.muxChannel3Device);
+    muxChannel4Monitor.configure(state.muxChannel4Device);
+    muxChannel5Monitor.configure(state.muxChannel5Device);
+    muxChannel7Monitor.configure(state.muxChannel7Device);
 
     // Configure all 11 TMP112 temperature sensor managers
     tmp112Face0Manager.configure(state.face0TempDevice);
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index 38546486..70464434 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -81,7 +81,14 @@ struct TopologyState {
     const device* lsm6dsoDevice;                  //!< LSM6DSO device path for accelerometer/gyroscope
     const device* lis2mdlDevice;                  //!< LIS2MDL device path for magnetometer
     const device* rtcDevice;                      //!< RTC device path
-    const device* mcp23017;                       //!< MCP23017 GPIO expander device path
+    const device* tca9548aDevice;                 //!< TCA9548A I2C multiplexer device
+    const device* muxChannel0Device;              //!< Multiplexer channel 0 device
+    const device* muxChannel1Device;              //!< Multiplexer channel 1 device
+    const device* muxChannel2Device;              //!< Multiplexer channel 2 device
+    const device* muxChannel3Device;              //!< Multiplexer channel 3 device
+    const device* muxChannel4Device;              //!< Multiplexer channel 4 device
+    const device* muxChannel5Device;              //!< Multiplexer channel 5 device
+    const device* muxChannel7Device;              //!< Multiplexer channel 7 device
 
     // Face devices
     // - Temperature sensors
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index e1bf3065..f787b005 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -142,24 +142,40 @@ module ReferenceDeployment {
 
   instance startupManager: Components.StartupManager base id 0x1003F000
 
-  instance thermalManager: Components.ThermalManager base id 0x10041000
+  instance tcaMonitor: Components.GenericDeviceMonitor base id 0x10041000
 
-  instance tmp112Face0Manager: Drv.TMP112Manager base id 0x10042000
+  instance muxChannel0Monitor: Components.GenericDeviceMonitor base id 0x10042000
 
-  instance tmp112Face1Manager: Drv.TMP112Manager base id 0x10043000
+  instance muxChannel1Monitor: Components.GenericDeviceMonitor base id 0x10043000
 
-  instance tmp112Face2Manager: Drv.TMP112Manager base id 0x10044000
+  instance muxChannel2Monitor: Components.GenericDeviceMonitor base id 0x10044000
 
-  instance tmp112Face3Manager: Drv.TMP112Manager base id 0x10045000
+  instance muxChannel3Monitor: Components.GenericDeviceMonitor base id 0x10045000
 
-  instance tmp112Face5Manager: Drv.TMP112Manager base id 0x10046000
+  instance muxChannel4Monitor: Components.GenericDeviceMonitor base id 0x10046000
 
-  instance tmp112BattCell1Manager: Drv.TMP112Manager base id 0x10047000
+  instance muxChannel5Monitor: Components.GenericDeviceMonitor base id 0x10047000
 
-  instance tmp112BattCell2Manager: Drv.TMP112Manager base id 0x10048000
+  instance muxChannel7Monitor: Components.GenericDeviceMonitor base id 0x10048000
 
-  instance tmp112BattCell3Manager: Drv.TMP112Manager base id 0x10049000
+  instance thermalManager: Components.ThermalManager base id 0x10049000
 
-  instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x1004A000
+  instance tmp112Face0Manager: Drv.TMP112Manager base id 0x1004A000
+
+  instance tmp112Face1Manager: Drv.TMP112Manager base id 0x1004B000
+
+  instance tmp112Face2Manager: Drv.TMP112Manager base id 0x1004C000
+
+  instance tmp112Face3Manager: Drv.TMP112Manager base id 0x1004D000
+
+  instance tmp112Face5Manager: Drv.TMP112Manager base id 0x1004E000
+
+  instance tmp112BattCell1Manager: Drv.TMP112Manager base id 0x1004F000
+
+  instance tmp112BattCell2Manager: Drv.TMP112Manager base id 0x10050000
+
+  instance tmp112BattCell3Manager: Drv.TMP112Manager base id 0x10051000
+
+  instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x10052000
 
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index d3b24051..c746db37 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -66,6 +66,16 @@ module ReferenceDeployment {
     instance powerMonitor
     instance ina219SysManager
     instance ina219SolManager
+    instance tcaMonitor
+    instance muxChannel0Monitor
+    instance muxChannel1Monitor
+    instance muxChannel2Monitor
+    instance muxChannel3Monitor
+    instance muxChannel4Monitor
+    instance muxChannel5Monitor
+    instance muxChannel7Monitor
+
+    # Face Board Instances
     instance thermalManager
     instance tmp112Face0Manager
     instance tmp112Face1Manager
@@ -183,7 +193,15 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[11] -> startupManager.run
       rateGroup1Hz.RateGroupMemberOut[12] -> powerMonitor.run
       rateGroup1Hz.RateGroupMemberOut[13] -> modeManager.run
-      rateGroup1Hz.RateGroupMemberOut[14] -> thermalManager.run
+      rateGroup1Hz.RateGroupMemberOut[14] -> tcaMonitor.run
+      rateGroup1Hz.RateGroupMemberOut[15] ->  muxChannel0Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[16] ->  muxChannel1Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[17] ->  muxChannel2Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[18] ->  muxChannel3Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[19] ->  muxChannel4Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[20] ->  muxChannel5Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[21] ->  muxChannel7Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[22] -> thermalManager.run
 
     }
 
@@ -194,13 +212,28 @@ module ReferenceDeployment {
 
     connections LoadSwitches {
       face4LoadSwitch.gpioSet -> gpioface4LS.gpioWrite
+      face4LoadSwitch.gpioGet -> gpioface4LS.gpioRead
+
       face0LoadSwitch.gpioSet -> gpioface0LS.gpioWrite
+      face0LoadSwitch.gpioGet -> gpioface0LS.gpioRead
+
       face1LoadSwitch.gpioSet -> gpioface1LS.gpioWrite
+      face1LoadSwitch.gpioGet -> gpioface1LS.gpioRead
+
       face2LoadSwitch.gpioSet -> gpioface2LS.gpioWrite
+      face2LoadSwitch.gpioGet -> gpioface2LS.gpioRead
+
       face3LoadSwitch.gpioSet -> gpioface3LS.gpioWrite
+      face3LoadSwitch.gpioGet -> gpioface3LS.gpioRead
+
       face5LoadSwitch.gpioSet -> gpioface5LS.gpioWrite
+      face5LoadSwitch.gpioGet -> gpioface5LS.gpioRead
+
       payloadPowerLoadSwitch.gpioSet -> gpioPayloadPowerLS.gpioWrite
+      payloadPowerLoadSwitch.gpioGet -> gpioPayloadPowerLS.gpioRead
+
       payloadBatteryLoadSwitch.gpioSet -> gpioPayloadBatteryLS.gpioWrite
+      payloadBatteryLoadSwitch.gpioGet -> gpioPayloadBatteryLS.gpioRead
     }
 
     connections BurnwireGpio {
@@ -241,18 +274,23 @@ module ReferenceDeployment {
     }
 
     connections thermalMonitor {
+      thermalManager.face0LoadSwitchStateGet -> face0LoadSwitch.loadSwitchStateGet
       thermalManager.face0Init -> tmp112Face0Manager.init
       thermalManager.face0TempGet -> tmp112Face0Manager.temperatureGet
 
+      thermalManager.face1LoadSwitchStateGet -> face1LoadSwitch.loadSwitchStateGet
       thermalManager.face1Init -> tmp112Face1Manager.init
       thermalManager.face1TempGet -> tmp112Face1Manager.temperatureGet
 
+      thermalManager.face2LoadSwitchStateGet -> face2LoadSwitch.loadSwitchStateGet
       thermalManager.face2Init -> tmp112Face2Manager.init
       thermalManager.face2TempGet -> tmp112Face2Manager.temperatureGet
 
+      thermalManager.face3LoadSwitchStateGet -> face3LoadSwitch.loadSwitchStateGet
       thermalManager.face3Init -> tmp112Face3Manager.init
       thermalManager.face3TempGet -> tmp112Face3Manager.temperatureGet
 
+      thermalManager.face5LoadSwitchStateGet -> face5LoadSwitch.loadSwitchStateGet
       thermalManager.face5Init -> tmp112Face5Manager.init
       thermalManager.face5TempGet -> tmp112Face5Manager.temperatureGet
 
diff --git a/FprimeZephyrReference/project/config/AcConstants.fpp b/FprimeZephyrReference/project/config/AcConstants.fpp
index 8eeefb4b..38f32886 100644
--- a/FprimeZephyrReference/project/config/AcConstants.fpp
+++ b/FprimeZephyrReference/project/config/AcConstants.fpp
@@ -4,7 +4,7 @@
 # ======================================================================
 
 @ Number of rate group member output ports for ActiveRateGroup
-constant ActiveRateGroupOutputPorts = 15
+constant ActiveRateGroupOutputPorts = 23
 
 @ Number of rate group member output ports for PassiveRateGroup
 constant PassiveRateGroupOutputPorts = 10
diff --git a/prj.conf b/prj.conf
index 9c463cec..d0bf5b51 100644
--- a/prj.conf
+++ b/prj.conf
@@ -34,6 +34,7 @@ CONFIG_I2C_TCA954X=y
 # Mux must initialize AFTER I2C bus (16) and GPIO (11) but BEFORE sensors (90)
 CONFIG_I2C_TCA954X_ROOT_INIT_PRIO=70
 CONFIG_I2C_TCA954X_CHANNEL_INIT_PRIO=71
+CONFIG_DEVICE_DEINIT_SUPPORT=y
 
 CONFIG_DYNAMIC_THREAD=y
 CONFIG_KERNEL_MEM_POOL=y

From 2e3fe4ed48e3ab034a30b95998146686342eced1 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Fri, 28 Nov 2025 00:14:07 -0600
Subject: [PATCH 32/68] Detect mux channel state in thermal manager

---
 .../Components/LoadSwitch/LoadSwitch.cpp      |  1 +
 .../Components/LoadSwitch/LoadSwitch.hpp      |  4 +++
 .../ThermalManager/ThermalManager.cpp         | 25 +++++++++++++----
 .../ThermalManager/ThermalManager.fpp         | 27 +++++++++++++++++++
 .../ReferenceDeployment/Top/topology.fpp      |  8 ++++++
 5 files changed, 60 insertions(+), 5 deletions(-)

diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index e86e4fba..00d7abca 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -29,6 +29,7 @@ void LoadSwitch ::Reset_handler(FwIndexType portNum) {
 }
 
 Fw::On LoadSwitch ::loadSwitchStateGet_handler(FwIndexType portNum) {
+    // TODO(nateinaction): Delay reporting state change until power has normalized
     Fw::Logic state;
     this->gpioGet_out(0, state);
     return state ? Fw::On::ON : Fw::On::OFF;
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
index d24ddb10..9bae3923 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
@@ -72,6 +72,10 @@ class LoadSwitch final : public LoadSwitchComponentBase {
     //! Set the load switch state (common implementation for commands and ports)
     void setLoadSwitchState(Fw::On state  //!< The desired state (ON or OFF)
     );
+
+    // ----------------------------------------------------------------------
+    // Private member variables
+    // ----------------------------------------------------------------------
 };
 
 }  // namespace Components
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 85f5d842..4c89823f 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -25,41 +25,56 @@ void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
     // Cube face sensors (5 sensors)
     Fw::Success condition;
 
-    if (this->face0LoadSwitchStateGet_out(0) == Fw::On::ON) {
+    // If the TCA is not healthy, skip reading sensors
+    if (this->tcaHealthGet_out(0) != Fw::Health::HEALTHY) {
+        return;
+    }
+
+    if (this->muxChannel0HealthGet_out(0) == Fw::Health::HEALTHY &&
+        this->face0LoadSwitchStateGet_out(0) == Fw::On::ON) {
         this->face0Init_out(0, condition);  // If init fails, try deinit?
         if (condition == Fw::Success::SUCCESS) {
             this->face0TempGet_out(0);
         }
     }
 
-    if (this->face1LoadSwitchStateGet_out(0) == Fw::On::ON) {
+    if (this->muxChannel1HealthGet_out(0) == Fw::Health::HEALTHY &&
+        this->face1LoadSwitchStateGet_out(0) == Fw::On::ON) {
         this->face1Init_out(0, condition);
         if (condition == Fw::Success::SUCCESS) {
             this->face1TempGet_out(0);
         }
     }
 
-    if (this->face2LoadSwitchStateGet_out(0) == Fw::On::ON) {
+    if (this->muxChannel2HealthGet_out(0) == Fw::Health::HEALTHY &&
+        this->face2LoadSwitchStateGet_out(0) == Fw::On::ON) {
         this->face2Init_out(0, condition);
         if (condition == Fw::Success::SUCCESS) {
             this->face2TempGet_out(0);
         }
     }
 
-    if (this->face3LoadSwitchStateGet_out(0) == Fw::On::ON) {
+    if (this->muxChannel3HealthGet_out(0) == Fw::Health::HEALTHY &&
+        this->face3LoadSwitchStateGet_out(0) == Fw::On::ON) {
         this->face3Init_out(0, condition);
         if (condition == Fw::Success::SUCCESS) {
             this->face3TempGet_out(0);
         }
     }
 
-    if (this->face5LoadSwitchStateGet_out(0) == Fw::On::ON) {
+    if (this->muxChannel5HealthGet_out(0) == Fw::Health::HEALTHY &&
+        this->face5LoadSwitchStateGet_out(0) == Fw::On::ON) {
         this->face5Init_out(0, condition);
         if (condition == Fw::Success::SUCCESS) {
             this->face5TempGet_out(0);
         }
     }
 
+    // If mux channel 4 is not healthy, skip battery cell sensors
+    if (this->muxChannel4HealthGet_out(0) == Fw::Health::HEALTHY) {
+        return;
+    }
+
     // Battery cell sensors (4 sensors)
     this->battCell1Init_out(0, condition);
     if (condition == Fw::Success::SUCCESS) {
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
index 364d8ea5..424cb5a9 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
@@ -5,6 +5,14 @@ module Components {
         sync input port run: Svc.Sched
 
         # Output ports to TMP112Manager instances
+        @ Port to return the state of the TCA
+        output port tcaHealthGet: Components.HealthGet
+
+        # XY Boards
+
+        @ Port to return the state of mux channel 0
+        output port muxChannel0HealthGet: Components.HealthGet
+
         @ Port to return the state of the load switch for face 0
         output port face0LoadSwitchStateGet: Components.loadSwitchState
 
@@ -14,6 +22,9 @@ module Components {
         @ Port for face 0 temperature sensor
         output port face0TempGet: Drv.temperatureGet
 
+        @ Port to return the state of mux channel 1
+        output port muxChannel1HealthGet: Components.HealthGet
+
         @ Port for face 1 load switch state
         output port face1LoadSwitchStateGet: Components.loadSwitchState
 
@@ -23,6 +34,9 @@ module Components {
         @ Port for face 1 temperature sensor
         output port face1TempGet: Drv.temperatureGet
 
+        @ Port to return the state of mux channel 2
+        output port muxChannel2HealthGet: Components.HealthGet
+
         @ Port for face 2 load switch state
         output port face2LoadSwitchStateGet: Components.loadSwitchState
 
@@ -32,6 +46,9 @@ module Components {
         @ Port for face 2 temperature sensor
         output port face2TempGet: Drv.temperatureGet
 
+        @ Port to return the state of mux channel 3
+        output port muxChannel3HealthGet: Components.HealthGet
+
         @ Port for face 3 load switch state
         output port face3LoadSwitchStateGet: Components.loadSwitchState
 
@@ -41,6 +58,11 @@ module Components {
         @ Port for face 3 temperature sensor
         output port face3TempGet: Drv.temperatureGet
 
+        # Z- Board
+
+        @ Port to return the state of mux channel 5
+        output port muxChannel5HealthGet: Components.HealthGet
+
         @ Port for face 5 load switch state
         output port face5LoadSwitchStateGet: Components.loadSwitchState
 
@@ -50,6 +72,11 @@ module Components {
         @ Port for face 5 temperature sensor
         output port face5TempGet: Drv.temperatureGet
 
+        # Battery Cell
+
+        @ Port to return the state of mux channel 4
+        output port muxChannel4HealthGet: Components.HealthGet
+
         @ Port for battery cell 1 temperature sensor initialization
         output port battCell1Init: Fw.SuccessCondition
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index c746db37..e648f171 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -274,26 +274,34 @@ module ReferenceDeployment {
     }
 
     connections thermalMonitor {
+      thermalManager.tcaHealthGet -> tcaMonitor.healthGet
+
+      thermalManager.muxChannel0HealthGet -> muxChannel0Monitor.healthGet
       thermalManager.face0LoadSwitchStateGet -> face0LoadSwitch.loadSwitchStateGet
       thermalManager.face0Init -> tmp112Face0Manager.init
       thermalManager.face0TempGet -> tmp112Face0Manager.temperatureGet
 
+      thermalManager.muxChannel1HealthGet -> muxChannel1Monitor.healthGet
       thermalManager.face1LoadSwitchStateGet -> face1LoadSwitch.loadSwitchStateGet
       thermalManager.face1Init -> tmp112Face1Manager.init
       thermalManager.face1TempGet -> tmp112Face1Manager.temperatureGet
 
+      thermalManager.muxChannel2HealthGet -> muxChannel2Monitor.healthGet
       thermalManager.face2LoadSwitchStateGet -> face2LoadSwitch.loadSwitchStateGet
       thermalManager.face2Init -> tmp112Face2Manager.init
       thermalManager.face2TempGet -> tmp112Face2Manager.temperatureGet
 
+      thermalManager.muxChannel3HealthGet -> muxChannel3Monitor.healthGet
       thermalManager.face3LoadSwitchStateGet -> face3LoadSwitch.loadSwitchStateGet
       thermalManager.face3Init -> tmp112Face3Manager.init
       thermalManager.face3TempGet -> tmp112Face3Manager.temperatureGet
 
+      thermalManager.muxChannel5HealthGet -> muxChannel5Monitor.healthGet
       thermalManager.face5LoadSwitchStateGet -> face5LoadSwitch.loadSwitchStateGet
       thermalManager.face5Init -> tmp112Face5Manager.init
       thermalManager.face5TempGet -> tmp112Face5Manager.temperatureGet
 
+      thermalManager.muxChannel4HealthGet -> muxChannel4Monitor.healthGet
       thermalManager.battCell1Init -> tmp112BattCell1Manager.init
       thermalManager.battCell1TempGet -> tmp112BattCell1Manager.temperatureGet
 

From 105d7904a22be64bfe9d3400629772f8c1ca5293 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Fri, 28 Nov 2025 01:16:12 -0600
Subject: [PATCH 33/68] Rate group cycle constantly slipping, resetting board

---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       |  6 ++--
 .../Drv/Tmp112Manager/TMP112Manager.fpp       | 10 +++----
 .../Components/LoadSwitch/LoadSwitch.cpp      | 28 +++++++++++++++----
 .../Components/LoadSwitch/LoadSwitch.hpp      |  4 +++
 .../ThermalManager/ThermalManager.cpp         |  2 +-
 .../Top/ReferenceDeploymentPackets.fppi       |  2 ++
 .../Top/ReferenceDeploymentTopology.cpp       |  7 +++--
 .../Top/ReferenceDeploymentTopologyDefs.hpp   |  3 ++
 .../ReferenceDeployment/Top/instances.fpp     |  5 ++++
 .../ReferenceDeployment/Top/topology.fpp      | 25 ++++++++++-------
 .../project/config/AcConstants.fpp            |  2 +-
 11 files changed, 68 insertions(+), 26 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index 620d2fa8..ba3a7414 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -50,11 +50,13 @@ void TMP112Manager ::init_handler(FwIndexType portNum, Fw::Success& condition) {
         int deinit_ret = device_deinit(this->m_dev);  // TODO: Check output?
         if (deinit_ret != 0) {
             this->log_WARNING_HI_DeviceDeinitFailed(deinit_ret);
+            return;
         }
+        this->log_WARNING_HI_DeviceDeinitFailed_ThrottleClear();
         return;
     }
 
-    // this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
+    this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
     condition = Fw::Success::SUCCESS;
 }
 
@@ -64,7 +66,7 @@ F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum) {
         printk("[TMP112Manager] Device not ready: %s (ptr: %p)\n", this->m_dev->name, this->m_dev);
         return 0;
     }
-    // this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
+    this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
 
     struct sensor_value temp;
 
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index 1f592adf..ff449e9b 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -18,15 +18,15 @@ module Drv {
         telemetry Temperature: F64
 
         @ Event for reporting TMP112 not ready error
-        event DeviceNotReady() severity warning high format "TMP112 device not ready"
-        # event DeviceNotReady() severity warning high format "TMP112 device not ready" throttle 5
+        # event DeviceNotReady() severity warning high format "TMP112 device not ready"
+        event DeviceNotReady() severity warning high format "TMP112 device not ready" throttle 5
 
         @ Event for reporting TMP112 initialization failure
-        event DeviceInitFailed(ret: I8) severity warning high format "TMP112 initialization failed with return code: {}"
-        # event DeviceInitFailed(ret: U8) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
+        # event DeviceInitFailed(ret: I8) severity warning high format "TMP112 initialization failed with return code: {}"
+        event DeviceInitFailed(ret: U8) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
 
         @ Event for reporting TMP112 deinitialization failure
-        event DeviceDeinitFailed(ret: I8) severity warning high format "TMP112 initialization failed with return code: {}"
+        event DeviceDeinitFailed(ret: I8) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
 
         # TODO: REMOVE ME
         # event DeviceAlreadyInitialized() severity warning high format "TMP112 device already initialized"
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index 00d7abca..c65511a4 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -29,10 +29,7 @@ void LoadSwitch ::Reset_handler(FwIndexType portNum) {
 }
 
 Fw::On LoadSwitch ::loadSwitchStateGet_handler(FwIndexType portNum) {
-    // TODO(nateinaction): Delay reporting state change until power has normalized
-    Fw::Logic state;
-    this->gpioGet_out(0, state);
-    return state ? Fw::On::ON : Fw::On::OFF;
+    return this->getLoadSwitchState() && this->getTime() > this->m_on_timeout ? Fw::On::ON : Fw::On::OFF;
 }
 
 void LoadSwitch ::turnOn_handler(FwIndexType portNum) {
@@ -62,10 +59,31 @@ void LoadSwitch ::TURN_OFF_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
 // ----------------------------------------------------------------------
 
 void LoadSwitch ::setLoadSwitchState(Fw::On state) {
-    Fw::Logic gpioValue = (state == Fw::On::ON) ? Fw::Logic::HIGH : Fw::Logic::LOW;
+    if (this->getLoadSwitchState() == state) {
+        // No change, exit early
+        return;
+    }
+
+    Fw::Logic gpioValue = Fw::Logic::LOW;
+    if (state == Fw::On::ON) {
+        gpioValue = Fw::Logic::HIGH;
+        this->m_on_timeout = this->getTime();
+        // Start timeout timer for 1 second
+        // This delay is to allow power to stabilize after turning on the load switch
+        // TODO(nateinaction): Take delay duration as a parameter
+        // TODO(nateinaction): Is there a non-sleep way to determine if load switched board is ready?
+        this->m_on_timeout.add(1, 0);
+    }
+
     this->gpioSet_out(0, gpioValue);
     this->log_ACTIVITY_HI_StatusChanged(state);
     this->tlmWrite_IsOn(state);
 }
 
+Fw::On LoadSwitch ::getLoadSwitchState() {
+    Fw::Logic state;
+    this->gpioGet_out(0, state);
+    return state ? Fw::On::ON : Fw::On::OFF;
+}
+
 }  // namespace Components
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
index 9bae3923..2a9f1990 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
@@ -73,9 +73,13 @@ class LoadSwitch final : public LoadSwitchComponentBase {
     void setLoadSwitchState(Fw::On state  //!< The desired state (ON or OFF)
     );
 
+    //! Get current load switch state
+    Fw::On getLoadSwitchState();  //<! Get the current state (ON or OFF)
+
     // ----------------------------------------------------------------------
     // Private member variables
     // ----------------------------------------------------------------------
+    Fw::Time m_on_timeout;  //!< Time when load switch was turned on plus a delay time
 };
 
 }  // namespace Components
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 4c89823f..961c143d 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -32,7 +32,7 @@ void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
 
     if (this->muxChannel0HealthGet_out(0) == Fw::Health::HEALTHY &&
         this->face0LoadSwitchStateGet_out(0) == Fw::On::ON) {
-        this->face0Init_out(0, condition);  // If init fails, try deinit?
+        this->face0Init_out(0, condition);  // TODO(nateinaction): If init fails, try deinit?
         if (condition == Fw::Success::SUCCESS) {
             this->face0TempGet_out(0);
         }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 0b1695b2..dc15ce06 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -9,6 +9,7 @@ telemetry packets ReferenceDeploymentPackets {
     ComCcsdsUart.commsBufferManager.HiBuffs
     ReferenceDeployment.rateGroup10Hz.RgMaxTime
     ReferenceDeployment.rateGroup1Hz.RgMaxTime
+    # ReferenceDeployment.rateGroup1_6Hz.RgMaxTime
     ReferenceDeployment.startupManager.BootCount
     ReferenceDeployment.startupManager.QuiescenceEndTime
     ReferenceDeployment.modeManager.CurrentMode
@@ -23,6 +24,7 @@ telemetry packets ReferenceDeploymentPackets {
     ComCcsdsUart.commsBufferManager.EmptyBuffs
     ReferenceDeployment.rateGroup10Hz.RgCycleSlips
     ReferenceDeployment.rateGroup1Hz.RgCycleSlips
+    # ReferenceDeployment.rateGroup1_6Hz.RgCycleSlips
   }
 
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index b043e002..3522bad4 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -42,14 +42,16 @@ constexpr FwSizeType getRateGroupPeriod(const FwSizeType hz) {
 // The reference topology divides the incoming clock signal (1Hz) into sub-signals: 1Hz, 1/2Hz, and 1/4Hz with 0 offset
 Svc::RateGroupDriver::DividerSet rateGroupDivisorsSet{{
     // Array of divider objects
-    {getRateGroupPeriod(10), 0},  // 10Hz
-    {getRateGroupPeriod(1), 0},   // 1Hz
+    {getRateGroupPeriod(10), 0},  // 10Hz = 100ms
+    {getRateGroupPeriod(1), 0},   // 1Hz = 1s
+    {6000, 0}                     // 1/6 Hz = 6s
 }};
 
 // Rate groups may supply a context token to each of the attached children whose purpose is set by the project. The
 // reference topology sets each token to zero as these contexts are unused in this project.
 U32 rateGroup10HzContext[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {getRateGroupPeriod(10)};
 U32 rateGroup1HzContext[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {getRateGroupPeriod(1)};
+U32 rateGroup1_6HzContext[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {6000};
 
 /**
  * \brief configure/setup components in project-specific way
@@ -65,6 +67,7 @@ void configureTopology() {
     // Rate groups require context arrays.
     rateGroup10Hz.configure(rateGroup10HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup10HzContext));
     rateGroup1Hz.configure(rateGroup1HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1HzContext));
+    // rateGroup1_6Hz.configure(rateGroup1_6HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1_6HzContext));
 
     cmdSeq.allocateBuffer(0, mallocator, 5 * 1024);
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index 70464434..e78289a7 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -53,6 +53,9 @@ enum { WARN = 3, FATAL = 5 };
 namespace ReferenceDeployment_rateGroup1Hz {
 enum { WARN = 3, FATAL = 5 };
 }
+namespace ReferenceDeployment_rateGroup1_6Hz {
+enum { WARN = 3, FATAL = 5 };
+}
 namespace ReferenceDeployment_cmdSeq {
 enum { WARN = 3, FATAL = 5 };
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index f787b005..b5719bd8 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -37,6 +37,11 @@ module ReferenceDeployment {
     stack size Default.STACK_SIZE \
     priority 3
 
+  # instance rateGroup1_6Hz: Svc.ActiveRateGroup base id 0x10003000 \
+  #   queue size Default.QUEUE_SIZE \
+  #   stack size Default.STACK_SIZE \
+  #   priority 4
+
   instance cmdSeq: Svc.CmdSequencer base id 0x10006000 \
     queue size Default.QUEUE_SIZE * 2 \
     stack size Default.STACK_SIZE \
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index e648f171..c5904832 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -7,6 +7,7 @@ module ReferenceDeployment {
   enum Ports_RateGroups {
     rateGroup10Hz
     rateGroup1Hz
+    rateGroup1_6Hz
   }
 
   topology ReferenceDeployment {
@@ -24,6 +25,7 @@ module ReferenceDeployment {
   # ----------------------------------------------------------------------
     instance rateGroup10Hz
     instance rateGroup1Hz
+    # instance rateGroup1_6Hz
     instance rateGroupDriver
     instance timer
     instance lora
@@ -177,7 +179,7 @@ module ReferenceDeployment {
       rateGroup10Hz.RateGroupMemberOut[3] -> FileHandling.fileManager.schedIn
       rateGroup10Hz.RateGroupMemberOut[4] -> cmdSeq.schedIn
 
-      # Slow rate (1Hz) rate group
+      # Medium rate (1Hz) rate group
       rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1Hz] -> rateGroup1Hz.CycleIn
       rateGroup1Hz.RateGroupMemberOut[0] -> ComCcsds.comQueue.run
       rateGroup1Hz.RateGroupMemberOut[1] -> CdhCore.$health.Run
@@ -193,15 +195,18 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[11] -> startupManager.run
       rateGroup1Hz.RateGroupMemberOut[12] -> powerMonitor.run
       rateGroup1Hz.RateGroupMemberOut[13] -> modeManager.run
-      rateGroup1Hz.RateGroupMemberOut[14] -> tcaMonitor.run
-      rateGroup1Hz.RateGroupMemberOut[15] ->  muxChannel0Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[16] ->  muxChannel1Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[17] ->  muxChannel2Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[18] ->  muxChannel3Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[19] ->  muxChannel4Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[20] ->  muxChannel5Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[21] ->  muxChannel7Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[22] -> thermalManager.run
+
+      # Slow rate (1/6 Hz) rate group
+      # rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_6Hz] -> rateGroup1_6Hz.CycleIn
+      # rateGroup1_6Hz.RateGroupMemberOut[0] -> tcaMonitor.run
+      # rateGroup1_6Hz.RateGroupMemberOut[1] ->  muxChannel0Monitor.run
+      # rateGroup1_6Hz.RateGroupMemberOut[2] ->  muxChannel1Monitor.run
+      # rateGroup1_6Hz.RateGroupMemberOut[3] ->  muxChannel2Monitor.run
+      # rateGroup1_6Hz.RateGroupMemberOut[4] ->  muxChannel3Monitor.run
+      # rateGroup1_6Hz.RateGroupMemberOut[5] ->  muxChannel4Monitor.run
+      # rateGroup1_6Hz.RateGroupMemberOut[6] ->  muxChannel5Monitor.run
+      # rateGroup1_6Hz.RateGroupMemberOut[7] ->  muxChannel7Monitor.run
+      # rateGroup1_6Hz.RateGroupMemberOut[8] -> thermalManager.run
 
     }
 
diff --git a/FprimeZephyrReference/project/config/AcConstants.fpp b/FprimeZephyrReference/project/config/AcConstants.fpp
index 38f32886..8eeefb4b 100644
--- a/FprimeZephyrReference/project/config/AcConstants.fpp
+++ b/FprimeZephyrReference/project/config/AcConstants.fpp
@@ -4,7 +4,7 @@
 # ======================================================================
 
 @ Number of rate group member output ports for ActiveRateGroup
-constant ActiveRateGroupOutputPorts = 23
+constant ActiveRateGroupOutputPorts = 15
 
 @ Number of rate group member output ports for PassiveRateGroup
 constant PassiveRateGroupOutputPorts = 10

From 27fdc9b22a0f541709f3e6e22f314cdb73a16af8 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Fri, 28 Nov 2025 03:40:59 -0600
Subject: [PATCH 34/68] Seeing i/o error

---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       | 32 +++++++------------
 .../Drv/Tmp112Manager/TMP112Manager.fpp       |  9 +-----
 .../Drv/Tmp112Manager/TMP112Manager.hpp       |  3 ++
 .../ReferenceDeployment/Top/topology.fpp      | 22 ++++++-------
 .../project/config/AcConstants.fpp            |  2 +-
 5 files changed, 28 insertions(+), 40 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index ba3a7414..5556b364 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -32,31 +32,23 @@ void TMP112Manager::configure(const struct device* dev) {
 // ----------------------------------------------------------------------
 
 void TMP112Manager ::init_handler(FwIndexType portNum, Fw::Success& condition) {
+    // TODO(nateinaction): I could check TCA, MUX, LoadSwitch here.
+    // If I don't want to call init over and over again, I can store state in the component.
+
+    // Reset the device initialization state to allow device_init to run again.
+    if (this->m_dev && this->m_dev->state) {
+        this->m_dev->state->initialized = false;
+    }
+
     int ret = device_init(this->m_dev);
-    // do i need to start the mux first?
-    // if (ret != 0 && ret != -EALREADY) {
-    // if (ret == -EALREADY) {
-    //     // Device already initialized - treat as success
-    //     this->log_WARNING_HI_DeviceAlreadyInitialized();
-    //     return;
-    // }
-    if (ret != 0) {
-        // Emit an error? or ignore because face is off? Talk to load manager to see if face is on before erroring?
-        this->log_WARNING_HI_DeviceInitFailed(ret);
+    if (ret < 0) {
         condition = Fw::Success::FAILURE;
-
-        // Even after a failure to init, the device will stay in an initialized state
-        // so we need to deinit to allow future init attempts
-        int deinit_ret = device_deinit(this->m_dev);  // TODO: Check output?
-        if (deinit_ret != 0) {
-            this->log_WARNING_HI_DeviceDeinitFailed(deinit_ret);
-            return;
-        }
-        this->log_WARNING_HI_DeviceDeinitFailed_ThrottleClear();
+        this->log_WARNING_HI_DeviceInitFailed(ret);
         return;
     }
-
     this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
+
+    // this->m_initialized = true; // This cannot be used until it can be set false when the load switch is turned off.
     condition = Fw::Success::SUCCESS;
 }
 
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index ff449e9b..0f70c4fc 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -22,14 +22,7 @@ module Drv {
         event DeviceNotReady() severity warning high format "TMP112 device not ready" throttle 5
 
         @ Event for reporting TMP112 initialization failure
-        # event DeviceInitFailed(ret: I8) severity warning high format "TMP112 initialization failed with return code: {}"
-        event DeviceInitFailed(ret: U8) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
-
-        @ Event for reporting TMP112 deinitialization failure
-        event DeviceDeinitFailed(ret: I8) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
-
-        # TODO: REMOVE ME
-        # event DeviceAlreadyInitialized() severity warning high format "TMP112 device already initialized"
+        event DeviceInitFailed(ret: I32) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
 
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
index 5c373850..c5c2afab 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
@@ -57,6 +57,9 @@ class TMP112Manager final : public TMP112ManagerComponentBase {
 
     //! Zephyr device stores the initialized TMP112 sensor
     const struct device* m_dev;
+
+    //! Initialization state
+    bool m_initialized = false;
 };
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index c5904832..7522abb8 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -192,21 +192,21 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[8] -> antennaDeployer.schedIn
       rateGroup1Hz.RateGroupMemberOut[9] -> fsSpace.run
       rateGroup1Hz.RateGroupMemberOut[10] -> FileHandling.fileDownlink.Run
-      rateGroup1Hz.RateGroupMemberOut[11] -> startupManager.run
-      rateGroup1Hz.RateGroupMemberOut[12] -> powerMonitor.run
+      rateGroup1Hz.RateGroupMemberOut[11] -> startupManager.run # doubles (20ms) rate group max time
+      # rateGroup1Hz.RateGroupMemberOut[12] -> powerMonitor.run # Causing rate group to slip?
       rateGroup1Hz.RateGroupMemberOut[13] -> modeManager.run
+      rateGroup1Hz.RateGroupMemberOut[14] -> tcaMonitor.run
+      rateGroup1Hz.RateGroupMemberOut[15] -> muxChannel0Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[16] -> muxChannel1Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[17] -> muxChannel2Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[18] -> muxChannel3Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[19] -> muxChannel4Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[20] -> muxChannel5Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[21] -> muxChannel7Monitor.run
+      rateGroup1Hz.RateGroupMemberOut[22] -> thermalManager.run
 
       # Slow rate (1/6 Hz) rate group
       # rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_6Hz] -> rateGroup1_6Hz.CycleIn
-      # rateGroup1_6Hz.RateGroupMemberOut[0] -> tcaMonitor.run
-      # rateGroup1_6Hz.RateGroupMemberOut[1] ->  muxChannel0Monitor.run
-      # rateGroup1_6Hz.RateGroupMemberOut[2] ->  muxChannel1Monitor.run
-      # rateGroup1_6Hz.RateGroupMemberOut[3] ->  muxChannel2Monitor.run
-      # rateGroup1_6Hz.RateGroupMemberOut[4] ->  muxChannel3Monitor.run
-      # rateGroup1_6Hz.RateGroupMemberOut[5] ->  muxChannel4Monitor.run
-      # rateGroup1_6Hz.RateGroupMemberOut[6] ->  muxChannel5Monitor.run
-      # rateGroup1_6Hz.RateGroupMemberOut[7] ->  muxChannel7Monitor.run
-      # rateGroup1_6Hz.RateGroupMemberOut[8] -> thermalManager.run
 
     }
 
diff --git a/FprimeZephyrReference/project/config/AcConstants.fpp b/FprimeZephyrReference/project/config/AcConstants.fpp
index 8eeefb4b..38f32886 100644
--- a/FprimeZephyrReference/project/config/AcConstants.fpp
+++ b/FprimeZephyrReference/project/config/AcConstants.fpp
@@ -4,7 +4,7 @@
 # ======================================================================
 
 @ Number of rate group member output ports for ActiveRateGroup
-constant ActiveRateGroupOutputPorts = 15
+constant ActiveRateGroupOutputPorts = 23
 
 @ Number of rate group member output ports for PassiveRateGroup
 constant PassiveRateGroupOutputPorts = 10

From ee24b13df83b9c4fca1e286a8763d3c3dc3378a4 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Fri, 28 Nov 2025 10:55:55 -0600
Subject: [PATCH 35/68] sleepy nighttime thoughts

---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       | 31 +++++++++--------
 .../Drv/Tmp112Manager/TMP112Manager.fpp       | 33 +++++++++++++++++++
 .../Drv/Tmp112Manager/TMP112Manager.hpp       | 13 +++++---
 .../Components/LoadSwitch/LoadSwitch.fpp      |  4 +--
 .../ThermalManager/ThermalManager.cpp         |  8 ++++-
 .../ThermalManager/ThermalManager.fpp         | 10 +++---
 6 files changed, 71 insertions(+), 28 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index 5556b364..74fd1fac 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -32,30 +32,31 @@ void TMP112Manager::configure(const struct device* dev) {
 // ----------------------------------------------------------------------
 
 void TMP112Manager ::init_handler(FwIndexType portNum, Fw::Success& condition) {
-    // TODO(nateinaction): I could check TCA, MUX, LoadSwitch here.
-    // If I don't want to call init over and over again, I can store state in the component.
-
-    // Reset the device initialization state to allow device_init to run again.
-    if (this->m_dev && this->m_dev->state) {
-        this->m_dev->state->initialized = false;
+    int rc = device_init(this->m_dev);
+    if (rc < 0) {
+        condition = Fw::Success::FAILURE;
+        this->log_WARNING_HI_DeviceInitFailed(rc);
     }
+    this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
+
+    condition = Fw::Success::SUCCESS;
+}
 
-    int ret = device_init(this->m_dev);
-    if (ret < 0) {
+void TMP112Manager ::deinit_handler(FwIndexType portNum, Fw::Success& condition) {
+    if (!this->m_dev || !this->m_dev->state) {
         condition = Fw::Success::FAILURE;
-        this->log_WARNING_HI_DeviceInitFailed(ret);
+        this->log_WARNING_HI_DeviceDeinitFailed();
         return;
     }
-    this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
 
-    // this->m_initialized = true; // This cannot be used until it can be set false when the load switch is turned off.
+    this->m_dev->state->initialized = false;
+
     condition = Fw::Success::SUCCESS;
 }
 
 F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum) {
     if (!device_is_ready(this->m_dev)) {
         this->log_WARNING_HI_DeviceNotReady();
-        printk("[TMP112Manager] Device not ready: %s (ptr: %p)\n", this->m_dev->name, this->m_dev);
         return 0;
     }
     this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
@@ -64,15 +65,13 @@ F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum) {
 
     int rc = sensor_sample_fetch_chan(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP);
     if (rc != 0) {
-        // Sensor fetch failed - return 0 to indicate error
-        printk("[TMP112Manager] sensor_sample_fetch_chan failed for %s: rc=%d\n", this->m_dev->name, rc);
+        this->log_WARNING_HI_SensorFetchFailed(rc);
         return 0;
     }
 
     rc = sensor_channel_get(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
     if (rc != 0) {
-        // Channel get failed - return 0 to indicate error
-        printk("[TMP112Manager] sensor_channel_get failed for %s: rc=%d\n", this->m_dev->name, rc);
+        this->log_WARNING_HI_SensorChannelGetFailed(rc);
         return 0;
     }
 
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index 0f70c4fc..c696634e 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -6,12 +6,29 @@ module Drv {
     @ Manager for TMP112 device
     passive component TMP112Manager {
         # Ports
+        # TODO(nateinaction): Load Switch output ports to initialize/deinitialize based on load switch state!!!
+        # NO, it's not a 1-1 mapping because multiple sensors can be on one load switch
+
         @ Port to initialize the TMP112 device
         sync input port init: Fw.SuccessCondition
 
+        @ Port to deinitialize the TMP112 device
+        sync input port deinit: Fw.SuccessCondition
+
         @ Port to read the temperature in degrees Celsius
         sync input port temperatureGet: temperatureGet
 
+        # TODO(nateinaction): I like the way this looks but not all tmp112 sensors will be on tca/mux or load switches
+        # Example: battery and top cap temp sensors is not load switched but face temp sensors are
+        @ Port to return the state of the TCA
+        output port tcaHealthGet: Components.HealthGet
+
+        @ Port to return the state of mux channel
+        output port muxChannelHealthGet: Components.HealthGet
+
+        @ Port to return the state of the load switch
+        output port loadSwitchStateGet: Components.loadSwitchStateGet
+
         # Telemetry channels
 
         @ Telemetry channel for temperature in degrees Celsius
@@ -24,6 +41,22 @@ module Drv {
         @ Event for reporting TMP112 initialization failure
         event DeviceInitFailed(ret: I32) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
 
+        @ Event for reporting TMP112 sensor fetch failure
+        event SensorFetchFailed(ret: I32) severity warning high format "TMP112 sensor fetch failed with return code: {}" throttle 5
+
+        @ Event for reporting TMP112 sensor channel get failure
+        event SensorChannelGetFailed(ret: I32) severity warning high format "TMP112 sensor channel get failed with return code: {}" throttle 5
+
+        @ Event for reporting TMP112 deinitialization failure
+        event DeviceDeinitFailed() severity warning high format "TMP112 deinitialization failed" throttle 5
+
+        @ Event for reporting TMP112 sensor fetch failure
+        event SensorFetchFailed(ret: I32) severity warning high format "TMP112 sensor fetch failed with return code: {}" throttle 5
+
+        @ Event for reporting TMP112 sensor channel get failure
+        event SensorChannelGetFailed(ret: I32) severity warning high format "TMP112 sensor channel get failed with return code: {}" throttle 5
+
+
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
         ###############################################################################
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
index c5c2afab..ecdf77d3 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
@@ -45,21 +45,26 @@ class TMP112Manager final : public TMP112ManagerComponentBase {
                       Fw::Success& condition  //!< Condition success/failure
                       ) override;
 
+    //! Handler implementation for deinit
+    //!
+    //! Port to deinitialize the TMP112 device
+    void deinit_handler(FwIndexType portNum,    //!< The port number
+                        Fw::Success& condition  //!< Condition success/failure
+                        ) override;
+
     //! Handler implementation for temperatureGet
     //!
     //! Port to read the temperature in degrees Celsius
     F64 temperatureGet_handler(FwIndexType portNum  //!< The port number
                                ) override;
 
+  private:
     // ----------------------------------------------------------------------
-    // Member variables
+    // Private member variables
     // ----------------------------------------------------------------------
 
     //! Zephyr device stores the initialized TMP112 sensor
     const struct device* m_dev;
-
-    //! Initialization state
-    bool m_initialized = false;
 };
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
index 7d0dedc8..5a488252 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -1,5 +1,5 @@
 module Components {
-    port loadSwitchState -> Fw.On
+    port loadSwitchStateGet -> Fw.On
 }
 
 module Components {
@@ -34,7 +34,7 @@ module Components {
         sync input port turnOff: Fw.Signal
 
         @ Input port to get the state of the load switch (called by other components)
-        sync input port loadSwitchStateGet: loadSwitchState
+        sync input port loadSwitchStateGet: loadSwitchStateGet
 
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 961c143d..798e0751 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -25,6 +25,12 @@ void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
     // Cube face sensors (5 sensors)
     Fw::Success condition;
 
+    // ??
+    // TODO(nateinaction): muxTempSensor.tempGet (checks tca and mux channel healths) -> loadSwitchTempSensor.tempGet
+    // (checks load switch state) -> tmp112Manager.temperatureGet
+    //                                                                                -> tmp112Manager.temperatureGet
+    // ??
+
     // If the TCA is not healthy, skip reading sensors
     if (this->tcaHealthGet_out(0) != Fw::Health::HEALTHY) {
         return;
@@ -32,7 +38,7 @@ void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
 
     if (this->muxChannel0HealthGet_out(0) == Fw::Health::HEALTHY &&
         this->face0LoadSwitchStateGet_out(0) == Fw::On::ON) {
-        this->face0Init_out(0, condition);  // TODO(nateinaction): If init fails, try deinit?
+        this->face0Init_out(0, condition);
         if (condition == Fw::Success::SUCCESS) {
             this->face0TempGet_out(0);
         }
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
index 424cb5a9..39680e77 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
@@ -14,7 +14,7 @@ module Components {
         output port muxChannel0HealthGet: Components.HealthGet
 
         @ Port to return the state of the load switch for face 0
-        output port face0LoadSwitchStateGet: Components.loadSwitchState
+        output port face0LoadSwitchStateGet: Components.loadSwitchStateGet
 
         @ Port for face 0 temperature sensor initialization
         output port face0Init: Fw.SuccessCondition
@@ -26,7 +26,7 @@ module Components {
         output port muxChannel1HealthGet: Components.HealthGet
 
         @ Port for face 1 load switch state
-        output port face1LoadSwitchStateGet: Components.loadSwitchState
+        output port face1LoadSwitchStateGet: Components.loadSwitchStateGet
 
         @ Port for face 1 temperature sensor initialization
         output port face1Init: Fw.SuccessCondition
@@ -38,7 +38,7 @@ module Components {
         output port muxChannel2HealthGet: Components.HealthGet
 
         @ Port for face 2 load switch state
-        output port face2LoadSwitchStateGet: Components.loadSwitchState
+        output port face2LoadSwitchStateGet: Components.loadSwitchStateGet
 
         @ Port for face 2 temperature sensor initialization
         output port face2Init: Fw.SuccessCondition
@@ -50,7 +50,7 @@ module Components {
         output port muxChannel3HealthGet: Components.HealthGet
 
         @ Port for face 3 load switch state
-        output port face3LoadSwitchStateGet: Components.loadSwitchState
+        output port face3LoadSwitchStateGet: Components.loadSwitchStateGet
 
         @ Port for face 3 temperature sensor initialization
         output port face3Init: Fw.SuccessCondition
@@ -64,7 +64,7 @@ module Components {
         output port muxChannel5HealthGet: Components.HealthGet
 
         @ Port for face 5 load switch state
-        output port face5LoadSwitchStateGet: Components.loadSwitchState
+        output port face5LoadSwitchStateGet: Components.loadSwitchStateGet
 
         @ Port for face 5 temperature sensor initialization
         output port face5Init: Fw.SuccessCondition

From 5923d5e9abda6957eb68d04c2973dcebcb32cf90 Mon Sep 17 00:00:00 2001
From: Michael Pham <61564344+Mikefly123@users.noreply.github.com>
Date: Fri, 28 Nov 2025 09:51:52 -0800
Subject: [PATCH 36/68] Updated DTSI Mux Regs

---
 .../proves_flight_control_board_v5.dtsi                       | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index d8d39c61..865c1c03 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -298,7 +298,7 @@ zephyr_udc0: &usbd {
 		mux_channel_4: i2c_mux@4 {
 			compatible = "ti,tca9548a-channel";
 			label = "mux_channel_4";
-			reg = <7>;
+			reg = <4>;
 			#address-cells = <1>;
 			#size-cells = <0>;
 			batt_cell1_temp_sens: tmp112@48 {
@@ -327,7 +327,7 @@ zephyr_udc0: &usbd {
 		mux_channel_5: i2c_mux@5 {
 			compatible = "ti,tca9548a-channel";
 			label = "mux_channel_5";
-			reg = <4>;
+			reg = <5>;
 			#address-cells = <1>;
 			#size-cells = <0>;
 

From 845f4388a7bed8b130b3688ed8da84afd0319a99 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Fri, 28 Nov 2025 14:23:21 -0600
Subject: [PATCH 37/68] Revert "sleepy nighttime thoughts"

This reverts commit ee24b13df83b9c4fca1e286a8763d3c3dc3378a4.
---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       | 31 ++++++++---------
 .../Drv/Tmp112Manager/TMP112Manager.fpp       | 33 -------------------
 .../Drv/Tmp112Manager/TMP112Manager.hpp       | 13 +++-----
 .../Components/LoadSwitch/LoadSwitch.fpp      |  4 +--
 .../ThermalManager/ThermalManager.cpp         |  8 +----
 .../ThermalManager/ThermalManager.fpp         | 10 +++---
 6 files changed, 28 insertions(+), 71 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index 74fd1fac..5556b364 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -32,31 +32,30 @@ void TMP112Manager::configure(const struct device* dev) {
 // ----------------------------------------------------------------------
 
 void TMP112Manager ::init_handler(FwIndexType portNum, Fw::Success& condition) {
-    int rc = device_init(this->m_dev);
-    if (rc < 0) {
-        condition = Fw::Success::FAILURE;
-        this->log_WARNING_HI_DeviceInitFailed(rc);
-    }
-    this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
+    // TODO(nateinaction): I could check TCA, MUX, LoadSwitch here.
+    // If I don't want to call init over and over again, I can store state in the component.
 
-    condition = Fw::Success::SUCCESS;
-}
+    // Reset the device initialization state to allow device_init to run again.
+    if (this->m_dev && this->m_dev->state) {
+        this->m_dev->state->initialized = false;
+    }
 
-void TMP112Manager ::deinit_handler(FwIndexType portNum, Fw::Success& condition) {
-    if (!this->m_dev || !this->m_dev->state) {
+    int ret = device_init(this->m_dev);
+    if (ret < 0) {
         condition = Fw::Success::FAILURE;
-        this->log_WARNING_HI_DeviceDeinitFailed();
+        this->log_WARNING_HI_DeviceInitFailed(ret);
         return;
     }
+    this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
 
-    this->m_dev->state->initialized = false;
-
+    // this->m_initialized = true; // This cannot be used until it can be set false when the load switch is turned off.
     condition = Fw::Success::SUCCESS;
 }
 
 F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum) {
     if (!device_is_ready(this->m_dev)) {
         this->log_WARNING_HI_DeviceNotReady();
+        printk("[TMP112Manager] Device not ready: %s (ptr: %p)\n", this->m_dev->name, this->m_dev);
         return 0;
     }
     this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
@@ -65,13 +64,15 @@ F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum) {
 
     int rc = sensor_sample_fetch_chan(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP);
     if (rc != 0) {
-        this->log_WARNING_HI_SensorFetchFailed(rc);
+        // Sensor fetch failed - return 0 to indicate error
+        printk("[TMP112Manager] sensor_sample_fetch_chan failed for %s: rc=%d\n", this->m_dev->name, rc);
         return 0;
     }
 
     rc = sensor_channel_get(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
     if (rc != 0) {
-        this->log_WARNING_HI_SensorChannelGetFailed(rc);
+        // Channel get failed - return 0 to indicate error
+        printk("[TMP112Manager] sensor_channel_get failed for %s: rc=%d\n", this->m_dev->name, rc);
         return 0;
     }
 
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index c696634e..0f70c4fc 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -6,29 +6,12 @@ module Drv {
     @ Manager for TMP112 device
     passive component TMP112Manager {
         # Ports
-        # TODO(nateinaction): Load Switch output ports to initialize/deinitialize based on load switch state!!!
-        # NO, it's not a 1-1 mapping because multiple sensors can be on one load switch
-
         @ Port to initialize the TMP112 device
         sync input port init: Fw.SuccessCondition
 
-        @ Port to deinitialize the TMP112 device
-        sync input port deinit: Fw.SuccessCondition
-
         @ Port to read the temperature in degrees Celsius
         sync input port temperatureGet: temperatureGet
 
-        # TODO(nateinaction): I like the way this looks but not all tmp112 sensors will be on tca/mux or load switches
-        # Example: battery and top cap temp sensors is not load switched but face temp sensors are
-        @ Port to return the state of the TCA
-        output port tcaHealthGet: Components.HealthGet
-
-        @ Port to return the state of mux channel
-        output port muxChannelHealthGet: Components.HealthGet
-
-        @ Port to return the state of the load switch
-        output port loadSwitchStateGet: Components.loadSwitchStateGet
-
         # Telemetry channels
 
         @ Telemetry channel for temperature in degrees Celsius
@@ -41,22 +24,6 @@ module Drv {
         @ Event for reporting TMP112 initialization failure
         event DeviceInitFailed(ret: I32) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
 
-        @ Event for reporting TMP112 sensor fetch failure
-        event SensorFetchFailed(ret: I32) severity warning high format "TMP112 sensor fetch failed with return code: {}" throttle 5
-
-        @ Event for reporting TMP112 sensor channel get failure
-        event SensorChannelGetFailed(ret: I32) severity warning high format "TMP112 sensor channel get failed with return code: {}" throttle 5
-
-        @ Event for reporting TMP112 deinitialization failure
-        event DeviceDeinitFailed() severity warning high format "TMP112 deinitialization failed" throttle 5
-
-        @ Event for reporting TMP112 sensor fetch failure
-        event SensorFetchFailed(ret: I32) severity warning high format "TMP112 sensor fetch failed with return code: {}" throttle 5
-
-        @ Event for reporting TMP112 sensor channel get failure
-        event SensorChannelGetFailed(ret: I32) severity warning high format "TMP112 sensor channel get failed with return code: {}" throttle 5
-
-
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
         ###############################################################################
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
index ecdf77d3..c5c2afab 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
@@ -45,26 +45,21 @@ class TMP112Manager final : public TMP112ManagerComponentBase {
                       Fw::Success& condition  //!< Condition success/failure
                       ) override;
 
-    //! Handler implementation for deinit
-    //!
-    //! Port to deinitialize the TMP112 device
-    void deinit_handler(FwIndexType portNum,    //!< The port number
-                        Fw::Success& condition  //!< Condition success/failure
-                        ) override;
-
     //! Handler implementation for temperatureGet
     //!
     //! Port to read the temperature in degrees Celsius
     F64 temperatureGet_handler(FwIndexType portNum  //!< The port number
                                ) override;
 
-  private:
     // ----------------------------------------------------------------------
-    // Private member variables
+    // Member variables
     // ----------------------------------------------------------------------
 
     //! Zephyr device stores the initialized TMP112 sensor
     const struct device* m_dev;
+
+    //! Initialization state
+    bool m_initialized = false;
 };
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
index 5a488252..7d0dedc8 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -1,5 +1,5 @@
 module Components {
-    port loadSwitchStateGet -> Fw.On
+    port loadSwitchState -> Fw.On
 }
 
 module Components {
@@ -34,7 +34,7 @@ module Components {
         sync input port turnOff: Fw.Signal
 
         @ Input port to get the state of the load switch (called by other components)
-        sync input port loadSwitchStateGet: loadSwitchStateGet
+        sync input port loadSwitchStateGet: loadSwitchState
 
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 798e0751..961c143d 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -25,12 +25,6 @@ void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
     // Cube face sensors (5 sensors)
     Fw::Success condition;
 
-    // ??
-    // TODO(nateinaction): muxTempSensor.tempGet (checks tca and mux channel healths) -> loadSwitchTempSensor.tempGet
-    // (checks load switch state) -> tmp112Manager.temperatureGet
-    //                                                                                -> tmp112Manager.temperatureGet
-    // ??
-
     // If the TCA is not healthy, skip reading sensors
     if (this->tcaHealthGet_out(0) != Fw::Health::HEALTHY) {
         return;
@@ -38,7 +32,7 @@ void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
 
     if (this->muxChannel0HealthGet_out(0) == Fw::Health::HEALTHY &&
         this->face0LoadSwitchStateGet_out(0) == Fw::On::ON) {
-        this->face0Init_out(0, condition);
+        this->face0Init_out(0, condition);  // TODO(nateinaction): If init fails, try deinit?
         if (condition == Fw::Success::SUCCESS) {
             this->face0TempGet_out(0);
         }
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
index 39680e77..424cb5a9 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
@@ -14,7 +14,7 @@ module Components {
         output port muxChannel0HealthGet: Components.HealthGet
 
         @ Port to return the state of the load switch for face 0
-        output port face0LoadSwitchStateGet: Components.loadSwitchStateGet
+        output port face0LoadSwitchStateGet: Components.loadSwitchState
 
         @ Port for face 0 temperature sensor initialization
         output port face0Init: Fw.SuccessCondition
@@ -26,7 +26,7 @@ module Components {
         output port muxChannel1HealthGet: Components.HealthGet
 
         @ Port for face 1 load switch state
-        output port face1LoadSwitchStateGet: Components.loadSwitchStateGet
+        output port face1LoadSwitchStateGet: Components.loadSwitchState
 
         @ Port for face 1 temperature sensor initialization
         output port face1Init: Fw.SuccessCondition
@@ -38,7 +38,7 @@ module Components {
         output port muxChannel2HealthGet: Components.HealthGet
 
         @ Port for face 2 load switch state
-        output port face2LoadSwitchStateGet: Components.loadSwitchStateGet
+        output port face2LoadSwitchStateGet: Components.loadSwitchState
 
         @ Port for face 2 temperature sensor initialization
         output port face2Init: Fw.SuccessCondition
@@ -50,7 +50,7 @@ module Components {
         output port muxChannel3HealthGet: Components.HealthGet
 
         @ Port for face 3 load switch state
-        output port face3LoadSwitchStateGet: Components.loadSwitchStateGet
+        output port face3LoadSwitchStateGet: Components.loadSwitchState
 
         @ Port for face 3 temperature sensor initialization
         output port face3Init: Fw.SuccessCondition
@@ -64,7 +64,7 @@ module Components {
         output port muxChannel5HealthGet: Components.HealthGet
 
         @ Port for face 5 load switch state
-        output port face5LoadSwitchStateGet: Components.loadSwitchStateGet
+        output port face5LoadSwitchStateGet: Components.loadSwitchState
 
         @ Port for face 5 temperature sensor initialization
         output port face5Init: Fw.SuccessCondition

From c3119fe44f3496814bedeaa5e168f4668b6b63b7 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Fri, 28 Nov 2025 14:28:25 -0600
Subject: [PATCH 38/68] All faces working

---
 FprimeZephyrReference/ComCcsdsUart/ComCcsds.fpp           | 3 +--
 .../Components/ThermalManager/ThermalManager.cpp          | 4 ++--
 .../Components/ThermalManager/ThermalManager.fpp          | 4 ++--
 .../ReferenceDeployment/Top/instances.fpp                 | 2 +-
 .../ReferenceDeployment/Top/topology.fpp                  | 8 ++++----
 5 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/FprimeZephyrReference/ComCcsdsUart/ComCcsds.fpp b/FprimeZephyrReference/ComCcsdsUart/ComCcsds.fpp
index d051335a..3b174800 100644
--- a/FprimeZephyrReference/ComCcsdsUart/ComCcsds.fpp
+++ b/FprimeZephyrReference/ComCcsdsUart/ComCcsds.fpp
@@ -44,8 +44,7 @@ module ComCcsdsUart {
 
     instance aggregator: Svc.ComAggregator base id ComCcsdsConfig.BASE_ID_UART + 0x06000 \
         queue size ComCcsdsConfig.QueueSizes.aggregator \
-        stack size ComCcsdsConfig.StackSizes.aggregator \
-        priority ComCcsdsConfig.Priorities.aggregator
+        stack size ComCcsdsConfig.StackSizes.aggregator
 
     # ----------------------------------------------------------------------
     # Passive Components
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 961c143d..72388bf6 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -63,7 +63,7 @@ void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
     }
 
     if (this->muxChannel5HealthGet_out(0) == Fw::Health::HEALTHY &&
-        this->face5LoadSwitchStateGet_out(0) == Fw::On::ON) {
+        this->face4LoadSwitchStateGet_out(0) == Fw::On::ON) {
         this->face5Init_out(0, condition);
         if (condition == Fw::Success::SUCCESS) {
             this->face5TempGet_out(0);
@@ -71,7 +71,7 @@ void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
     }
 
     // If mux channel 4 is not healthy, skip battery cell sensors
-    if (this->muxChannel4HealthGet_out(0) == Fw::Health::HEALTHY) {
+    if (this->muxChannel4HealthGet_out(0) != Fw::Health::HEALTHY) {
         return;
     }
 
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
index 424cb5a9..06a3c07f 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
@@ -63,8 +63,8 @@ module Components {
         @ Port to return the state of mux channel 5
         output port muxChannel5HealthGet: Components.HealthGet
 
-        @ Port for face 5 load switch state
-        output port face5LoadSwitchStateGet: Components.loadSwitchState
+        @ Port for face 4 load switch state
+        output port face4LoadSwitchStateGet: Components.loadSwitchState
 
         @ Port for face 5 temperature sensor initialization
         output port face5Init: Fw.SuccessCondition
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index b5719bd8..26d9ca8a 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -173,7 +173,7 @@ module ReferenceDeployment {
 
   instance tmp112Face3Manager: Drv.TMP112Manager base id 0x1004D000
 
-  instance tmp112Face5Manager: Drv.TMP112Manager base id 0x1004E000
+  instance tmp112Face4Manager: Drv.TMP112Manager base id 0x1004E000
 
   instance tmp112BattCell1Manager: Drv.TMP112Manager base id 0x1004F000
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 7522abb8..27cd6cd8 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -83,7 +83,7 @@ module ReferenceDeployment {
     instance tmp112Face1Manager
     instance tmp112Face2Manager
     instance tmp112Face3Manager
-    instance tmp112Face5Manager
+    instance tmp112Face4Manager
     instance tmp112BattCell1Manager
     instance tmp112BattCell2Manager
     instance tmp112BattCell3Manager
@@ -302,9 +302,9 @@ module ReferenceDeployment {
       thermalManager.face3TempGet -> tmp112Face3Manager.temperatureGet
 
       thermalManager.muxChannel5HealthGet -> muxChannel5Monitor.healthGet
-      thermalManager.face5LoadSwitchStateGet -> face5LoadSwitch.loadSwitchStateGet
-      thermalManager.face5Init -> tmp112Face5Manager.init
-      thermalManager.face5TempGet -> tmp112Face5Manager.temperatureGet
+      thermalManager.face4LoadSwitchStateGet -> face4LoadSwitch.loadSwitchStateGet
+      thermalManager.face5Init -> tmp112Face4Manager.init
+      thermalManager.face5TempGet -> tmp112Face4Manager.temperatureGet
 
       thermalManager.muxChannel4HealthGet -> muxChannel4Monitor.healthGet
       thermalManager.battCell1Init -> tmp112BattCell1Manager.init

From 88af688694d6fb2fd6848475c36a0b8ebddce541 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Fri, 28 Nov 2025 15:47:55 -0600
Subject: [PATCH 39/68] Add mux 6

---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       | 34 +++++++----
 .../Drv/Tmp112Manager/TMP112Manager.fpp       | 12 ++++
 .../Drv/Tmp112Manager/TMP112Manager.hpp       |  1 +
 .../Components/LoadSwitch/LoadSwitch.fpp      |  4 +-
 .../ThermalManager/ThermalManager.cpp         |  2 +-
 .../ThermalManager/ThermalManager.fpp         | 12 ++--
 .../ReferenceDeployment/Main.cpp              |  2 +
 .../Top/ReferenceDeploymentPackets.fppi       |  1 +
 .../Top/ReferenceDeploymentTopologyDefs.hpp   |  1 +
 .../ReferenceDeployment/Top/instances.fpp     | 24 ++++----
 .../ReferenceDeployment/Top/topology.fpp      |  9 +--
 .../proves_flight_control_board_v5.dtsi       | 60 +++++++++++++++----
 12 files changed, 114 insertions(+), 48 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index 5556b364..597a5599 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -32,18 +32,27 @@ void TMP112Manager::configure(const struct device* dev) {
 // ----------------------------------------------------------------------
 
 void TMP112Manager ::init_handler(FwIndexType portNum, Fw::Success& condition) {
-    // TODO(nateinaction): I could check TCA, MUX, LoadSwitch here.
-    // If I don't want to call init over and over again, I can store state in the component.
+    if (!this->m_dev) {
+        condition = Fw::Success::FAILURE;
+        this->log_WARNING_HI_DeviceNil();
+        return;
+    }
+    this->log_WARNING_HI_DeviceNil_ThrottleClear();
 
-    // Reset the device initialization state to allow device_init to run again.
-    if (this->m_dev && this->m_dev->state) {
-        this->m_dev->state->initialized = false;
+    if (!this->m_dev->state) {
+        condition = Fw::Success::FAILURE;
+        this->log_WARNING_HI_DeviceStateNil();
+        return;
     }
+    this->log_WARNING_HI_DeviceStateNil_ThrottleClear();
+
+    // Reset the device initialization state to allow device_init to run again.
+    this->m_dev->state->initialized = false;
 
-    int ret = device_init(this->m_dev);
-    if (ret < 0) {
+    int rc = device_init(this->m_dev);
+    if (rc < 0) {
         condition = Fw::Success::FAILURE;
-        this->log_WARNING_HI_DeviceInitFailed(ret);
+        this->log_WARNING_HI_DeviceInitFailed(rc);
         return;
     }
     this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
@@ -55,7 +64,6 @@ void TMP112Manager ::init_handler(FwIndexType portNum, Fw::Success& condition) {
 F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum) {
     if (!device_is_ready(this->m_dev)) {
         this->log_WARNING_HI_DeviceNotReady();
-        printk("[TMP112Manager] Device not ready: %s (ptr: %p)\n", this->m_dev->name, this->m_dev);
         return 0;
     }
     this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
@@ -64,17 +72,17 @@ F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum) {
 
     int rc = sensor_sample_fetch_chan(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP);
     if (rc != 0) {
-        // Sensor fetch failed - return 0 to indicate error
-        printk("[TMP112Manager] sensor_sample_fetch_chan failed for %s: rc=%d\n", this->m_dev->name, rc);
+        this->log_WARNING_HI_SensorSampleFetchFailed(rc);
         return 0;
     }
+    this->log_WARNING_HI_SensorSampleFetchFailed_ThrottleClear();
 
     rc = sensor_channel_get(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
     if (rc != 0) {
-        // Channel get failed - return 0 to indicate error
-        printk("[TMP112Manager] sensor_channel_get failed for %s: rc=%d\n", this->m_dev->name, rc);
+        this->log_WARNING_HI_SensorChannelGetFailed(rc);
         return 0;
     }
+    this->log_WARNING_HI_SensorChannelGetFailed_ThrottleClear();
 
     this->tlmWrite_Temperature(sensor_value_to_double(&temp));
 
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index 0f70c4fc..0cea2663 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -24,6 +24,18 @@ module Drv {
         @ Event for reporting TMP112 initialization failure
         event DeviceInitFailed(ret: I32) severity warning high format "TMP112 initialization failed with return code: {}" throttle 5
 
+        @ Event for reporting TMP112 nil device error
+        event DeviceNil() severity warning high format "TMP112 device is nil" throttle 5
+
+        @ Event for reporting TMP112 nil state error
+        event DeviceStateNil() severity warning high format "TMP112 device state is nil" throttle 5
+
+        @ Event for reporting TMP112 sensor fetch failure
+        event SensorSampleFetchFailed(ret: I32) severity warning high format "TMP112 sensor fetch failed with return code: {}" throttle 5
+
+        @ Event for reporting TMP112 sensor channel get failure
+        event SensorChannelGetFailed(ret: I32) severity warning high format "TMP112 sensor channel get failed with return code: {}" throttle 5
+
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
         ###############################################################################
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
index c5c2afab..59e8e34f 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
@@ -41,6 +41,7 @@ class TMP112Manager final : public TMP112ManagerComponentBase {
     //! Handler implementation for init
     //!
     //! Port to initialize the TMP112 device
+    //! Must be called and complete successfully at least one time before temperature can be read
     void init_handler(FwIndexType portNum,    //!< The port number
                       Fw::Success& condition  //!< Condition success/failure
                       ) override;
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
index 7d0dedc8..5a488252 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -1,5 +1,5 @@
 module Components {
-    port loadSwitchState -> Fw.On
+    port loadSwitchStateGet -> Fw.On
 }
 
 module Components {
@@ -34,7 +34,7 @@ module Components {
         sync input port turnOff: Fw.Signal
 
         @ Input port to get the state of the load switch (called by other components)
-        sync input port loadSwitchStateGet: loadSwitchState
+        sync input port loadSwitchStateGet: loadSwitchStateGet
 
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 72388bf6..1ed66346 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -63,7 +63,7 @@ void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
     }
 
     if (this->muxChannel5HealthGet_out(0) == Fw::Health::HEALTHY &&
-        this->face4LoadSwitchStateGet_out(0) == Fw::On::ON) {
+        this->face5LoadSwitchStateGet_out(0) == Fw::On::ON) {
         this->face5Init_out(0, condition);
         if (condition == Fw::Success::SUCCESS) {
             this->face5TempGet_out(0);
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
index 06a3c07f..39680e77 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
@@ -14,7 +14,7 @@ module Components {
         output port muxChannel0HealthGet: Components.HealthGet
 
         @ Port to return the state of the load switch for face 0
-        output port face0LoadSwitchStateGet: Components.loadSwitchState
+        output port face0LoadSwitchStateGet: Components.loadSwitchStateGet
 
         @ Port for face 0 temperature sensor initialization
         output port face0Init: Fw.SuccessCondition
@@ -26,7 +26,7 @@ module Components {
         output port muxChannel1HealthGet: Components.HealthGet
 
         @ Port for face 1 load switch state
-        output port face1LoadSwitchStateGet: Components.loadSwitchState
+        output port face1LoadSwitchStateGet: Components.loadSwitchStateGet
 
         @ Port for face 1 temperature sensor initialization
         output port face1Init: Fw.SuccessCondition
@@ -38,7 +38,7 @@ module Components {
         output port muxChannel2HealthGet: Components.HealthGet
 
         @ Port for face 2 load switch state
-        output port face2LoadSwitchStateGet: Components.loadSwitchState
+        output port face2LoadSwitchStateGet: Components.loadSwitchStateGet
 
         @ Port for face 2 temperature sensor initialization
         output port face2Init: Fw.SuccessCondition
@@ -50,7 +50,7 @@ module Components {
         output port muxChannel3HealthGet: Components.HealthGet
 
         @ Port for face 3 load switch state
-        output port face3LoadSwitchStateGet: Components.loadSwitchState
+        output port face3LoadSwitchStateGet: Components.loadSwitchStateGet
 
         @ Port for face 3 temperature sensor initialization
         output port face3Init: Fw.SuccessCondition
@@ -63,8 +63,8 @@ module Components {
         @ Port to return the state of mux channel 5
         output port muxChannel5HealthGet: Components.HealthGet
 
-        @ Port for face 4 load switch state
-        output port face4LoadSwitchStateGet: Components.loadSwitchState
+        @ Port for face 5 load switch state
+        output port face5LoadSwitchStateGet: Components.loadSwitchStateGet
 
         @ Port for face 5 temperature sensor initialization
         output port face5Init: Fw.SuccessCondition
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index 6c93a555..1ee482e0 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -25,6 +25,7 @@ const struct device* mux_channel_2 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_2));
 const struct device* mux_channel_3 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_3));
 const struct device* mux_channel_4 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_4));
 const struct device* mux_channel_5 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_5));
+const struct device* mux_channel_6 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_6));
 const struct device* mux_channel_7 = DEVICE_DT_GET(DT_NODELABEL(mux_channel_7));
 const struct device* face0_temp_sens = DEVICE_DT_GET(DT_NODELABEL(face0_temp_sens));
 const struct device* face1_temp_sens = DEVICE_DT_GET(DT_NODELABEL(face1_temp_sens));
@@ -62,6 +63,7 @@ int main(int argc, char* argv[]) {
     inputs.muxChannel3Device = mux_channel_3;
     inputs.muxChannel4Device = mux_channel_4;
     inputs.muxChannel5Device = mux_channel_5;
+    inputs.muxChannel6Device = mux_channel_6;
     inputs.muxChannel7Device = mux_channel_7;
 
     // Face Board device bindings
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index dc15ce06..816d7a5a 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -104,6 +104,7 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.muxChannel3Monitor.Healthy
     ReferenceDeployment.muxChannel4Monitor.Healthy
     ReferenceDeployment.muxChannel5Monitor.Healthy
+    ReferenceDeployment.muxChannel6Monitor.Healthy
     ReferenceDeployment.muxChannel7Monitor.Healthy
   }
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index e78289a7..d8031df0 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -91,6 +91,7 @@ struct TopologyState {
     const device* muxChannel3Device;              //!< Multiplexer channel 3 device
     const device* muxChannel4Device;              //!< Multiplexer channel 4 device
     const device* muxChannel5Device;              //!< Multiplexer channel 5 device
+    const device* muxChannel6Device;              //!< Multiplexer channel 5 device
     const device* muxChannel7Device;              //!< Multiplexer channel 7 device
 
     // Face devices
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 26d9ca8a..7b22f7ae 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -161,26 +161,28 @@ module ReferenceDeployment {
 
   instance muxChannel5Monitor: Components.GenericDeviceMonitor base id 0x10047000
 
-  instance muxChannel7Monitor: Components.GenericDeviceMonitor base id 0x10048000
+  instance muxChannel6Monitor: Components.GenericDeviceMonitor base id 0x10048000
 
-  instance thermalManager: Components.ThermalManager base id 0x10049000
+  instance muxChannel7Monitor: Components.GenericDeviceMonitor base id 0x10049000
 
-  instance tmp112Face0Manager: Drv.TMP112Manager base id 0x1004A000
+  instance thermalManager: Components.ThermalManager base id 0x1004A000
 
-  instance tmp112Face1Manager: Drv.TMP112Manager base id 0x1004B000
+  instance tmp112Face0Manager: Drv.TMP112Manager base id 0x1004B000
 
-  instance tmp112Face2Manager: Drv.TMP112Manager base id 0x1004C000
+  instance tmp112Face1Manager: Drv.TMP112Manager base id 0x1004C000
 
-  instance tmp112Face3Manager: Drv.TMP112Manager base id 0x1004D000
+  instance tmp112Face2Manager: Drv.TMP112Manager base id 0x1004D000
 
-  instance tmp112Face4Manager: Drv.TMP112Manager base id 0x1004E000
+  instance tmp112Face3Manager: Drv.TMP112Manager base id 0x1004E000
 
-  instance tmp112BattCell1Manager: Drv.TMP112Manager base id 0x1004F000
+  instance tmp112Face5Manager: Drv.TMP112Manager base id 0x1004F000
 
-  instance tmp112BattCell2Manager: Drv.TMP112Manager base id 0x10050000
+  instance tmp112BattCell1Manager: Drv.TMP112Manager base id 0x10050000
 
-  instance tmp112BattCell3Manager: Drv.TMP112Manager base id 0x10051000
+  instance tmp112BattCell2Manager: Drv.TMP112Manager base id 0x10051000
 
-  instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x10052000
+  instance tmp112BattCell3Manager: Drv.TMP112Manager base id 0x10052000
+
+  instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x10053000
 
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 27cd6cd8..0d8c4f02 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -75,6 +75,7 @@ module ReferenceDeployment {
     instance muxChannel3Monitor
     instance muxChannel4Monitor
     instance muxChannel5Monitor
+    instance muxChannel6Monitor
     instance muxChannel7Monitor
 
     # Face Board Instances
@@ -83,7 +84,7 @@ module ReferenceDeployment {
     instance tmp112Face1Manager
     instance tmp112Face2Manager
     instance tmp112Face3Manager
-    instance tmp112Face4Manager
+    instance tmp112Face5Manager
     instance tmp112BattCell1Manager
     instance tmp112BattCell2Manager
     instance tmp112BattCell3Manager
@@ -302,9 +303,9 @@ module ReferenceDeployment {
       thermalManager.face3TempGet -> tmp112Face3Manager.temperatureGet
 
       thermalManager.muxChannel5HealthGet -> muxChannel5Monitor.healthGet
-      thermalManager.face4LoadSwitchStateGet -> face4LoadSwitch.loadSwitchStateGet
-      thermalManager.face5Init -> tmp112Face4Manager.init
-      thermalManager.face5TempGet -> tmp112Face4Manager.temperatureGet
+      thermalManager.face5LoadSwitchStateGet -> face5LoadSwitch.loadSwitchStateGet
+      thermalManager.face5Init -> tmp112Face5Manager.init
+      thermalManager.face5TempGet -> tmp112Face5Manager.temperatureGet
 
       thermalManager.muxChannel4HealthGet -> muxChannel4Monitor.healthGet
       thermalManager.battCell1Init -> tmp112BattCell1Manager.init
diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 865c1c03..4a3b310a 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -323,7 +323,7 @@ zephyr_udc0: &usbd {
 			};
 		};
 
-		// Z- Face
+		// Z- Face x1
 		mux_channel_5: i2c_mux@5 {
 			compatible = "ti,tca9548a-channel";
 			label = "mux_channel_5";
@@ -361,6 +361,44 @@ zephyr_udc0: &usbd {
 
 		};
 
+		// Z- Face x2
+		mux_channel_6: i2c_mux@6 {
+			compatible = "ti,tca9548a-channel";
+			label = "mux_channel_6";
+			reg = <6>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+
+			face6_temp_sens: tmp112@48 {
+				compatible = "ti,tmp112";
+				reg = <0x48>;
+				status = "okay";
+				label = "FACE5_TMP112";
+				zephyr,deferred-init;
+			};
+
+			face6_light_sens: light@29 {
+				compatible = "vishay,veml6031";
+				reg = <0x29>;
+				status = "okay";
+				label = "FACE5_VEML6031";
+				zephyr,deferred-init;
+			};
+
+			face6_drv2605: drv2605@5a {
+				compatible = "ti,drv2605";
+				status = "okay";
+				reg = <0x5a>;
+				label = "FACE5_DRV2605";
+				zephyr,deferred-init;
+
+				actuator-mode = "LRA";
+				loop-gain = "HIGH";
+				feedback-brake-factor = "2X";
+			};
+
+		};
+
 		// Top is always powered so no deferred init needed
 		mux_channel_7: i2c_mux@7 {
 			compatible = "ti,tca9548a-channel";
@@ -428,19 +466,19 @@ zephyr_udc0: &usbd {
 		 *  5: RF2_IO1 (GPA5)
 		 *  6: RF2_IO0 (GPA6)
 		 *  7: RF2_IO3 (GPA7)
-		 *  8: FACE4_ENABLE (GPB0)
+		 *  8: FACE5_ENABLE (GPB5)
 		 *  9: FACE0_ENABLE (GPB1)
 		 * 10: FACE1_ENABLE (GPB2)
 		 * 11: FACE2_ENABLE (GPB3)
 		 * 12: FACE3_ENABLE (GPB4)
-		 * 13: FACE5_ENABLE (GPB5)
+		 * 13: FACE4_ENABLE (GPB0)
 		 * 14: READONLY (GPB6)
 		 * 15: CHARGE (GPB7)
 		 */
 		gpio-line-names = "ENABLE_HEATER", "PAYLOAD_PWR_ENABLE", "FIRE_DEPLOY2_B", "PAYLOAD_BATT_ENABLE",
 						  "RF2_IO2", "RF2_IO1", "RF2_IO0", "RF2_IO3",
-						  "FACE4_ENABLE", "FACE0_ENABLE", "FACE1_ENABLE", "FACE2_ENABLE",
-						  "FACE3_ENABLE", "FACE5_ENABLE", "READONLY", "CHARGE";
+						  "FACE5_ENABLE", "FACE0_ENABLE", "FACE1_ENABLE", "FACE2_ENABLE",
+						  "FACE3_ENABLE", "FACE4_ENABLE", "READONLY", "CHARGE";
 
 		reset-gpios = <&gpio0 20 GPIO_ACTIVE_LOW>;
 
@@ -455,10 +493,10 @@ zephyr_udc0: &usbd {
     gpio_outputs {
         compatible = "gpio-leds";  // Using gpio-leds as a convenient container
 
-        face4_enable: face4-enable {
+        face5_enable: face5-enable {
 
-            gpios = <&mcp23017 8 GPIO_ACTIVE_HIGH>;  // GPB0
-            label = "FACE4_ENABLE";
+            gpios = <&mcp23017 8 GPIO_ACTIVE_HIGH>;  // GPB5
+            label = "FACE5_ENABLE";
         };
 
         face0_enable: face0-enable {
@@ -485,10 +523,10 @@ zephyr_udc0: &usbd {
             label = "FACE3_ENABLE";
         };
 
-        face5_enable: face5-enable {
+        face4_enable: face4-enable {
 
-            gpios = <&mcp23017 13 GPIO_ACTIVE_HIGH>;  // GPB5
-            label = "FACE5_ENABLE";
+            gpios = <&mcp23017 13 GPIO_ACTIVE_HIGH>;  // GPB0
+            label = "FACE4_ENABLE";
         };
 
         enable_heater: enable-heater {

From 65f2a4c03c21262ed2cefad0e9e14a4cc63cc695 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Sat, 29 Nov 2025 15:19:07 -0600
Subject: [PATCH 40/68] Starting light sensor

---
 .codespell-ignore-words.txt                   |   1 +
 .../Components/Drv/CMakeLists.txt             |   1 +
 .../Drv/Velm6031Manager/CMakeLists.txt        |  36 ++++
 .../Drv/Velm6031Manager/Velm6031Manager.cpp   | 156 ++++++++++++++++++
 .../Drv/Velm6031Manager/Velm6031Manager.fpp   | 103 ++++++++++++
 .../Drv/Velm6031Manager/Velm6031Manager.hpp   |  70 ++++++++
 .../Drv/Velm6031Manager/docs/sdd.md           |  66 ++++++++
 .../Components/LoadSwitch/LoadSwitch.hpp      |   2 +
 .../ReferenceDeployment/Main.cpp              |  15 ++
 .../Top/ReferenceDeploymentTopology.cpp       |   9 +
 .../Top/ReferenceDeploymentTopologyDefs.hpp   |   8 +
 .../ReferenceDeployment/Top/instances.fpp     |  14 ++
 ...ht_control_board_v5c_rp2350a_m33_defconfig |   1 +
 13 files changed, 482 insertions(+)
 create mode 100644 FprimeZephyrReference/Components/Drv/Velm6031Manager/CMakeLists.txt
 create mode 100644 FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp
 create mode 100644 FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp
 create mode 100644 FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp
 create mode 100644 FprimeZephyrReference/Components/Drv/Velm6031Manager/docs/sdd.md

diff --git a/.codespell-ignore-words.txt b/.codespell-ignore-words.txt
index 3d64f1a1..41db8f22 100644
--- a/.codespell-ignore-words.txt
+++ b/.codespell-ignore-words.txt
@@ -1,3 +1,4 @@
+ALS
 comIn
 Ines
 rsource
diff --git a/FprimeZephyrReference/Components/Drv/CMakeLists.txt b/FprimeZephyrReference/Components/Drv/CMakeLists.txt
index d55d258b..6f1b9ec8 100644
--- a/FprimeZephyrReference/Components/Drv/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/Drv/CMakeLists.txt
@@ -4,3 +4,4 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/RtcManager")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Tmp112Manager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Types/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Velm6031Manager/")
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/CMakeLists.txt b/FprimeZephyrReference/Components/Drv/Velm6031Manager/CMakeLists.txt
new file mode 100644
index 00000000..99e460de
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/Velm6031Manager/CMakeLists.txt
@@ -0,0 +1,36 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+# Module names are derived from the path from the nearest project/library/framework
+# root when not specifically overridden by the developer. i.e. The module defined by
+# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
+
+register_fprime_library(
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/Velm6031Manager.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/Velm6031Manager.cpp"
+#   DEPENDS
+#       MyPackage_MyOtherModule
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/Velm6031Manager.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Velm6031ManagerTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Velm6031ManagerTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp
new file mode 100644
index 00000000..ae79e013
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp
@@ -0,0 +1,156 @@
+// ======================================================================
+// \title  Velm6031Manager.cpp
+// \brief  cpp file for Velm6031Manager component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/Velm6031Manager/Velm6031Manager.hpp"
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/i2c.h>
+#include <zephyr/kernel.h>
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+Velm6031Manager ::Velm6031Manager(const char* const compName) : Velm6031ManagerComponentBase(compName) {}
+
+Velm6031Manager ::~Velm6031Manager() {}
+
+void Velm6031Manager ::configure(const struct device* dev) {
+    this->m_dev = dev;
+}
+
+void Velm6031Manager ::ReadData() {  // const struct device *dev,
+    // Return integer
+    int ret;
+
+    // Sensor value structs for reading data
+    struct sensor_value light;
+    struct sensor_value als_raw;
+    struct sensor_value ir_raw;
+    struct sensor_value sen;
+
+    sen.val2 = 0;
+
+    Fw::ParamValid valid;
+    sen.val1 = 5;  // pass in saying that the parameter is valid
+
+    // Setting the integration time attribute for the light sensor
+
+    if (!(this->m_attributes_set)) {
+        ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_IT, &sen);
+        if (ret) {
+            Fw::LogStringArg errMsg("Failed to set it attribute");
+            this->log_WARNING_HI_Velm6031ManagerError(errMsg);
+        }
+
+        // Set the sensor attribute for div4
+        sen.val1 = paramGet_DIV4(valid);
+
+        ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_DIV4, &sen);
+        if (ret) {
+            Fw::LogStringArg errMsg("Failed to set div4 attribute");
+            this->log_WARNING_HI_Velm6031ManagerError(errMsg);
+        }
+
+        // Set the sensor attribute for the gain
+        sen.val1 = 0;
+        ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_GAIN, &sen);
+        if (ret) {
+            Fw::LogStringArg errMsg("Failed to set gain attribute ret");
+            this->log_WARNING_HI_Velm6031ManagerError(errMsg);
+        }
+
+        this->m_attributes_set = true;
+    }
+
+    // Get the rate
+    ret = sensor_sample_fetch(this->m_dev);
+    if ((ret < 0) && (ret != -E2BIG)) {
+        Fw::LogStringArg errMsg("sample update error");
+        this->log_WARNING_HI_Velm6031ManagerError(errMsg);
+        this->log_WARNING_HI_Velm6031ManagerErrorInt(ret);
+    }
+
+    // Get the light data
+    sensor_channel_get(this->m_dev, (enum sensor_channel)SENSOR_CHAN_LIGHT, &light);
+
+    // Get the raw ALS
+    sensor_channel_get(this->m_dev, (enum sensor_channel)SENSOR_CHAN_VEML6031_ALS_RAW_COUNTS, &als_raw);
+
+    // Get the raw IR
+    sensor_channel_get(this->m_dev, (enum sensor_channel)SENSOR_CHAN_VEML6031_IR_RAW_COUNTS, &ir_raw);
+
+    this->m_RawLightData = sensor_value_to_double(&light);
+    this->m_ALSLightData = sensor_value_to_double(&als_raw);
+    this->m_IRLightData = sensor_value_to_double(&ir_raw);
+}
+
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+void Velm6031Manager ::run_handler(FwIndexType portNum, U32 context) {
+    Fw::Logic state;
+    this->gpioRead_out(portNum, state);
+    if (state == Fw::Logic::HIGH) {  // port call to the gpio driver, pass in a specific pin #
+        this->ReadData();
+        this->tlmWrite_RawLightData(this->m_RawLightData);
+        this->tlmWrite_IRLightData(this->m_IRLightData);
+        this->tlmWrite_ALSLightData(this->m_ALSLightData);
+    } else {
+        if (this->m_device_init == true) {
+            this->m_device_init = false;
+        }
+        if (state == Fw::Logic::LOW && this->m_attributes_set == true) {
+            this->m_attributes_set = false;
+        }
+    }
+}
+
+void Velm6031Manager::init_handler(FwIndexType portNum) {
+    const struct device* mux = DEVICE_DT_GET(DT_NODELABEL(tca9548a));
+    const struct device* channel = DEVICE_DT_GET(DT_NODELABEL(face0_i2c));
+    const struct device* sensor = DEVICE_DT_GET(DT_NODELABEL(face0_light_sens));
+
+    if (!mux || !channel || !sensor) {
+        this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Device DT_NODELABEL missing"));
+        return;
+    }
+
+    int ret = device_init(mux);
+    if (ret < 0) {
+        this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("TCA9548A init failed"));
+        return;
+    }
+    k_sleep(K_MSEC(30));
+
+    ret = device_init(channel);
+    if (ret < 0) {
+        this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Mux channel init failed"));
+        return;
+    }
+    k_sleep(K_MSEC(30));
+
+    ret = device_init(sensor);
+    if (ret < 0) {
+        this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Light sensor init failed"));
+        // Continue anyway - might still work
+    }
+    k_sleep(K_MSEC(50));
+
+    if (!device_is_ready(sensor)) {
+        this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Light sensor not ready after timeout"));
+    }
+
+    this->m_dev = sensor;
+    this->m_device_init = true;
+
+    this->log_ACTIVITY_LO_Velm6031ManagerConfigured();
+}
+
+}  // namespace Components
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp
new file mode 100644
index 00000000..38a04d3a
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp
@@ -0,0 +1,103 @@
+module Components {
+    @ Component for reading light sensor data
+    port InitPort
+
+    passive component Velm6031Manager {
+
+        #### Parameters ####
+        @ Parameter for setting the gain of the light senors
+        param GAIN: U32 default 1
+
+        @ Parameter for setting the integration time of the light sensors
+        param INTEGRATION_TIME: U32 default 100
+
+        @ Parameter for setting the div4 mode of the light sensors
+        param DIV4: U32 default 0
+
+        #### Telemetry ####
+        @ Telemetry for the raw light sensor data
+        telemetry RawLightData: F32
+
+        @ Telemetry for the IR light sensor data
+        telemetry IRLightData: F32
+
+        @ Telemetry for the ALS light sensor data
+        telemetry ALSLightData: F32
+
+        #### Ports ####
+
+        @ Port for polling the light sensor data - called by rate group
+        sync input port run: Svc.Sched
+
+        @ Port for reading gpio status
+        output port gpioRead: Drv.GpioRead
+
+        @ Port to tell us when to init the device
+        sync input port init: InitPort
+
+        #### Events ####
+
+        @ Event for light sensor errors
+        event Velm6031ManagerError(log: string) severity warning high format "Light Sensor Error: {}"
+
+        event Velm6031ManagerErrorInt(log: U32) severity warning high format "Light Sensor Error: {}"
+
+        @ Event for light sensor configuration
+        event Velm6031ManagerConfigured() severity activity low format "Light Sensor Configured"
+
+        event Velm6031ManagerRead() severity activity low format "Values Read from the Light Sensor"
+
+
+
+
+        ##############################################################################
+        #### Uncomment the following examples to start customizing your component ####
+        ##############################################################################
+
+        # @ Example async command
+        # async command COMMAND_NAME(param_name: U32)
+
+        # @ Example telemetry counter
+        # telemetry ExampleCounter: U64
+
+        # @ Example event
+        # event ExampleStateEvent(example_state: Fw.On) severity activity high id 0 format "State set to {}"
+
+        # @ Example port: receiving calls from the rate group
+        # sync input port run: Svc.Sched
+
+        # @ Example parameter
+        # param PARAMETER_NAME: U32
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for sending command registrations
+        command reg port cmdRegOut
+
+        @ Port for receiving commands
+        command recv port cmdIn
+
+        @ Port for sending command responses
+        command resp port cmdResponseOut
+
+        @ Port for sending textual representation of events
+        text event port logTextOut
+
+        @ Port for sending events to downlink
+        event port logOut
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
+
+        @ Port to return the value of a parameter
+        param get port prmGetOut
+
+        @Port to set the value of a parameter
+        param set port prmSetOut
+
+    }
+}
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp
new file mode 100644
index 00000000..8cad2eda
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp
@@ -0,0 +1,70 @@
+// ======================================================================
+// \title  Velm6031Manager.hpp
+// \brief  hpp file for Velm6031Manager component implementation class
+// ======================================================================
+
+#ifndef Components_Velm6031Manager_HPP
+#define Components_Velm6031Manager_HPP
+
+#include <stdio.h>
+
+#include "FprimeZephyrReference/Components/Velm6031Manager/Velm6031ManagerComponentAc.hpp"
+#include <zephyr/device.h>
+#include <zephyr/drivers/i2c.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/drivers/sensor/veml6031.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+#include <zephyr/sys_clock.h>
+
+namespace Components {
+
+class Velm6031Manager final : public Velm6031ManagerComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct Velm6031Manager object
+    Velm6031Manager(const char* const compName  //!< The component name
+    );
+
+    //! Destroy Velm6031Manager object
+    ~Velm6031Manager();
+
+    void ReadData();
+
+    void configure(const struct device* dev);
+
+  private:
+    // ----------------------------------------------------------------------
+    // Handler implementations for typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for run
+    //!
+    //! Port for polling the light sensor data - called by rate group
+    void run_handler(FwIndexType portNum,  //!< The port number
+                     U32 context           //!< The call order
+                     ) override;
+
+    void init_handler(FwIndexType portNum);
+
+    F32 m_RawLightData;
+
+    F32 m_IRLightData;
+
+    F32 m_ALSLightData;
+
+    bool m_configured = false;
+
+    bool m_attributes_set = false;
+
+    bool m_device_init = false;
+
+    const struct device* m_dev;
+};
+
+}  // namespace Components
+
+#endif
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/docs/sdd.md b/FprimeZephyrReference/Components/Drv/Velm6031Manager/docs/sdd.md
new file mode 100644
index 00000000..2f35f91e
--- /dev/null
+++ b/FprimeZephyrReference/Components/Drv/Velm6031Manager/docs/sdd.md
@@ -0,0 +1,66 @@
+# Components::Velm6031Manager
+
+Component for reading light sensor data
+
+## Usage Examples
+Add usage examples here
+
+### Diagrams
+Add diagrams here
+
+### Typical Usage
+And the typical usage of the component here
+
+## Class Diagram
+Add a class diagram here
+
+## Port Descriptions
+| Name | Description |
+|---|---|
+|---|---|
+
+## Component States
+Add component states in the chart below
+| Name | Description |
+|---|---|
+|---|---|
+
+## Sequence Diagrams
+Add sequence diagrams here
+
+## Parameters
+| Name | Description |
+|---|---|
+|---|---|
+
+## Commands
+| Name | Description |
+|---|---|
+|---|---|
+
+## Events
+| Name | Description |
+|---|---|
+|---|---|
+
+## Telemetry
+| Name | Description |
+|---|---|
+|---|---|
+
+## Unit Tests
+Add unit test descriptions in the chart below
+| Name | Description | Output | Coverage |
+|---|---|---|---|
+|---|---|---|---|
+
+## Requirements
+Add requirements in the chart below
+| Name | Description | Validation |
+|---|---|---|
+|---|---|---|
+
+## Change Log
+| Date | Description |
+|---|---|
+|---| Initial Draft |
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
index 2a9f1990..837d0cfa 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
@@ -54,6 +54,8 @@ class LoadSwitch final : public LoadSwitchComponentBase {
     //! Handler implementation for loadSwitchStateGet
     //!
     //! Input port to get the state of the load switch (called by other components)
+    //! We need to wait for power to normalize after turning on the load switch
+    //! so we check the current time against a timeout
     Fw::On loadSwitchStateGet_handler(FwIndexType portNum  //!< The port number
                                       ) override;
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index 1ee482e0..16b871ce 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -36,6 +36,13 @@ const struct device* batt_cell1_temp_sens = DEVICE_DT_GET(DT_NODELABEL(batt_cell
 const struct device* batt_cell2_temp_sens = DEVICE_DT_GET(DT_NODELABEL(batt_cell2_temp_sens));
 const struct device* batt_cell3_temp_sens = DEVICE_DT_GET(DT_NODELABEL(batt_cell3_temp_sens));
 const struct device* batt_cell4_temp_sens = DEVICE_DT_GET(DT_NODELABEL(batt_cell4_temp_sens));
+const struct device* face0_light_sens = DEVICE_DT_GET(DT_NODELABEL(face0_light_sens));
+const struct device* face1_light_sens = DEVICE_DT_GET(DT_NODELABEL(face1_light_sens));
+const struct device* face2_light_sens = DEVICE_DT_GET(DT_NODELABEL(face2_light_sens));
+const struct device* face3_light_sens = DEVICE_DT_GET(DT_NODELABEL(face3_light_sens));
+const struct device* face5_light_sens = DEVICE_DT_GET(DT_NODELABEL(face5_light_sens));
+const struct device* face6_light_sens = DEVICE_DT_GET(DT_NODELABEL(face6_light_sens));
+const struct device* face7_light_sens = DEVICE_DT_GET(DT_NODELABEL(face7_light_sens));
 
 int main(int argc, char* argv[]) {
     // ** DO NOT REMOVE **//
@@ -77,6 +84,14 @@ int main(int argc, char* argv[]) {
     inputs.battCell2TempDevice = batt_cell2_temp_sens;
     inputs.battCell3TempDevice = batt_cell3_temp_sens;
     inputs.battCell4TempDevice = batt_cell4_temp_sens;
+    // Light sensor devices
+    inputs.face0LightDevice = face0_light_sens;
+    inputs.face1LightDevice = face1_light_sens;
+    inputs.face2LightDevice = face2_light_sens;
+    inputs.face3LightDevice = face3_light_sens;
+    inputs.face5LightDevice = face5_light_sens;
+    inputs.face6LightDevice = face6_light_sens;
+    inputs.face7LightDevice = face7_light_sens;
 
     inputs.baudRate = 115200;
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 3522bad4..fb86d6ee 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -140,6 +140,15 @@ void setupTopology(const TopologyState& state) {
     tmp112BattCell2Manager.configure(state.battCell2TempDevice);
     tmp112BattCell3Manager.configure(state.battCell3TempDevice);
     tmp112BattCell4Manager.configure(state.battCell4TempDevice);
+
+    // Configure all 7 VELM6031 light sensor managers
+    velm6031Face0Manager.configure(state.face0LightDevice);
+    velm6031Face1Manager.configure(state.face1LightDevice);
+    velm6031Face2Manager.configure(state.face2LightDevice);
+    velm6031Face3Manager.configure(state.face3LightDevice);
+    velm6031Face5Manager.configure(state.face5LightDevice);
+    velm6031Face6Manager.configure(state.face6LightDevice);
+    velm6031Face7Manager.configure(state.face7LightDevice);
 }
 
 void startRateGroups() {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index d8031df0..19d72cea 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -105,6 +105,14 @@ struct TopologyState {
     const device* battCell2TempDevice;  //!< TMP112 device for battery cell 2
     const device* battCell3TempDevice;  //!< TMP112 device for battery cell 3
     const device* battCell4TempDevice;  //!< TMP112 device for battery cell 4
+    // - Light sensors
+    const device* face0LightDevice;  //!< Light sensor device for cube face 0
+    const device* face1LightDevice;  //!< Light sensor device for cube face 1
+    const device* face2LightDevice;  //!< Light sensor device for cube face 2
+    const device* face3LightDevice;  //!< Light sensor device for cube face 3
+    const device* face5LightDevice;  //!< Light sensor device for cube face 5
+    const device* face6LightDevice;  //!< Light sensor device for cube face 6
+    const device* face7LightDevice;  //!< Light sensor device for cube face 7
 };
 
 namespace PingEntries = ::PingEntries;
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 7b22f7ae..ebc2e188 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -185,4 +185,18 @@ module ReferenceDeployment {
 
   instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x10053000
 
+  instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10054000
+
+  instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10055000
+
+  instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10056000
+
+  instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10057000
+
+  instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10058000
+
+  instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x10059000
+
+  instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005A000
+
 }
diff --git a/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig b/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig
index 2b429e95..7a5b0c34 100644
--- a/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig
+++ b/boards/bronco_space/proves_flight_control_board_v5c/proves_flight_control_board_v5c_rp2350a_m33_defconfig
@@ -26,6 +26,7 @@ CONFIG_LSM6DSO_ENABLE_TEMP=y
 CONFIG_LIS2MDL=y
 CONFIG_INA219=y
 CONFIG_TMP112=y
+CONFIG_VEML6031=y
 
 # Radio
 CONFIG_LORA=y

From 97475a61fd43fcd5dfb8fbc0d19f4a0c3715c48e Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Sat, 29 Nov 2025 15:39:03 -0600
Subject: [PATCH 41/68] Remove I2C debug lines from prj.conf

---
 prj.conf | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/prj.conf b/prj.conf
index d0bf5b51..d54b91ee 100644
--- a/prj.conf
+++ b/prj.conf
@@ -34,7 +34,6 @@ CONFIG_I2C_TCA954X=y
 # Mux must initialize AFTER I2C bus (16) and GPIO (11) but BEFORE sensors (90)
 CONFIG_I2C_TCA954X_ROOT_INIT_PRIO=70
 CONFIG_I2C_TCA954X_CHANNEL_INIT_PRIO=71
-CONFIG_DEVICE_DEINIT_SUPPORT=y
 
 CONFIG_DYNAMIC_THREAD=y
 CONFIG_KERNEL_MEM_POOL=y
@@ -57,8 +56,6 @@ CONFIG_SENSOR=y
 # Enable detailed logging for I2C and sensor debugging
 CONFIG_LOG=y
 CONFIG_LOG_DEFAULT_LEVEL=3
-CONFIG_I2C_LOG_LEVEL_DBG=y
-CONFIG_SENSOR_LOG_LEVEL_DBG=y
 
 CONFIG_CBPRINTF_FP_SUPPORT=y
 

From 496ec12359ca5067ca59eb9758ccc60e4e47b382 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Sun, 30 Nov 2025 17:28:46 -0600
Subject: [PATCH 42/68] Saving progress

---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       |  2 +
 .../Drv/Tmp112Manager/TMP112Manager.fpp       | 10 ++
 .../Drv/Tmp112Manager/TMP112Manager.hpp       |  9 ++
 .../Drv/Velm6031Manager/Velm6031Manager.cpp   | 99 +++++++++----------
 .../Drv/Velm6031Manager/Velm6031Manager.fpp   |  2 +-
 .../Drv/Velm6031Manager/Velm6031Manager.hpp   |  6 +-
 .../Components/LoadSwitch/LoadSwitch.fpp      |  3 +
 .../Top/ReferenceDeploymentPackets.fppi       | 24 +++++
 .../ReferenceDeployment/Top/topology.fpp      |  7 ++
 .../project/config/AcConstants.fpp            |  2 +-
 10 files changed, 108 insertions(+), 56 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index 597a5599..579fb41d 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -32,6 +32,8 @@ void TMP112Manager::configure(const struct device* dev) {
 // ----------------------------------------------------------------------
 
 void TMP112Manager ::init_handler(FwIndexType portNum, Fw::Success& condition) {
+    // if ()
+
     if (!this->m_dev) {
         condition = Fw::Success::FAILURE;
         this->log_WARNING_HI_DeviceNil();
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index 0cea2663..d9709d34 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -1,5 +1,6 @@
 module Drv {
     port temperatureGet -> F64
+    port initialized -> bool
 }
 
 module Drv {
@@ -12,6 +13,15 @@ module Drv {
         @ Port to read the temperature in degrees Celsius
         sync input port temperatureGet: temperatureGet
 
+        @ Output port to check device TCA health
+        output port getTCAHealth: Components.HealthGet
+
+        @ Output port to check device MUX health
+        output port getMUXHealth: Components.HealthGet
+
+        @ Output port to get load switch state
+        output port getLoadSwitchState: Components.loadSwitchStateGet
+
         # Telemetry channels
 
         @ Telemetry channel for temperature in degrees Celsius
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
index 59e8e34f..0e44b15b 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
@@ -59,6 +59,15 @@ class TMP112Manager final : public TMP112ManagerComponentBase {
     //! Zephyr device stores the initialized TMP112 sensor
     const struct device* m_dev;
 
+    //! TCA health state
+    Fw::Health tca_state = Fw::Health::FAILED;
+
+    //! MUX health state
+    Fw::Health mux_state = Fw::Health::FAILED;
+
+    //! Load switch state
+    Fw::On load_switch_state = Fw::On::OFF;
+
     //! Initialization state
     bool m_initialized = false;
 };
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp
index ae79e013..da5e1428 100644
--- a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp
@@ -3,14 +3,14 @@
 // \brief  cpp file for Velm6031Manager component implementation class
 // ======================================================================
 
-#include "FprimeZephyrReference/Components/Velm6031Manager/Velm6031Manager.hpp"
+#include "FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp"
 
 #include <zephyr/device.h>
 #include <zephyr/drivers/gpio.h>
 #include <zephyr/drivers/i2c.h>
 #include <zephyr/kernel.h>
 
-namespace Components {
+namespace Drv {
 
 // ----------------------------------------------------------------------
 // Component construction and destruction
@@ -45,16 +45,16 @@ void Velm6031Manager ::ReadData() {  // const struct device *dev,
         ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_IT, &sen);
         if (ret) {
             Fw::LogStringArg errMsg("Failed to set it attribute");
-            this->log_WARNING_HI_Velm6031ManagerError(errMsg);
+            // this->log_WARNING_HI_Velm6031ManagerError(errMsg);
         }
 
         // Set the sensor attribute for div4
-        sen.val1 = paramGet_DIV4(valid);
+        // sen.val1 = paramGet_DIV4(valid);
 
         ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_DIV4, &sen);
         if (ret) {
             Fw::LogStringArg errMsg("Failed to set div4 attribute");
-            this->log_WARNING_HI_Velm6031ManagerError(errMsg);
+            // this->log_WARNING_HI_Velm6031ManagerError(errMsg);
         }
 
         // Set the sensor attribute for the gain
@@ -62,7 +62,7 @@ void Velm6031Manager ::ReadData() {  // const struct device *dev,
         ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_GAIN, &sen);
         if (ret) {
             Fw::LogStringArg errMsg("Failed to set gain attribute ret");
-            this->log_WARNING_HI_Velm6031ManagerError(errMsg);
+            // this->log_WARNING_HI_Velm6031ManagerError(errMsg);
         }
 
         this->m_attributes_set = true;
@@ -72,8 +72,8 @@ void Velm6031Manager ::ReadData() {  // const struct device *dev,
     ret = sensor_sample_fetch(this->m_dev);
     if ((ret < 0) && (ret != -E2BIG)) {
         Fw::LogStringArg errMsg("sample update error");
-        this->log_WARNING_HI_Velm6031ManagerError(errMsg);
-        this->log_WARNING_HI_Velm6031ManagerErrorInt(ret);
+        // this->log_WARNING_HI_Velm6031ManagerError(errMsg);
+        // this->log_WARNING_HI_Velm6031ManagerErrorInt(ret);
     }
 
     // Get the light data
@@ -96,12 +96,12 @@ void Velm6031Manager ::ReadData() {  // const struct device *dev,
 
 void Velm6031Manager ::run_handler(FwIndexType portNum, U32 context) {
     Fw::Logic state;
-    this->gpioRead_out(portNum, state);
+    // this->gpioRead_out(portNum, state);
     if (state == Fw::Logic::HIGH) {  // port call to the gpio driver, pass in a specific pin #
         this->ReadData();
-        this->tlmWrite_RawLightData(this->m_RawLightData);
-        this->tlmWrite_IRLightData(this->m_IRLightData);
-        this->tlmWrite_ALSLightData(this->m_ALSLightData);
+        // this->tlmWrite_RawLightData(this->m_RawLightData);
+        // this->tlmWrite_IRLightData(this->m_IRLightData);
+        // this->tlmWrite_ALSLightData(this->m_ALSLightData);
     } else {
         if (this->m_device_init == true) {
             this->m_device_init = false;
@@ -113,44 +113,41 @@ void Velm6031Manager ::run_handler(FwIndexType portNum, U32 context) {
 }
 
 void Velm6031Manager::init_handler(FwIndexType portNum) {
-    const struct device* mux = DEVICE_DT_GET(DT_NODELABEL(tca9548a));
-    const struct device* channel = DEVICE_DT_GET(DT_NODELABEL(face0_i2c));
-    const struct device* sensor = DEVICE_DT_GET(DT_NODELABEL(face0_light_sens));
-
-    if (!mux || !channel || !sensor) {
-        this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Device DT_NODELABEL missing"));
-        return;
-    }
-
-    int ret = device_init(mux);
-    if (ret < 0) {
-        this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("TCA9548A init failed"));
-        return;
-    }
-    k_sleep(K_MSEC(30));
-
-    ret = device_init(channel);
-    if (ret < 0) {
-        this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Mux channel init failed"));
-        return;
-    }
-    k_sleep(K_MSEC(30));
-
-    ret = device_init(sensor);
-    if (ret < 0) {
-        this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Light sensor init failed"));
-        // Continue anyway - might still work
-    }
-    k_sleep(K_MSEC(50));
-
-    if (!device_is_ready(sensor)) {
-        this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Light sensor not ready after timeout"));
-    }
-
-    this->m_dev = sensor;
-    this->m_device_init = true;
-
-    this->log_ACTIVITY_LO_Velm6031ManagerConfigured();
+    // const struct device* mux = DEVICE_DT_GET(DT_NODELABEL(tca9548a));
+    // const struct device* channel = DEVICE_DT_GET(DT_NODELABEL(face0_i2c));
+    // const struct device* sensor = DEVICE_DT_GET(DT_NODELABEL(face0_light_sens));
+
+    // if (!mux || !channel || !sensor) {
+    //     // this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Device DT_NODELABEL missing"));
+    //     return;
+    // }
+
+    // int ret = device_init(mux);
+    // if (ret < 0) {
+    //     // this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("TCA9548A init failed"));
+    //     return;
+    // }
+
+    // ret = device_init(channel);
+    // if (ret < 0) {
+    //     // this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Mux channel init failed"));
+    //     return;
+    // }
+
+    // ret = device_init(sensor);
+    // if (ret < 0) {
+    //     // this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Light sensor init failed"));
+    //     // Continue anyway - might still work
+    // }
+
+    // if (!device_is_ready(sensor)) {
+    //     // this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Light sensor not ready after timeout"));
+    // }
+
+    // this->m_dev = sensor;
+    // this->m_device_init = true;
+
+    // this->log_ACTIVITY_LO_Velm6031ManagerConfigured();
 }
 
-}  // namespace Components
+}  // namespace Drv
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp
index 38a04d3a..5ee1e61d 100644
--- a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp
@@ -1,4 +1,4 @@
-module Components {
+module Drv {
     @ Component for reading light sensor data
     port InitPort
 
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp
index 8cad2eda..8e33e60e 100644
--- a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp
@@ -8,7 +8,7 @@
 
 #include <stdio.h>
 
-#include "FprimeZephyrReference/Components/Velm6031Manager/Velm6031ManagerComponentAc.hpp"
+#include "FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031ManagerComponentAc.hpp"
 #include <zephyr/device.h>
 #include <zephyr/drivers/i2c.h>
 #include <zephyr/drivers/sensor.h>
@@ -17,7 +17,7 @@
 #include <zephyr/sys/printk.h>
 #include <zephyr/sys_clock.h>
 
-namespace Components {
+namespace Drv {
 
 class Velm6031Manager final : public Velm6031ManagerComponentBase {
   public:
@@ -65,6 +65,6 @@ class Velm6031Manager final : public Velm6031ManagerComponentBase {
     const struct device* m_dev;
 };
 
-}  // namespace Components
+}  // namespace Drv
 
 #endif
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
index 5a488252..d12315e3 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -24,6 +24,9 @@ module Components {
         @ Port sending calls to the GPIO driver to read state
         output port gpioGet: Drv.GpioRead
 
+        @ Port to indicate a change in load switch state
+        output port loadSwitchStateChanged: Components.loadSwitchStateGet
+
         @ Input port to reset the load switch (called by other components)
         sync input port Reset: Fw.Signal
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 816d7a5a..5da15f16 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -120,6 +120,30 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.tmp112BattCell4Manager.Temperature
   }
 
+  packet LightSensor id 14 group 4 {
+    ReferenceDeployment.velm6031Face0Manager.RawLightData
+    ReferenceDeployment.velm6031Face1Manager.RawLightData
+    ReferenceDeployment.velm6031Face2Manager.RawLightData
+    ReferenceDeployment.velm6031Face3Manager.RawLightData
+    ReferenceDeployment.velm6031Face5Manager.RawLightData
+    ReferenceDeployment.velm6031Face6Manager.RawLightData
+    ReferenceDeployment.velm6031Face7Manager.RawLightData
+    ReferenceDeployment.velm6031Face0Manager.IRLightData
+    ReferenceDeployment.velm6031Face1Manager.IRLightData
+    ReferenceDeployment.velm6031Face2Manager.IRLightData
+    ReferenceDeployment.velm6031Face3Manager.IRLightData
+    ReferenceDeployment.velm6031Face5Manager.IRLightData
+    ReferenceDeployment.velm6031Face6Manager.IRLightData
+    ReferenceDeployment.velm6031Face7Manager.IRLightData
+    ReferenceDeployment.velm6031Face0Manager.ALSLightData
+    ReferenceDeployment.velm6031Face1Manager.ALSLightData
+    ReferenceDeployment.velm6031Face2Manager.ALSLightData
+    ReferenceDeployment.velm6031Face3Manager.ALSLightData
+    ReferenceDeployment.velm6031Face5Manager.ALSLightData
+    ReferenceDeployment.velm6031Face6Manager.ALSLightData
+    ReferenceDeployment.velm6031Face7Manager.ALSLightData
+  }
+
 } omit {
   CdhCore.cmdDisp.CommandErrors
   # Only has one library, no custom versions
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 0d8c4f02..60e30d6f 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -91,6 +91,13 @@ module ReferenceDeployment {
     instance tmp112BattCell4Manager
     instance resetManager
     instance modeManager
+    instance velm6031Face0Manager
+    instance velm6031Face1Manager
+    instance velm6031Face2Manager
+    instance velm6031Face3Manager
+    instance velm6031Face5Manager
+    instance velm6031Face6Manager
+    instance velm6031Face7Manager
 
 
   # ----------------------------------------------------------------------
diff --git a/FprimeZephyrReference/project/config/AcConstants.fpp b/FprimeZephyrReference/project/config/AcConstants.fpp
index 38f32886..45302ea6 100644
--- a/FprimeZephyrReference/project/config/AcConstants.fpp
+++ b/FprimeZephyrReference/project/config/AcConstants.fpp
@@ -13,7 +13,7 @@ constant PassiveRateGroupOutputPorts = 10
 constant RateGroupDriverRateGroupPorts = 3
 
 @ Used for command and registration ports
-constant CmdDispatcherComponentCommandPorts = 30
+constant CmdDispatcherComponentCommandPorts = 36
 
 @ Used for uplink/sequencer buffer/response ports
 constant CmdDispatcherSequencePorts = 5

From c52a18d1a0f510ac44e334643737173dd89d0fb7 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Sun, 30 Nov 2025 22:10:39 -0600
Subject: [PATCH 43/68] It's building...

---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       | 129 +++++++++++++-----
 .../Drv/Tmp112Manager/TMP112Manager.fpp       |  25 ++--
 .../Drv/Tmp112Manager/TMP112Manager.hpp       |  47 +++++--
 .../Components/LoadSwitch/LoadSwitch.cpp      |  28 +---
 .../Components/LoadSwitch/LoadSwitch.fpp      |   9 +-
 .../Components/LoadSwitch/LoadSwitch.hpp      |  21 ---
 .../ThermalManager/ThermalManager.cpp         |  82 ++---------
 .../ReferenceDeployment/Top/topology.fpp      |  47 +++----
 8 files changed, 189 insertions(+), 199 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index 579fb41d..e53c0864 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -31,64 +31,127 @@ void TMP112Manager::configure(const struct device* dev) {
 // Handler implementations for typed input ports
 // ----------------------------------------------------------------------
 
-void TMP112Manager ::init_handler(FwIndexType portNum, Fw::Success& condition) {
-    // if ()
+Fw::Success TMP112Manager ::loadSwitchStateChanged_handler(FwIndexType portNum, const Fw::On& loadSwitchState) {
+    // Store the load switch state
+    this->m_load_switch_state = loadSwitchState;
 
+    // If the load switch is off, deinitialize the device
+    if (this->m_load_switch_state == Fw::On::OFF) {
+        return this->deinitializeDevice();
+    }
+
+    // If the load switch is on, set the timeout
+    // We only consider the load switch to be fully on after a timeout period
+    this->m_load_switch_on_timeout = this->getTime();
+    this->m_load_switch_on_timeout.add(1, 0);
+
+    return Fw::Success::SUCCESS;
+}
+
+F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum, Fw::Success& condition) {
+    condition = Fw::Success::FAILURE;
+
+    if (!this->initializeDevice()) {
+        return 0;
+    }
+
+    struct sensor_value val;
+
+    int rc = sensor_sample_fetch_chan(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP);
+    if (rc != 0) {
+        this->log_WARNING_HI_SensorSampleFetchFailed(rc);
+        return 0;
+    }
+    this->log_WARNING_HI_SensorSampleFetchFailed_ThrottleClear();
+
+    rc = sensor_channel_get(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP, &val);
+    if (rc != 0) {
+        this->log_WARNING_HI_SensorChannelGetFailed(rc);
+        return 0;
+    }
+    this->log_WARNING_HI_SensorChannelGetFailed_ThrottleClear();
+
+    F64 temp = sensor_value_to_double(&val);
+    condition = Fw::Success::SUCCESS;
+
+    this->tlmWrite_Temperature(temp);
+
+    return temp;
+}
+
+bool TMP112Manager ::isDeviceInitialized() {
     if (!this->m_dev) {
-        condition = Fw::Success::FAILURE;
         this->log_WARNING_HI_DeviceNil();
-        return;
+        return false;
     }
     this->log_WARNING_HI_DeviceNil_ThrottleClear();
 
     if (!this->m_dev->state) {
-        condition = Fw::Success::FAILURE;
         this->log_WARNING_HI_DeviceStateNil();
-        return;
+        return false;
     }
     this->log_WARNING_HI_DeviceStateNil_ThrottleClear();
 
-    // Reset the device initialization state to allow device_init to run again.
-    this->m_dev->state->initialized = false;
+    return this->m_dev->state->initialized;
+}
+
+Fw::Success TMP112Manager ::initializeDevice() {
+    if (this->isDeviceInitialized()) {
+        if (!device_is_ready(this->m_dev)) {
+            this->log_WARNING_HI_DeviceNotReady();
+            return Fw::Success::FAILURE;
+        }
+        this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
+        return Fw::Success::SUCCESS;
+    }
+
+    if (this->tcaHealthGet_out(0) != Fw::Health::HEALTHY) {
+        this->log_WARNING_HI_TcaUnhealthy();
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_TcaUnhealthy_ThrottleClear();
+
+    if (this->muxHealthGet_out(0) != Fw::Health::HEALTHY) {
+        this->log_WARNING_HI_MuxUnhealthy();
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_MuxUnhealthy_ThrottleClear();
+
+    if (!this->loadSwitchReady()) {
+        this->log_WARNING_HI_LoadSwitchNotReady();
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_LoadSwitchNotReady_ThrottleClear();
 
     int rc = device_init(this->m_dev);
     if (rc < 0) {
-        condition = Fw::Success::FAILURE;
         this->log_WARNING_HI_DeviceInitFailed(rc);
-        return;
+        return Fw::Success::FAILURE;
     }
     this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
 
-    // this->m_initialized = true; // This cannot be used until it can be set false when the load switch is turned off.
-    condition = Fw::Success::SUCCESS;
+    return Fw::Success::SUCCESS;
 }
 
-F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum) {
-    if (!device_is_ready(this->m_dev)) {
-        this->log_WARNING_HI_DeviceNotReady();
-        return 0;
-    }
-    this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
-
-    struct sensor_value temp;
-
-    int rc = sensor_sample_fetch_chan(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP);
-    if (rc != 0) {
-        this->log_WARNING_HI_SensorSampleFetchFailed(rc);
-        return 0;
+Fw::Success TMP112Manager ::deinitializeDevice() {
+    if (!this->m_dev) {
+        this->log_WARNING_HI_DeviceNil();
+        return Fw::Success::FAILURE;
     }
-    this->log_WARNING_HI_SensorSampleFetchFailed_ThrottleClear();
+    this->log_WARNING_HI_DeviceNil_ThrottleClear();
 
-    rc = sensor_channel_get(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
-    if (rc != 0) {
-        this->log_WARNING_HI_SensorChannelGetFailed(rc);
-        return 0;
+    if (!this->m_dev->state) {
+        this->log_WARNING_HI_DeviceStateNil();
+        return Fw::Success::FAILURE;
     }
-    this->log_WARNING_HI_SensorChannelGetFailed_ThrottleClear();
+    this->log_WARNING_HI_DeviceStateNil_ThrottleClear();
 
-    this->tlmWrite_Temperature(sensor_value_to_double(&temp));
+    this->m_dev->state->initialized = false;
+    Fw::Success::SUCCESS;
+}
 
-    return sensor_value_to_double(&temp);
+bool TMP112Manager ::loadSwitchReady() {
+    return this->m_load_switch_state == Fw::On::ON && this->getTime() >= this->m_load_switch_on_timeout;
 }
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index d9709d34..bec8547a 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -1,26 +1,22 @@
 module Drv {
-    port temperatureGet -> F64
-    port initialized -> bool
+    port temperatureGet(ref condition: Fw.Success) -> F64
 }
 
 module Drv {
     @ Manager for TMP112 device
     passive component TMP112Manager {
         # Ports
-        @ Port to initialize the TMP112 device
-        sync input port init: Fw.SuccessCondition
-
         @ Port to read the temperature in degrees Celsius
         sync input port temperatureGet: temperatureGet
 
+        @ Port to initialize and deinitialize the TMP112 device on load switch state change
+        sync input port loadSwitchStateChanged: Components.loadSwitchStateChanged
+
         @ Output port to check device TCA health
-        output port getTCAHealth: Components.HealthGet
+        output port tcaHealthGet: Components.HealthGet
 
         @ Output port to check device MUX health
-        output port getMUXHealth: Components.HealthGet
-
-        @ Output port to get load switch state
-        output port getLoadSwitchState: Components.loadSwitchStateGet
+        output port muxHealthGet: Components.HealthGet
 
         # Telemetry channels
 
@@ -40,6 +36,15 @@ module Drv {
         @ Event for reporting TMP112 nil state error
         event DeviceStateNil() severity warning high format "TMP112 device state is nil" throttle 5
 
+        @ Event for reporting TCA unhealthy state
+        event TcaUnhealthy() severity warning high format "TMP112 TCA device is unhealthy" throttle 5
+
+        @ Event for reporting MUX unhealthy state
+        event MuxUnhealthy() severity warning high format "TMP112 MUX device is unhealthy" throttle 5
+
+        @ Event for reporting Load Switch not ready state
+        event LoadSwitchNotReady() severity warning high format "TMP112 Load Switch is not ready" throttle 5
+
         @ Event for reporting TMP112 sensor fetch failure
         event SensorSampleFetchFailed(ret: I32) severity warning high format "TMP112 sensor fetch failed with return code: {}" throttle 5
 
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
index 0e44b15b..d182d757 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
@@ -27,7 +27,7 @@ class TMP112Manager final : public TMP112ManagerComponentBase {
 
   public:
     // ----------------------------------------------------------------------
-    // Helper methods
+    // Public helper methods
     // ----------------------------------------------------------------------
 
     //! Configure the TMP112 device
@@ -38,38 +38,55 @@ class TMP112Manager final : public TMP112ManagerComponentBase {
     // Handler implementations for typed input ports
     // ----------------------------------------------------------------------
 
-    //! Handler implementation for init
+    //! Handler implementation for loadSwitchStateChanged
     //!
-    //! Port to initialize the TMP112 device
-    //! Must be called and complete successfully at least one time before temperature can be read
-    void init_handler(FwIndexType portNum,    //!< The port number
-                      Fw::Success& condition  //!< Condition success/failure
-                      ) override;
+    //! Port to initialize and deinitialize the TMP112 device on load switch state change
+    Fw::Success loadSwitchStateChanged_handler(FwIndexType portNum,  //!< The port number
+                                               const Fw::On& state) override;
 
     //! Handler implementation for temperatureGet
     //!
     //! Port to read the temperature in degrees Celsius
-    F64 temperatureGet_handler(FwIndexType portNum  //!< The port number
-                               ) override;
+    F64 temperatureGet_handler(FwIndexType portNum,  //!< The port number
+                               Fw::Success& condition) override;
 
+  private:
+    // ----------------------------------------------------------------------
+    // Private helper methods
+    // ----------------------------------------------------------------------
+
+    //! Initialize the TMP112 device
+    Fw::Success initializeDevice();
+
+    //! Deinitialize the TMP112 device
+    Fw::Success deinitializeDevice();
+
+    //! Check if the TMP112 device is initialized
+    bool isDeviceInitialized();
+
+    //! Check if the load switch is ready (on and timeout passed)
+    bool loadSwitchReady();
+
+  private:
     // ----------------------------------------------------------------------
-    // Member variables
+    // Private member variables
     // ----------------------------------------------------------------------
 
     //! Zephyr device stores the initialized TMP112 sensor
     const struct device* m_dev;
 
     //! TCA health state
-    Fw::Health tca_state = Fw::Health::FAILED;
+    Fw::Health m_tca_state = Fw::Health::FAILED;
 
     //! MUX health state
-    Fw::Health mux_state = Fw::Health::FAILED;
+    Fw::Health m_mux_state = Fw::Health::FAILED;
 
     //! Load switch state
-    Fw::On load_switch_state = Fw::On::OFF;
+    Fw::On m_load_switch_state = Fw::On::OFF;
 
-    //! Initialization state
-    bool m_initialized = false;
+    //! Load switch on timeout
+    //! Time when we can consider the load switch to be fully on (giving time for power to normalize)
+    Fw::Time m_load_switch_on_timeout;
 };
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index c65511a4..8224d0be 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -22,16 +22,6 @@ LoadSwitch ::~LoadSwitch() {}
 // Handler implementations for typed input ports
 // ----------------------------------------------------------------------
 
-void LoadSwitch ::Reset_handler(FwIndexType portNum) {
-    this->setLoadSwitchState(Fw::On::OFF);
-    k_sleep(K_MSEC(100));
-    this->setLoadSwitchState(Fw::On::ON);
-}
-
-Fw::On LoadSwitch ::loadSwitchStateGet_handler(FwIndexType portNum) {
-    return this->getLoadSwitchState() && this->getTime() > this->m_on_timeout ? Fw::On::ON : Fw::On::OFF;
-}
-
 void LoadSwitch ::turnOn_handler(FwIndexType portNum) {
     this->setLoadSwitchState(Fw::On::ON);
 }
@@ -59,23 +49,17 @@ void LoadSwitch ::TURN_OFF_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
 // ----------------------------------------------------------------------
 
 void LoadSwitch ::setLoadSwitchState(Fw::On state) {
+    // Check if the state is changing
     if (this->getLoadSwitchState() == state) {
-        // No change, exit early
         return;
     }
 
-    Fw::Logic gpioValue = Fw::Logic::LOW;
-    if (state == Fw::On::ON) {
-        gpioValue = Fw::Logic::HIGH;
-        this->m_on_timeout = this->getTime();
-        // Start timeout timer for 1 second
-        // This delay is to allow power to stabilize after turning on the load switch
-        // TODO(nateinaction): Take delay duration as a parameter
-        // TODO(nateinaction): Is there a non-sleep way to determine if load switched board is ready?
-        this->m_on_timeout.add(1, 0);
-    }
-
+    // Set the load switch state
+    Fw::Logic gpioValue = state ? Fw::Logic::HIGH : Fw::Logic::LOW;
     this->gpioSet_out(0, gpioValue);
+
+    // Inform downstream components of the state change
+    this->loadSwitchStateChanged_out(0, state);
     this->log_ACTIVITY_HI_StatusChanged(state);
     this->tlmWrite_IsOn(state);
 }
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
index d12315e3..27843f80 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -1,5 +1,6 @@
 module Components {
     port loadSwitchStateGet -> Fw.On
+    port loadSwitchStateChanged($state: Fw.On) -> Fw.Success
 }
 
 module Components {
@@ -25,10 +26,7 @@ module Components {
         output port gpioGet: Drv.GpioRead
 
         @ Port to indicate a change in load switch state
-        output port loadSwitchStateChanged: Components.loadSwitchStateGet
-
-        @ Input port to reset the load switch (called by other components)
-        sync input port Reset: Fw.Signal
+        output port loadSwitchStateChanged: loadSwitchStateChanged
 
         @ Input port to turn on the load switch (called by other components)
         sync input port turnOn: Fw.Signal
@@ -36,9 +34,6 @@ module Components {
         @ Input port to turn off the load switch (called by other components)
         sync input port turnOff: Fw.Signal
 
-        @ Input port to get the state of the load switch (called by other components)
-        sync input port loadSwitchStateGet: loadSwitchStateGet
-
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
         ###############################################################################
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
index 837d0cfa..8d89265d 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp
@@ -43,22 +43,6 @@ class LoadSwitch final : public LoadSwitchComponentBase {
                              U32 cmdSeq            //!< The command sequence number
                              ) override;
 
-    // ----------------------------------------------------------------------
-    // Handler implementations for typed input ports
-    // ----------------------------------------------------------------------
-
-    //! Handler implementation for Reset
-    void Reset_handler(FwIndexType portNum  //!< The port number
-                       ) override;
-
-    //! Handler implementation for loadSwitchStateGet
-    //!
-    //! Input port to get the state of the load switch (called by other components)
-    //! We need to wait for power to normalize after turning on the load switch
-    //! so we check the current time against a timeout
-    Fw::On loadSwitchStateGet_handler(FwIndexType portNum  //!< The port number
-                                      ) override;
-
     //! Handler implementation for turnOn
     void turnOn_handler(FwIndexType portNum  //!< The port number
                         ) override;
@@ -77,11 +61,6 @@ class LoadSwitch final : public LoadSwitchComponentBase {
 
     //! Get current load switch state
     Fw::On getLoadSwitchState();  //<! Get the current state (ON or OFF)
-
-    // ----------------------------------------------------------------------
-    // Private member variables
-    // ----------------------------------------------------------------------
-    Fw::Time m_on_timeout;  //!< Time when load switch was turned on plus a delay time
 };
 
 }  // namespace Components
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 1ed66346..1ba28f23 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -23,78 +23,24 @@ ThermalManager::~ThermalManager() {}
 
 void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
     // Cube face sensors (5 sensors)
-    Fw::Success condition;
+    Fw::Success condition;  // We're not going to act on this condition for now
 
-    // If the TCA is not healthy, skip reading sensors
-    if (this->tcaHealthGet_out(0) != Fw::Health::HEALTHY) {
-        return;
-    }
+    this->face0TempGet_out(0, condition);
+    this->face1TempGet_out(0, condition);
+    this->face2TempGet_out(0, condition);
+    this->face3TempGet_out(0, condition);
+    this->face5TempGet_out(0, condition);
 
-    if (this->muxChannel0HealthGet_out(0) == Fw::Health::HEALTHY &&
-        this->face0LoadSwitchStateGet_out(0) == Fw::On::ON) {
-        this->face0Init_out(0, condition);  // TODO(nateinaction): If init fails, try deinit?
-        if (condition == Fw::Success::SUCCESS) {
-            this->face0TempGet_out(0);
-        }
-    }
-
-    if (this->muxChannel1HealthGet_out(0) == Fw::Health::HEALTHY &&
-        this->face1LoadSwitchStateGet_out(0) == Fw::On::ON) {
-        this->face1Init_out(0, condition);
-        if (condition == Fw::Success::SUCCESS) {
-            this->face1TempGet_out(0);
-        }
-    }
-
-    if (this->muxChannel2HealthGet_out(0) == Fw::Health::HEALTHY &&
-        this->face2LoadSwitchStateGet_out(0) == Fw::On::ON) {
-        this->face2Init_out(0, condition);
-        if (condition == Fw::Success::SUCCESS) {
-            this->face2TempGet_out(0);
-        }
-    }
-
-    if (this->muxChannel3HealthGet_out(0) == Fw::Health::HEALTHY &&
-        this->face3LoadSwitchStateGet_out(0) == Fw::On::ON) {
-        this->face3Init_out(0, condition);
-        if (condition == Fw::Success::SUCCESS) {
-            this->face3TempGet_out(0);
-        }
-    }
-
-    if (this->muxChannel5HealthGet_out(0) == Fw::Health::HEALTHY &&
-        this->face5LoadSwitchStateGet_out(0) == Fw::On::ON) {
-        this->face5Init_out(0, condition);
-        if (condition == Fw::Success::SUCCESS) {
-            this->face5TempGet_out(0);
-        }
-    }
-
-    // If mux channel 4 is not healthy, skip battery cell sensors
-    if (this->muxChannel4HealthGet_out(0) != Fw::Health::HEALTHY) {
-        return;
-    }
+    // // If mux channel 4 is not healthy, skip battery cell sensors
+    // if (this->muxChannel4HealthGet_out(0) != Fw::Health::HEALTHY) {
+    //     return;
+    // }
 
     // Battery cell sensors (4 sensors)
-    this->battCell1Init_out(0, condition);
-    if (condition == Fw::Success::SUCCESS) {
-        this->battCell1TempGet_out(0);
-    }
-
-    this->battCell2Init_out(0, condition);
-    if (condition == Fw::Success::SUCCESS) {
-        this->battCell2TempGet_out(0);
-    }
-
-    this->battCell3Init_out(0, condition);
-    if (condition == Fw::Success::SUCCESS) {
-        this->battCell3TempGet_out(0);
-    }
-
-    this->battCell4Init_out(0, condition);
-    if (condition == Fw::Success::SUCCESS) {
-        this->battCell4TempGet_out(0);
-    }
+    this->battCell1TempGet_out(0, condition);
+    this->battCell2TempGet_out(0, condition);
+    this->battCell3TempGet_out(0, condition);
+    this->battCell4TempGet_out(0, condition);
 }
 
 }  // namespace Components
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 60e30d6f..6ecc697b 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -229,18 +229,23 @@ module ReferenceDeployment {
 
       face0LoadSwitch.gpioSet -> gpioface0LS.gpioWrite
       face0LoadSwitch.gpioGet -> gpioface0LS.gpioRead
+      face0LoadSwitch.loadSwitchStateChanged -> tmp112Face0Manager.loadSwitchStateChanged
 
       face1LoadSwitch.gpioSet -> gpioface1LS.gpioWrite
       face1LoadSwitch.gpioGet -> gpioface1LS.gpioRead
+      face1LoadSwitch.loadSwitchStateChanged -> tmp112Face1Manager.loadSwitchStateChanged
 
       face2LoadSwitch.gpioSet -> gpioface2LS.gpioWrite
       face2LoadSwitch.gpioGet -> gpioface2LS.gpioRead
+      face2LoadSwitch.loadSwitchStateChanged -> tmp112Face2Manager.loadSwitchStateChanged
 
       face3LoadSwitch.gpioSet -> gpioface3LS.gpioWrite
       face3LoadSwitch.gpioGet -> gpioface3LS.gpioRead
+      face3LoadSwitch.loadSwitchStateChanged -> tmp112Face3Manager.loadSwitchStateChanged
 
       face5LoadSwitch.gpioSet -> gpioface5LS.gpioWrite
       face5LoadSwitch.gpioGet -> gpioface5LS.gpioRead
+      face5LoadSwitch.loadSwitchStateChanged -> tmp112Face5Manager.loadSwitchStateChanged
 
       payloadPowerLoadSwitch.gpioSet -> gpioPayloadPowerLS.gpioWrite
       payloadPowerLoadSwitch.gpioGet -> gpioPayloadPowerLS.gpioRead
@@ -286,45 +291,41 @@ module ReferenceDeployment {
       powerMonitor.solPowerGet -> ina219SolManager.powerGet
     }
 
-    connections thermalMonitor {
-      thermalManager.tcaHealthGet -> tcaMonitor.healthGet
-
-      thermalManager.muxChannel0HealthGet -> muxChannel0Monitor.healthGet
-      thermalManager.face0LoadSwitchStateGet -> face0LoadSwitch.loadSwitchStateGet
-      thermalManager.face0Init -> tmp112Face0Manager.init
+    connections thermalManager {
+      tmp112Face0Manager.tcaHealthGet -> tcaMonitor.healthGet
+      tmp112Face0Manager.muxHealthGet -> muxChannel0Monitor.healthGet
       thermalManager.face0TempGet -> tmp112Face0Manager.temperatureGet
 
-      thermalManager.muxChannel1HealthGet -> muxChannel1Monitor.healthGet
-      thermalManager.face1LoadSwitchStateGet -> face1LoadSwitch.loadSwitchStateGet
-      thermalManager.face1Init -> tmp112Face1Manager.init
+      tmp112Face1Manager.tcaHealthGet -> tcaMonitor.healthGet
+      tmp112Face1Manager.muxHealthGet -> muxChannel1Monitor.healthGet
       thermalManager.face1TempGet -> tmp112Face1Manager.temperatureGet
 
-      thermalManager.muxChannel2HealthGet -> muxChannel2Monitor.healthGet
-      thermalManager.face2LoadSwitchStateGet -> face2LoadSwitch.loadSwitchStateGet
-      thermalManager.face2Init -> tmp112Face2Manager.init
+      tmp112Face2Manager.tcaHealthGet -> tcaMonitor.healthGet
+      tmp112Face2Manager.muxHealthGet -> muxChannel2Monitor.healthGet
       thermalManager.face2TempGet -> tmp112Face2Manager.temperatureGet
 
-      thermalManager.muxChannel3HealthGet -> muxChannel3Monitor.healthGet
-      thermalManager.face3LoadSwitchStateGet -> face3LoadSwitch.loadSwitchStateGet
-      thermalManager.face3Init -> tmp112Face3Manager.init
+      tmp112Face3Manager.tcaHealthGet -> tcaMonitor.healthGet
+      tmp112Face3Manager.muxHealthGet -> muxChannel3Monitor.healthGet
       thermalManager.face3TempGet -> tmp112Face3Manager.temperatureGet
 
-      thermalManager.muxChannel5HealthGet -> muxChannel5Monitor.healthGet
-      thermalManager.face5LoadSwitchStateGet -> face5LoadSwitch.loadSwitchStateGet
-      thermalManager.face5Init -> tmp112Face5Manager.init
+      tmp112Face5Manager.tcaHealthGet -> tcaMonitor.healthGet
+      tmp112Face5Manager.muxHealthGet -> muxChannel5Monitor.healthGet
       thermalManager.face5TempGet -> tmp112Face5Manager.temperatureGet
 
-      thermalManager.muxChannel4HealthGet -> muxChannel4Monitor.healthGet
-      thermalManager.battCell1Init -> tmp112BattCell1Manager.init
+      tmp112BattCell1Manager.tcaHealthGet -> tcaMonitor.healthGet
+      tmp112BattCell1Manager.muxHealthGet -> muxChannel4Monitor.healthGet
       thermalManager.battCell1TempGet -> tmp112BattCell1Manager.temperatureGet
 
-      thermalManager.battCell2Init -> tmp112BattCell2Manager.init
+      tmp112BattCell2Manager.tcaHealthGet -> tcaMonitor.healthGet
+      tmp112BattCell2Manager.muxHealthGet -> muxChannel4Monitor.healthGet
       thermalManager.battCell2TempGet -> tmp112BattCell2Manager.temperatureGet
 
-      thermalManager.battCell3Init -> tmp112BattCell3Manager.init
+      tmp112BattCell3Manager.tcaHealthGet -> tcaMonitor.healthGet
+      tmp112BattCell3Manager.muxHealthGet -> muxChannel4Monitor.healthGet
       thermalManager.battCell3TempGet -> tmp112BattCell3Manager.temperatureGet
 
-      thermalManager.battCell4Init -> tmp112BattCell4Manager.init
+      tmp112BattCell4Manager.tcaHealthGet -> tcaMonitor.healthGet
+      tmp112BattCell4Manager.muxHealthGet -> muxChannel4Monitor.healthGet
       thermalManager.battCell4TempGet -> tmp112BattCell4Manager.temperatureGet
     }
 

From 8f76f8764ed1922dc099a646aaf4c086e71cdc2e Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Sun, 30 Nov 2025 22:25:29 -0600
Subject: [PATCH 44/68] Defer init for all devices on mux

---
 .../proves_flight_control_board_v5.dtsi                      | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 4a3b310a..11c71b5b 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -305,21 +305,25 @@ zephyr_udc0: &usbd {
 				compatible = "ti,tmp112";
 				reg = <0x48>;
 				status = "okay";
+				zephyr,deferred-init;
 			};
 			batt_cell2_temp_sens: tmp112@49 {
 				compatible = "ti,tmp112";
 				reg = <0x49>;
 				status = "okay";
+				zephyr,deferred-init;
 			};
 			batt_cell3_temp_sens: tmp112@4a {
 				compatible = "ti,tmp112";
 				reg = <0x4a>;
 				status = "okay";
+				zephyr,deferred-init;
 			};
 			batt_cell4_temp_sens: tmp112@4b {
 				compatible = "ti,tmp112";
 				reg = <0x4b>;
 				status = "okay";
+				zephyr,deferred-init;
 			};
 		};
 
@@ -412,6 +416,7 @@ zephyr_udc0: &usbd {
 				reg = <0x29>;
 				status = "okay";
 				label = "FACE7_VEML6031";
+				zephyr,deferred-init;
 			};
 		};
 	};

From 835381007ba1f2f451d5fac15aacb6c8f7da2719 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Sun, 30 Nov 2025 23:04:59 -0600
Subject: [PATCH 45/68] Defer init for all devices on mux

---
 .../proves_flight_control_board_v5.dtsi                     | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 11c71b5b..9eb859c4 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -305,24 +305,28 @@ zephyr_udc0: &usbd {
 				compatible = "ti,tmp112";
 				reg = <0x48>;
 				status = "okay";
+				label = "BATT_CELL1_TMP112";
 				zephyr,deferred-init;
 			};
 			batt_cell2_temp_sens: tmp112@49 {
 				compatible = "ti,tmp112";
 				reg = <0x49>;
 				status = "okay";
+				la bel = "BATT_CELL2_TMP112";
 				zephyr,deferred-init;
 			};
 			batt_cell3_temp_sens: tmp112@4a {
 				compatible = "ti,tmp112";
 				reg = <0x4a>;
 				status = "okay";
+				label = "BATT_CELL3_TMP112";
 				zephyr,deferred-init;
 			};
 			batt_cell4_temp_sens: tmp112@4b {
 				compatible = "ti,tmp112";
 				reg = <0x4b>;
 				status = "okay";
+				label = "BATT_CELL4_TMP112";
 				zephyr,deferred-init;
 			};
 		};
@@ -403,7 +407,7 @@ zephyr_udc0: &usbd {
 
 		};
 
-		// Top is always powered so no deferred init needed
+		// Top cap
 		mux_channel_7: i2c_mux@7 {
 			compatible = "ti,tca9548a-channel";
 			label = "mux_channel_7";

From d4cc09825ebb9450fe9f21897a64e30ff63fa5ae Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Sun, 30 Nov 2025 23:33:17 -0600
Subject: [PATCH 46/68] syncing latest from device tree branch

---
 ...roves_flight_control_board_v5-pinctrl.dtsi | 20 +++++++++++++++++++
 .../proves_flight_control_board_v5.dtsi       |  6 +++---
 ...ht_control_board_v5d_rp2350a_m33_defconfig |  1 +
 3 files changed, 24 insertions(+), 3 deletions(-)

diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5-pinctrl.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5-pinctrl.dtsi
index 48167dd4..ce52e817 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5-pinctrl.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5-pinctrl.dtsi
@@ -11,6 +11,26 @@
 			input-enable;
 		};
 	};
+	uart0_default: uart0_default {
+		group1 {
+			pinmux = <UART0_TX_P0>;
+		};
+
+		group2 {
+			pinmux = <UART0_RX_P1>;
+			input-enable;
+		};
+	};
+	uart1_default: uart1_default {
+		group1 {
+			pinmux = <UART1_TX_P4>;
+		};
+
+		group2 {
+			pinmux = <UART1_RX_P5>;
+			input-enable;
+		};
+	};
 	spi1_default: spi1_default {
 		group1 {
 			pinmux = <SPI1_SCK_P10>, <SPI1_TX_P11>;
diff --git a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
index 9eb859c4..6c2544d3 100644
--- a/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
+++ b/boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi
@@ -306,14 +306,14 @@ zephyr_udc0: &usbd {
 				reg = <0x48>;
 				status = "okay";
 				label = "BATT_CELL1_TMP112";
-				zephyr,deferred-init;
+                zephyr,deferred-init;
 			};
 			batt_cell2_temp_sens: tmp112@49 {
 				compatible = "ti,tmp112";
 				reg = <0x49>;
 				status = "okay";
-				la bel = "BATT_CELL2_TMP112";
-				zephyr,deferred-init;
+				label = "BATT_CELL2_TMP112";
+                zephyr,deferred-init;
 			};
 			batt_cell3_temp_sens: tmp112@4a {
 				compatible = "ti,tmp112";
diff --git a/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig b/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig
index 818e1062..daaf56bd 100644
--- a/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig
+++ b/boards/bronco_space/proves_flight_control_board_v5d/proves_flight_control_board_v5d_rp2350a_m33_defconfig
@@ -26,6 +26,7 @@ CONFIG_LSM6DSO_ENABLE_TEMP=y
 CONFIG_LIS2MDL=y
 CONFIG_INA219=y
 CONFIG_TMP112=y
+CONFIG_VEML6031=y
 
 # Radio
 CONFIG_LORA=y

From 7dd9052db46d443fca31e814ee6e34f19bf36725 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Sun, 30 Nov 2025 23:49:05 -0600
Subject: [PATCH 47/68] latest from loadswitch branch

---
 .../Components/LoadSwitch/docs/sdd.md         | 46 ++++++++++++++++---
 1 file changed, 39 insertions(+), 7 deletions(-)

diff --git a/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md b/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
index 51d9dec6..ac5053f2 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
+++ b/FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md
@@ -1,18 +1,36 @@
 # Components::LoadSwitch
 
-![LoadSwitch](LoadSwitch.svg)
-
 ## Overview
 
 The `LoadSwitch` component is an active F' component that controls a single load switch output
 through the `gpioSet` output port (connected to the platform's GPIO driver). It exposes two
-async commands to turn the switch on and off, telemetry reporting the current state, and an
-async `Reset` input which toggles the switch (off, short delay, on).
+async commands to turn the switch on and off, telemetry reporting the current state. It also provides ports to control the switch and notify other components of state changes.
 
 ## Responsibility
 
 - Control the power rail for a connected peripheral by asserting/deasserting a GPIO.
 - Report state changes via an event and telemetry channel.
+- Provide an interface for other components to control the switch and subscribe to state changes.
+
+## Class Diagram
+
+```mermaid
+classDiagram
+    namespace Components {
+        class LoadSwitchComponentBase {
+            <<Auto-generated>>
+        }
+        class LoadSwitch {
+            + LoadSwitch(const char* compName)
+            + ~LoadSwitch()
+            - TURN_ON_cmdHandler(FwOpcodeType opCode, U32 cmdSeq): void
+            - TURN_OFF_cmdHandler(FwOpcodeType opCode, U32 cmdSeq): void
+            - turnOn_handler(FwIndexType portNum): void
+            - turnOff_handler(FwIndexType portNum): void
+        }
+    }
+    LoadSwitchComponentBase <|-- LoadSwitch : inherits
+```
 
 ## External interface
 
@@ -27,7 +45,7 @@ async `Reset` input which toggles the switch (off, short delay, on).
 
 | Name | Type | Description |
 |---|---:|---|
-| IsOn | Fw.On | Current power state; written after commands and on Reset handling. |
+| IsOn | Fw.On | Current power state; written after commands. Note: Reports ON only after a stabilization delay (default 1s) following the turn-on command. |
 
 ### Events
 
@@ -35,15 +53,28 @@ async `Reset` input which toggles the switch (off, short delay, on).
 |---|---|---:|---|
 | StatusChanged | activity high | 1 | "Load switch state changed to {}" |
 
-The component logs the `StatusChanged` event whenever the switch transitions due to a command or a Reset.
+The component logs the `StatusChanged` event whenever the switch transitions due to a command.
 
 ### Ports
 
 | Port name | Direction | Port type | Notes |
 |---|---|---|---|
 | gpioSet | output | Drv.GpioWrite | Used to write the physical GPIO. Implementation always uses index 0 (`gpioSet_out(0, ...)`). |
-| Reset | input (async) | Fw.Signal | Causes the component to perform a hardware reset sequence: LOW -> wait 100ms -> HIGH. |
+| gpioGet | output | Drv.GpioRead | Used to read the physical GPIO state. |
+| turnOn | input (sync) | Fw.Signal | Turns on the load switch. |
+| turnOff | input (sync) | Fw.Signal | Turns off the load switch. |
+| loadSwitchStateChanged | output | loadSwitchStateChanged | Notifies connected components when the load switch state changes |
+
+## Requirements
 
+| Name | Description | Validation |
+|---|---|---|
+| Control via Command | The component shall allow turning the load switch on and off via ground commands `TURN_ON` and `TURN_OFF`. | Integration test |
+| Control via Port | The component shall allow turning the load switch on and off via input ports `turnOn` and `turnOff`. | Verify `turnOn` and `turnOff` port calls change the GPIO state and telemetry. |
+| State Telemetry | The component shall report the current state of the load switch via the `IsOn` telemetry channel. | Integration test |
+| State Event | The component shall emit a `StatusChanged` event when the load switch state changes. | Verify `StatusChanged` event is emitted upon state transitions. |
+| State Notification | The component shall notify connected components of state changes via the `loadSwitchStateChanged` port. | Downstream component testing |
+| GPIO Control | The component shall control the physical GPIO pin corresponding to the load switch using the `gpioSet` port. | Downstream component testing |
 
 ## Change Log
 
@@ -51,3 +82,4 @@ The component logs the `StatusChanged` event whenever the switch transitions due
 |---|---|
 | 10-22-2025 | Sarah, Kevin, and MoMata's first commit |
 | 11-07-2025 | Updated SDD to match implementation in `LoadSwitch.cpp/.hpp/.fpp` (commands, telemetry, event, ports, reset behavior). |
+| 11-30-2025 | Removed Reset capability. Added `loadSwitchStateChanged` output port for state notifications. |

From 8c8f4a8f9b767a4e267c2dc4350f827a8e897eae Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Sun, 30 Nov 2025 23:53:21 -0600
Subject: [PATCH 48/68] Running

---
 .../ReferenceDeployment/Main.cpp              | 14 +++---
 .../Top/ReferenceDeploymentPackets.fppi       | 46 +++++++++----------
 .../Top/ReferenceDeploymentTopology.cpp       | 14 +++---
 .../Top/ReferenceDeploymentTopologyDefs.hpp   | 14 +++---
 .../ReferenceDeployment/Top/instances.fpp     | 14 +++---
 .../ReferenceDeployment/Top/topology.fpp      | 14 +++---
 6 files changed, 58 insertions(+), 58 deletions(-)

diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index 16b871ce..cd707337 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -85,13 +85,13 @@ int main(int argc, char* argv[]) {
     inputs.battCell3TempDevice = batt_cell3_temp_sens;
     inputs.battCell4TempDevice = batt_cell4_temp_sens;
     // Light sensor devices
-    inputs.face0LightDevice = face0_light_sens;
-    inputs.face1LightDevice = face1_light_sens;
-    inputs.face2LightDevice = face2_light_sens;
-    inputs.face3LightDevice = face3_light_sens;
-    inputs.face5LightDevice = face5_light_sens;
-    inputs.face6LightDevice = face6_light_sens;
-    inputs.face7LightDevice = face7_light_sens;
+    // inputs.face0LightDevice = face0_light_sens;
+    // inputs.face1LightDevice = face1_light_sens;
+    // inputs.face2LightDevice = face2_light_sens;
+    // inputs.face3LightDevice = face3_light_sens;
+    // inputs.face5LightDevice = face5_light_sens;
+    // inputs.face6LightDevice = face6_light_sens;
+    // inputs.face7LightDevice = face7_light_sens;
 
     inputs.baudRate = 115200;
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 5da15f16..9088f7e0 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -120,29 +120,29 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.tmp112BattCell4Manager.Temperature
   }
 
-  packet LightSensor id 14 group 4 {
-    ReferenceDeployment.velm6031Face0Manager.RawLightData
-    ReferenceDeployment.velm6031Face1Manager.RawLightData
-    ReferenceDeployment.velm6031Face2Manager.RawLightData
-    ReferenceDeployment.velm6031Face3Manager.RawLightData
-    ReferenceDeployment.velm6031Face5Manager.RawLightData
-    ReferenceDeployment.velm6031Face6Manager.RawLightData
-    ReferenceDeployment.velm6031Face7Manager.RawLightData
-    ReferenceDeployment.velm6031Face0Manager.IRLightData
-    ReferenceDeployment.velm6031Face1Manager.IRLightData
-    ReferenceDeployment.velm6031Face2Manager.IRLightData
-    ReferenceDeployment.velm6031Face3Manager.IRLightData
-    ReferenceDeployment.velm6031Face5Manager.IRLightData
-    ReferenceDeployment.velm6031Face6Manager.IRLightData
-    ReferenceDeployment.velm6031Face7Manager.IRLightData
-    ReferenceDeployment.velm6031Face0Manager.ALSLightData
-    ReferenceDeployment.velm6031Face1Manager.ALSLightData
-    ReferenceDeployment.velm6031Face2Manager.ALSLightData
-    ReferenceDeployment.velm6031Face3Manager.ALSLightData
-    ReferenceDeployment.velm6031Face5Manager.ALSLightData
-    ReferenceDeployment.velm6031Face6Manager.ALSLightData
-    ReferenceDeployment.velm6031Face7Manager.ALSLightData
-  }
+  # packet LightSensor id 14 group 4 {
+  #   ReferenceDeployment.velm6031Face0Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face1Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face2Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face3Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face5Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face6Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face7Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face0Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face1Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face2Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face3Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face5Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face6Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face7Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face0Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face1Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face2Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face3Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face5Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face6Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face7Manager.ALSLightData
+  # }
 
 } omit {
   CdhCore.cmdDisp.CommandErrors
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index fb86d6ee..1b7c61d2 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -142,13 +142,13 @@ void setupTopology(const TopologyState& state) {
     tmp112BattCell4Manager.configure(state.battCell4TempDevice);
 
     // Configure all 7 VELM6031 light sensor managers
-    velm6031Face0Manager.configure(state.face0LightDevice);
-    velm6031Face1Manager.configure(state.face1LightDevice);
-    velm6031Face2Manager.configure(state.face2LightDevice);
-    velm6031Face3Manager.configure(state.face3LightDevice);
-    velm6031Face5Manager.configure(state.face5LightDevice);
-    velm6031Face6Manager.configure(state.face6LightDevice);
-    velm6031Face7Manager.configure(state.face7LightDevice);
+    // velm6031Face0Manager.configure(state.face0LightDevice);
+    // velm6031Face1Manager.configure(state.face1LightDevice);
+    // velm6031Face2Manager.configure(state.face2LightDevice);
+    // velm6031Face3Manager.configure(state.face3LightDevice);
+    // velm6031Face5Manager.configure(state.face5LightDevice);
+    // velm6031Face6Manager.configure(state.face6LightDevice);
+    // velm6031Face7Manager.configure(state.face7LightDevice);
 }
 
 void startRateGroups() {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index 19d72cea..64c587ca 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -106,13 +106,13 @@ struct TopologyState {
     const device* battCell3TempDevice;  //!< TMP112 device for battery cell 3
     const device* battCell4TempDevice;  //!< TMP112 device for battery cell 4
     // - Light sensors
-    const device* face0LightDevice;  //!< Light sensor device for cube face 0
-    const device* face1LightDevice;  //!< Light sensor device for cube face 1
-    const device* face2LightDevice;  //!< Light sensor device for cube face 2
-    const device* face3LightDevice;  //!< Light sensor device for cube face 3
-    const device* face5LightDevice;  //!< Light sensor device for cube face 5
-    const device* face6LightDevice;  //!< Light sensor device for cube face 6
-    const device* face7LightDevice;  //!< Light sensor device for cube face 7
+    // const device* face0LightDevice;  //!< Light sensor device for cube face 0
+    // const device* face1LightDevice;  //!< Light sensor device for cube face 1
+    // const device* face2LightDevice;  //!< Light sensor device for cube face 2
+    // const device* face3LightDevice;  //!< Light sensor device for cube face 3
+    // const device* face5LightDevice;  //!< Light sensor device for cube face 5
+    // const device* face6LightDevice;  //!< Light sensor device for cube face 6
+    // const device* face7LightDevice;  //!< Light sensor device for cube face 7
 };
 
 namespace PingEntries = ::PingEntries;
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index ebc2e188..6ec14d5f 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -185,18 +185,18 @@ module ReferenceDeployment {
 
   instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x10053000
 
-  instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10054000
+  # instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10054000
 
-  instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10055000
+  # instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10055000
 
-  instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10056000
+  # instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10056000
 
-  instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10057000
+  # instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10057000
 
-  instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10058000
+  # instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10058000
 
-  instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x10059000
+  # instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x10059000
 
-  instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005A000
+  # instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005A000
 
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 6ecc697b..4b1e9ec5 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -91,13 +91,13 @@ module ReferenceDeployment {
     instance tmp112BattCell4Manager
     instance resetManager
     instance modeManager
-    instance velm6031Face0Manager
-    instance velm6031Face1Manager
-    instance velm6031Face2Manager
-    instance velm6031Face3Manager
-    instance velm6031Face5Manager
-    instance velm6031Face6Manager
-    instance velm6031Face7Manager
+    # instance velm6031Face0Manager
+    # instance velm6031Face1Manager
+    # instance velm6031Face2Manager
+    # instance velm6031Face3Manager
+    # instance velm6031Face5Manager
+    # instance velm6031Face6Manager
+    # instance velm6031Face7Manager
 
 
   # ----------------------------------------------------------------------

From 6b8653028bc70a3507d7a573fa27f9231ad818cc Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Mon, 1 Dec 2025 00:02:49 -0600
Subject: [PATCH 49/68] Revert "Running"

This reverts commit 8c8f4a8f9b767a4e267c2dc4350f827a8e897eae.
---
 .../ReferenceDeployment/Main.cpp              | 14 +++---
 .../Top/ReferenceDeploymentPackets.fppi       | 46 +++++++++----------
 .../Top/ReferenceDeploymentTopology.cpp       | 14 +++---
 .../Top/ReferenceDeploymentTopologyDefs.hpp   | 14 +++---
 .../ReferenceDeployment/Top/instances.fpp     | 14 +++---
 .../ReferenceDeployment/Top/topology.fpp      | 14 +++---
 6 files changed, 58 insertions(+), 58 deletions(-)

diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index cd707337..16b871ce 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -85,13 +85,13 @@ int main(int argc, char* argv[]) {
     inputs.battCell3TempDevice = batt_cell3_temp_sens;
     inputs.battCell4TempDevice = batt_cell4_temp_sens;
     // Light sensor devices
-    // inputs.face0LightDevice = face0_light_sens;
-    // inputs.face1LightDevice = face1_light_sens;
-    // inputs.face2LightDevice = face2_light_sens;
-    // inputs.face3LightDevice = face3_light_sens;
-    // inputs.face5LightDevice = face5_light_sens;
-    // inputs.face6LightDevice = face6_light_sens;
-    // inputs.face7LightDevice = face7_light_sens;
+    inputs.face0LightDevice = face0_light_sens;
+    inputs.face1LightDevice = face1_light_sens;
+    inputs.face2LightDevice = face2_light_sens;
+    inputs.face3LightDevice = face3_light_sens;
+    inputs.face5LightDevice = face5_light_sens;
+    inputs.face6LightDevice = face6_light_sens;
+    inputs.face7LightDevice = face7_light_sens;
 
     inputs.baudRate = 115200;
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 9088f7e0..5da15f16 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -120,29 +120,29 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.tmp112BattCell4Manager.Temperature
   }
 
-  # packet LightSensor id 14 group 4 {
-  #   ReferenceDeployment.velm6031Face0Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face1Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face2Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face3Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face5Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face6Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face7Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face0Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face1Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face2Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face3Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face5Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face6Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face7Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face0Manager.ALSLightData
-  #   ReferenceDeployment.velm6031Face1Manager.ALSLightData
-  #   ReferenceDeployment.velm6031Face2Manager.ALSLightData
-  #   ReferenceDeployment.velm6031Face3Manager.ALSLightData
-  #   ReferenceDeployment.velm6031Face5Manager.ALSLightData
-  #   ReferenceDeployment.velm6031Face6Manager.ALSLightData
-  #   ReferenceDeployment.velm6031Face7Manager.ALSLightData
-  # }
+  packet LightSensor id 14 group 4 {
+    ReferenceDeployment.velm6031Face0Manager.RawLightData
+    ReferenceDeployment.velm6031Face1Manager.RawLightData
+    ReferenceDeployment.velm6031Face2Manager.RawLightData
+    ReferenceDeployment.velm6031Face3Manager.RawLightData
+    ReferenceDeployment.velm6031Face5Manager.RawLightData
+    ReferenceDeployment.velm6031Face6Manager.RawLightData
+    ReferenceDeployment.velm6031Face7Manager.RawLightData
+    ReferenceDeployment.velm6031Face0Manager.IRLightData
+    ReferenceDeployment.velm6031Face1Manager.IRLightData
+    ReferenceDeployment.velm6031Face2Manager.IRLightData
+    ReferenceDeployment.velm6031Face3Manager.IRLightData
+    ReferenceDeployment.velm6031Face5Manager.IRLightData
+    ReferenceDeployment.velm6031Face6Manager.IRLightData
+    ReferenceDeployment.velm6031Face7Manager.IRLightData
+    ReferenceDeployment.velm6031Face0Manager.ALSLightData
+    ReferenceDeployment.velm6031Face1Manager.ALSLightData
+    ReferenceDeployment.velm6031Face2Manager.ALSLightData
+    ReferenceDeployment.velm6031Face3Manager.ALSLightData
+    ReferenceDeployment.velm6031Face5Manager.ALSLightData
+    ReferenceDeployment.velm6031Face6Manager.ALSLightData
+    ReferenceDeployment.velm6031Face7Manager.ALSLightData
+  }
 
 } omit {
   CdhCore.cmdDisp.CommandErrors
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 1b7c61d2..fb86d6ee 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -142,13 +142,13 @@ void setupTopology(const TopologyState& state) {
     tmp112BattCell4Manager.configure(state.battCell4TempDevice);
 
     // Configure all 7 VELM6031 light sensor managers
-    // velm6031Face0Manager.configure(state.face0LightDevice);
-    // velm6031Face1Manager.configure(state.face1LightDevice);
-    // velm6031Face2Manager.configure(state.face2LightDevice);
-    // velm6031Face3Manager.configure(state.face3LightDevice);
-    // velm6031Face5Manager.configure(state.face5LightDevice);
-    // velm6031Face6Manager.configure(state.face6LightDevice);
-    // velm6031Face7Manager.configure(state.face7LightDevice);
+    velm6031Face0Manager.configure(state.face0LightDevice);
+    velm6031Face1Manager.configure(state.face1LightDevice);
+    velm6031Face2Manager.configure(state.face2LightDevice);
+    velm6031Face3Manager.configure(state.face3LightDevice);
+    velm6031Face5Manager.configure(state.face5LightDevice);
+    velm6031Face6Manager.configure(state.face6LightDevice);
+    velm6031Face7Manager.configure(state.face7LightDevice);
 }
 
 void startRateGroups() {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index 64c587ca..19d72cea 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -106,13 +106,13 @@ struct TopologyState {
     const device* battCell3TempDevice;  //!< TMP112 device for battery cell 3
     const device* battCell4TempDevice;  //!< TMP112 device for battery cell 4
     // - Light sensors
-    // const device* face0LightDevice;  //!< Light sensor device for cube face 0
-    // const device* face1LightDevice;  //!< Light sensor device for cube face 1
-    // const device* face2LightDevice;  //!< Light sensor device for cube face 2
-    // const device* face3LightDevice;  //!< Light sensor device for cube face 3
-    // const device* face5LightDevice;  //!< Light sensor device for cube face 5
-    // const device* face6LightDevice;  //!< Light sensor device for cube face 6
-    // const device* face7LightDevice;  //!< Light sensor device for cube face 7
+    const device* face0LightDevice;  //!< Light sensor device for cube face 0
+    const device* face1LightDevice;  //!< Light sensor device for cube face 1
+    const device* face2LightDevice;  //!< Light sensor device for cube face 2
+    const device* face3LightDevice;  //!< Light sensor device for cube face 3
+    const device* face5LightDevice;  //!< Light sensor device for cube face 5
+    const device* face6LightDevice;  //!< Light sensor device for cube face 6
+    const device* face7LightDevice;  //!< Light sensor device for cube face 7
 };
 
 namespace PingEntries = ::PingEntries;
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 6ec14d5f..ebc2e188 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -185,18 +185,18 @@ module ReferenceDeployment {
 
   instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x10053000
 
-  # instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10054000
+  instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10054000
 
-  # instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10055000
+  instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10055000
 
-  # instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10056000
+  instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10056000
 
-  # instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10057000
+  instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10057000
 
-  # instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10058000
+  instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10058000
 
-  # instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x10059000
+  instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x10059000
 
-  # instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005A000
+  instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005A000
 
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 4b1e9ec5..6ecc697b 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -91,13 +91,13 @@ module ReferenceDeployment {
     instance tmp112BattCell4Manager
     instance resetManager
     instance modeManager
-    # instance velm6031Face0Manager
-    # instance velm6031Face1Manager
-    # instance velm6031Face2Manager
-    # instance velm6031Face3Manager
-    # instance velm6031Face5Manager
-    # instance velm6031Face6Manager
-    # instance velm6031Face7Manager
+    instance velm6031Face0Manager
+    instance velm6031Face1Manager
+    instance velm6031Face2Manager
+    instance velm6031Face3Manager
+    instance velm6031Face5Manager
+    instance velm6031Face6Manager
+    instance velm6031Face7Manager
 
 
   # ----------------------------------------------------------------------

From 8a47a2798d1994d5785255013334da1f74082ea2 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Mon, 1 Dec 2025 00:13:37 -0600
Subject: [PATCH 50/68] Reapply "Running"

This reverts commit 6b8653028bc70a3507d7a573fa27f9231ad818cc.
---
 .../ReferenceDeployment/Main.cpp              | 14 +++---
 .../Top/ReferenceDeploymentPackets.fppi       | 46 +++++++++----------
 .../Top/ReferenceDeploymentTopology.cpp       | 14 +++---
 .../Top/ReferenceDeploymentTopologyDefs.hpp   | 14 +++---
 .../ReferenceDeployment/Top/instances.fpp     | 14 +++---
 .../ReferenceDeployment/Top/topology.fpp      | 14 +++---
 6 files changed, 58 insertions(+), 58 deletions(-)

diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index 16b871ce..cd707337 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -85,13 +85,13 @@ int main(int argc, char* argv[]) {
     inputs.battCell3TempDevice = batt_cell3_temp_sens;
     inputs.battCell4TempDevice = batt_cell4_temp_sens;
     // Light sensor devices
-    inputs.face0LightDevice = face0_light_sens;
-    inputs.face1LightDevice = face1_light_sens;
-    inputs.face2LightDevice = face2_light_sens;
-    inputs.face3LightDevice = face3_light_sens;
-    inputs.face5LightDevice = face5_light_sens;
-    inputs.face6LightDevice = face6_light_sens;
-    inputs.face7LightDevice = face7_light_sens;
+    // inputs.face0LightDevice = face0_light_sens;
+    // inputs.face1LightDevice = face1_light_sens;
+    // inputs.face2LightDevice = face2_light_sens;
+    // inputs.face3LightDevice = face3_light_sens;
+    // inputs.face5LightDevice = face5_light_sens;
+    // inputs.face6LightDevice = face6_light_sens;
+    // inputs.face7LightDevice = face7_light_sens;
 
     inputs.baudRate = 115200;
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 5da15f16..9088f7e0 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -120,29 +120,29 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.tmp112BattCell4Manager.Temperature
   }
 
-  packet LightSensor id 14 group 4 {
-    ReferenceDeployment.velm6031Face0Manager.RawLightData
-    ReferenceDeployment.velm6031Face1Manager.RawLightData
-    ReferenceDeployment.velm6031Face2Manager.RawLightData
-    ReferenceDeployment.velm6031Face3Manager.RawLightData
-    ReferenceDeployment.velm6031Face5Manager.RawLightData
-    ReferenceDeployment.velm6031Face6Manager.RawLightData
-    ReferenceDeployment.velm6031Face7Manager.RawLightData
-    ReferenceDeployment.velm6031Face0Manager.IRLightData
-    ReferenceDeployment.velm6031Face1Manager.IRLightData
-    ReferenceDeployment.velm6031Face2Manager.IRLightData
-    ReferenceDeployment.velm6031Face3Manager.IRLightData
-    ReferenceDeployment.velm6031Face5Manager.IRLightData
-    ReferenceDeployment.velm6031Face6Manager.IRLightData
-    ReferenceDeployment.velm6031Face7Manager.IRLightData
-    ReferenceDeployment.velm6031Face0Manager.ALSLightData
-    ReferenceDeployment.velm6031Face1Manager.ALSLightData
-    ReferenceDeployment.velm6031Face2Manager.ALSLightData
-    ReferenceDeployment.velm6031Face3Manager.ALSLightData
-    ReferenceDeployment.velm6031Face5Manager.ALSLightData
-    ReferenceDeployment.velm6031Face6Manager.ALSLightData
-    ReferenceDeployment.velm6031Face7Manager.ALSLightData
-  }
+  # packet LightSensor id 14 group 4 {
+  #   ReferenceDeployment.velm6031Face0Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face1Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face2Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face3Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face5Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face6Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face7Manager.RawLightData
+  #   ReferenceDeployment.velm6031Face0Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face1Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face2Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face3Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face5Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face6Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face7Manager.IRLightData
+  #   ReferenceDeployment.velm6031Face0Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face1Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face2Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face3Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face5Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face6Manager.ALSLightData
+  #   ReferenceDeployment.velm6031Face7Manager.ALSLightData
+  # }
 
 } omit {
   CdhCore.cmdDisp.CommandErrors
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index fb86d6ee..1b7c61d2 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -142,13 +142,13 @@ void setupTopology(const TopologyState& state) {
     tmp112BattCell4Manager.configure(state.battCell4TempDevice);
 
     // Configure all 7 VELM6031 light sensor managers
-    velm6031Face0Manager.configure(state.face0LightDevice);
-    velm6031Face1Manager.configure(state.face1LightDevice);
-    velm6031Face2Manager.configure(state.face2LightDevice);
-    velm6031Face3Manager.configure(state.face3LightDevice);
-    velm6031Face5Manager.configure(state.face5LightDevice);
-    velm6031Face6Manager.configure(state.face6LightDevice);
-    velm6031Face7Manager.configure(state.face7LightDevice);
+    // velm6031Face0Manager.configure(state.face0LightDevice);
+    // velm6031Face1Manager.configure(state.face1LightDevice);
+    // velm6031Face2Manager.configure(state.face2LightDevice);
+    // velm6031Face3Manager.configure(state.face3LightDevice);
+    // velm6031Face5Manager.configure(state.face5LightDevice);
+    // velm6031Face6Manager.configure(state.face6LightDevice);
+    // velm6031Face7Manager.configure(state.face7LightDevice);
 }
 
 void startRateGroups() {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index 19d72cea..64c587ca 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -106,13 +106,13 @@ struct TopologyState {
     const device* battCell3TempDevice;  //!< TMP112 device for battery cell 3
     const device* battCell4TempDevice;  //!< TMP112 device for battery cell 4
     // - Light sensors
-    const device* face0LightDevice;  //!< Light sensor device for cube face 0
-    const device* face1LightDevice;  //!< Light sensor device for cube face 1
-    const device* face2LightDevice;  //!< Light sensor device for cube face 2
-    const device* face3LightDevice;  //!< Light sensor device for cube face 3
-    const device* face5LightDevice;  //!< Light sensor device for cube face 5
-    const device* face6LightDevice;  //!< Light sensor device for cube face 6
-    const device* face7LightDevice;  //!< Light sensor device for cube face 7
+    // const device* face0LightDevice;  //!< Light sensor device for cube face 0
+    // const device* face1LightDevice;  //!< Light sensor device for cube face 1
+    // const device* face2LightDevice;  //!< Light sensor device for cube face 2
+    // const device* face3LightDevice;  //!< Light sensor device for cube face 3
+    // const device* face5LightDevice;  //!< Light sensor device for cube face 5
+    // const device* face6LightDevice;  //!< Light sensor device for cube face 6
+    // const device* face7LightDevice;  //!< Light sensor device for cube face 7
 };
 
 namespace PingEntries = ::PingEntries;
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index ebc2e188..6ec14d5f 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -185,18 +185,18 @@ module ReferenceDeployment {
 
   instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x10053000
 
-  instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10054000
+  # instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10054000
 
-  instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10055000
+  # instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10055000
 
-  instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10056000
+  # instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10056000
 
-  instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10057000
+  # instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10057000
 
-  instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10058000
+  # instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10058000
 
-  instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x10059000
+  # instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x10059000
 
-  instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005A000
+  # instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005A000
 
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 6ecc697b..4b1e9ec5 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -91,13 +91,13 @@ module ReferenceDeployment {
     instance tmp112BattCell4Manager
     instance resetManager
     instance modeManager
-    instance velm6031Face0Manager
-    instance velm6031Face1Manager
-    instance velm6031Face2Manager
-    instance velm6031Face3Manager
-    instance velm6031Face5Manager
-    instance velm6031Face6Manager
-    instance velm6031Face7Manager
+    # instance velm6031Face0Manager
+    # instance velm6031Face1Manager
+    # instance velm6031Face2Manager
+    # instance velm6031Face3Manager
+    # instance velm6031Face5Manager
+    # instance velm6031Face6Manager
+    # instance velm6031Face7Manager
 
 
   # ----------------------------------------------------------------------

From c2ffb68dc340cbebad84d7da44117f7d161a0703 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Mon, 1 Dec 2025 00:13:51 -0600
Subject: [PATCH 51/68] capitalization

---
 .../Drv/Tmp112Manager/CMakeLists.txt          | 10 ++++----
 .../Drv/Tmp112Manager/TMP112Manager.cpp       | 24 +++++++++----------
 .../Drv/Tmp112Manager/TMP112Manager.fpp       |  2 +-
 .../Drv/Tmp112Manager/TMP112Manager.hpp       | 20 ++++++++--------
 .../ThermalManager/ThermalManager.fpp         |  2 +-
 .../ReferenceDeployment/Top/instances.fpp     | 18 +++++++-------
 6 files changed, 38 insertions(+), 38 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/CMakeLists.txt b/FprimeZephyrReference/Components/Drv/Tmp112Manager/CMakeLists.txt
index 744ebde3..30ae031a 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/CMakeLists.txt
@@ -16,9 +16,9 @@
 
 register_fprime_library(
     AUTOCODER_INPUTS
-        "${CMAKE_CURRENT_LIST_DIR}/TMP112Manager.fpp"
+        "${CMAKE_CURRENT_LIST_DIR}/Tmp112Manager.fpp"
     SOURCES
-        "${CMAKE_CURRENT_LIST_DIR}/TMP112Manager.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/Tmp112Manager.cpp"
 #   DEPENDS
 #       MyPackage_MyOtherModule
 )
@@ -26,10 +26,10 @@ register_fprime_library(
 ### Unit Tests ###
 # register_fprime_ut(
 #     AUTOCODER_INPUTS
-#         "${CMAKE_CURRENT_LIST_DIR}/TMP112Manager.fpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/Tmp112Manager.fpp"
 #     SOURCES
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/TMP112ManagerTestMain.cpp"
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/TMP112ManagerTester.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Tmp112ManagerTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Tmp112ManagerTester.cpp"
 #     DEPENDS
 #         STest # For rules-based testing
 #     UT_AUTO_HELPERS
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index e53c0864..073ec350 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -1,9 +1,9 @@
 // ======================================================================
-// \title  TMP112Manager.cpp
-// \brief  cpp file for TMP112Manager component implementation class
+// \title  Tmp112Manager.cpp
+// \brief  cpp file for Tmp112Manager component implementation class
 // ======================================================================
 
-#include "FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp"
+#include "FprimeZephyrReference/Components/Drv/Tmp112Manager/Tmp112Manager.hpp"
 
 #include <Fw/Types/Assert.hpp>
 
@@ -15,15 +15,15 @@ namespace Drv {
 // Component construction and destruction
 // ----------------------------------------------------------------------
 
-TMP112Manager ::TMP112Manager(const char* const compName) : TMP112ManagerComponentBase(compName) {}
+Tmp112Manager ::Tmp112Manager(const char* const compName) : Tmp112ManagerComponentBase(compName) {}
 
-TMP112Manager ::~TMP112Manager() {}
+Tmp112Manager ::~Tmp112Manager() {}
 
 // ----------------------------------------------------------------------
 // Helper methods
 // ----------------------------------------------------------------------
 
-void TMP112Manager::configure(const struct device* dev) {
+void Tmp112Manager::configure(const struct device* dev) {
     this->m_dev = dev;
 }
 
@@ -31,7 +31,7 @@ void TMP112Manager::configure(const struct device* dev) {
 // Handler implementations for typed input ports
 // ----------------------------------------------------------------------
 
-Fw::Success TMP112Manager ::loadSwitchStateChanged_handler(FwIndexType portNum, const Fw::On& loadSwitchState) {
+Fw::Success Tmp112Manager ::loadSwitchStateChanged_handler(FwIndexType portNum, const Fw::On& loadSwitchState) {
     // Store the load switch state
     this->m_load_switch_state = loadSwitchState;
 
@@ -48,7 +48,7 @@ Fw::Success TMP112Manager ::loadSwitchStateChanged_handler(FwIndexType portNum,
     return Fw::Success::SUCCESS;
 }
 
-F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum, Fw::Success& condition) {
+F64 Tmp112Manager ::temperatureGet_handler(FwIndexType portNum, Fw::Success& condition) {
     condition = Fw::Success::FAILURE;
 
     if (!this->initializeDevice()) {
@@ -79,7 +79,7 @@ F64 TMP112Manager ::temperatureGet_handler(FwIndexType portNum, Fw::Success& con
     return temp;
 }
 
-bool TMP112Manager ::isDeviceInitialized() {
+bool Tmp112Manager ::isDeviceInitialized() {
     if (!this->m_dev) {
         this->log_WARNING_HI_DeviceNil();
         return false;
@@ -95,7 +95,7 @@ bool TMP112Manager ::isDeviceInitialized() {
     return this->m_dev->state->initialized;
 }
 
-Fw::Success TMP112Manager ::initializeDevice() {
+Fw::Success Tmp112Manager ::initializeDevice() {
     if (this->isDeviceInitialized()) {
         if (!device_is_ready(this->m_dev)) {
             this->log_WARNING_HI_DeviceNotReady();
@@ -133,7 +133,7 @@ Fw::Success TMP112Manager ::initializeDevice() {
     return Fw::Success::SUCCESS;
 }
 
-Fw::Success TMP112Manager ::deinitializeDevice() {
+Fw::Success Tmp112Manager ::deinitializeDevice() {
     if (!this->m_dev) {
         this->log_WARNING_HI_DeviceNil();
         return Fw::Success::FAILURE;
@@ -150,7 +150,7 @@ Fw::Success TMP112Manager ::deinitializeDevice() {
     Fw::Success::SUCCESS;
 }
 
-bool TMP112Manager ::loadSwitchReady() {
+bool Tmp112Manager ::loadSwitchReady() {
     return this->m_load_switch_state == Fw::On::ON && this->getTime() >= this->m_load_switch_on_timeout;
 }
 
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index bec8547a..e763e507 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -4,7 +4,7 @@ module Drv {
 
 module Drv {
     @ Manager for TMP112 device
-    passive component TMP112Manager {
+    passive component Tmp112Manager {
         # Ports
         @ Port to read the temperature in degrees Celsius
         sync input port temperatureGet: temperatureGet
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
index d182d757..2414ae1b 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
@@ -1,29 +1,29 @@
 // ======================================================================
-// \title  TMP112Manager.hpp
-// \brief  hpp file for TMP112Manager component implementation class
+// \title  Tmp112Manager.hpp
+// \brief  hpp file for Tmp112Manager component implementation class
 // ======================================================================
 
-#ifndef Drv_TMP112Manager_HPP
-#define Drv_TMP112Manager_HPP
+#ifndef Drv_Tmp112Manager_HPP
+#define Drv_Tmp112Manager_HPP
 
-#include "FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112ManagerComponentAc.hpp"
+#include "FprimeZephyrReference/Components/Drv/Tmp112Manager/Tmp112ManagerComponentAc.hpp"
 #include <zephyr/device.h>
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/kernel.h>
 namespace Drv {
 
-class TMP112Manager final : public TMP112ManagerComponentBase {
+class Tmp112Manager final : public Tmp112ManagerComponentBase {
   public:
     // ----------------------------------------------------------------------
     // Component construction and destruction
     // ----------------------------------------------------------------------
 
-    //! Construct TMP112Manager object
-    TMP112Manager(const char* const compName  //!< The component name
+    //! Construct Tmp112Manager object
+    Tmp112Manager(const char* const compName  //!< The component name
     );
 
-    //! Destroy TMP112Manager object
-    ~TMP112Manager();
+    //! Destroy Tmp112Manager object
+    ~Tmp112Manager();
 
   public:
     // ----------------------------------------------------------------------
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
index 39680e77..84836790 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
@@ -4,7 +4,7 @@ module Components {
     passive component ThermalManager {
         sync input port run: Svc.Sched
 
-        # Output ports to TMP112Manager instances
+        # Output ports to  instances
         @ Port to return the state of the TCA
         output port tcaHealthGet: Components.HealthGet
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 6ec14d5f..9ea8cf14 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -167,23 +167,23 @@ module ReferenceDeployment {
 
   instance thermalManager: Components.ThermalManager base id 0x1004A000
 
-  instance tmp112Face0Manager: Drv.TMP112Manager base id 0x1004B000
+  instance tmp112Face0Manager: Drv.Tmp112Manager base id 0x1004B000
 
-  instance tmp112Face1Manager: Drv.TMP112Manager base id 0x1004C000
+  instance tmp112Face1Manager: Drv.Tmp112Manager base id 0x1004C000
 
-  instance tmp112Face2Manager: Drv.TMP112Manager base id 0x1004D000
+  instance tmp112Face2Manager: Drv.Tmp112Manager base id 0x1004D000
 
-  instance tmp112Face3Manager: Drv.TMP112Manager base id 0x1004E000
+  instance tmp112Face3Manager: Drv.Tmp112Manager base id 0x1004E000
 
-  instance tmp112Face5Manager: Drv.TMP112Manager base id 0x1004F000
+  instance tmp112Face5Manager: Drv.Tmp112Manager base id 0x1004F000
 
-  instance tmp112BattCell1Manager: Drv.TMP112Manager base id 0x10050000
+  instance tmp112BattCell1Manager: Drv.Tmp112Manager base id 0x10050000
 
-  instance tmp112BattCell2Manager: Drv.TMP112Manager base id 0x10051000
+  instance tmp112BattCell2Manager: Drv.Tmp112Manager base id 0x10051000
 
-  instance tmp112BattCell3Manager: Drv.TMP112Manager base id 0x10052000
+  instance tmp112BattCell3Manager: Drv.Tmp112Manager base id 0x10052000
 
-  instance tmp112BattCell4Manager: Drv.TMP112Manager base id 0x10053000
+  instance tmp112BattCell4Manager: Drv.Tmp112Manager base id 0x10053000
 
   # instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10054000
 

From fdf689464878a6b3722a32c01d00f7fc1e925491 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Mon, 1 Dec 2025 00:30:23 -0600
Subject: [PATCH 52/68] Clean up thermal manager, thanks for the tip Saidi!

---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       |  2 +-
 .../ThermalManager/ThermalManager.cpp         | 23 ++---
 .../ThermalManager/ThermalManager.fpp         | 95 +------------------
 .../ReferenceDeployment/Top/topology.fpp      | 18 ++--
 4 files changed, 21 insertions(+), 117 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index 073ec350..1db8d3ab 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -147,7 +147,7 @@ Fw::Success Tmp112Manager ::deinitializeDevice() {
     this->log_WARNING_HI_DeviceStateNil_ThrottleClear();
 
     this->m_dev->state->initialized = false;
-    Fw::Success::SUCCESS;
+    return Fw::Success::SUCCESS;
 }
 
 bool Tmp112Manager ::loadSwitchReady() {
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 1ba28f23..5afd2b79 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -22,25 +22,16 @@ ThermalManager::~ThermalManager() {}
 // ----------------------------------------------------------------------
 
 void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
-    // Cube face sensors (5 sensors)
-    Fw::Success condition;  // We're not going to act on this condition for now
+    Fw::Success condition;
 
-    this->face0TempGet_out(0, condition);
-    this->face1TempGet_out(0, condition);
-    this->face2TempGet_out(0, condition);
-    this->face3TempGet_out(0, condition);
-    this->face5TempGet_out(0, condition);
-
-    // // If mux channel 4 is not healthy, skip battery cell sensors
-    // if (this->muxChannel4HealthGet_out(0) != Fw::Health::HEALTHY) {
-    //     return;
-    // }
+    for (FwIndexType i = 0; i < this->getNum_faceTempGet_OutputPorts(); i++) {
+        this->faceTempGet_out(i, condition);
+    }
 
     // Battery cell sensors (4 sensors)
-    this->battCell1TempGet_out(0, condition);
-    this->battCell2TempGet_out(0, condition);
-    this->battCell3TempGet_out(0, condition);
-    this->battCell4TempGet_out(0, condition);
+    for (FwIndexType i = 0; i < this->getNum_battCellTempGet_OutputPorts(); i++) {
+        this->battCellTempGet_out(i, condition);
+    }
 }
 
 }  // namespace Components
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
index 84836790..f3c73ab7 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.fpp
@@ -5,101 +5,14 @@ module Components {
         sync input port run: Svc.Sched
 
         # Output ports to  instances
-        @ Port to return the state of the TCA
-        output port tcaHealthGet: Components.HealthGet
 
-        # XY Boards
-
-        @ Port to return the state of mux channel 0
-        output port muxChannel0HealthGet: Components.HealthGet
-
-        @ Port to return the state of the load switch for face 0
-        output port face0LoadSwitchStateGet: Components.loadSwitchStateGet
-
-        @ Port for face 0 temperature sensor initialization
-        output port face0Init: Fw.SuccessCondition
-
-        @ Port for face 0 temperature sensor
-        output port face0TempGet: Drv.temperatureGet
-
-        @ Port to return the state of mux channel 1
-        output port muxChannel1HealthGet: Components.HealthGet
-
-        @ Port for face 1 load switch state
-        output port face1LoadSwitchStateGet: Components.loadSwitchStateGet
-
-        @ Port for face 1 temperature sensor initialization
-        output port face1Init: Fw.SuccessCondition
-
-        @ Port for face 1 temperature sensor
-        output port face1TempGet: Drv.temperatureGet
-
-        @ Port to return the state of mux channel 2
-        output port muxChannel2HealthGet: Components.HealthGet
-
-        @ Port for face 2 load switch state
-        output port face2LoadSwitchStateGet: Components.loadSwitchStateGet
-
-        @ Port for face 2 temperature sensor initialization
-        output port face2Init: Fw.SuccessCondition
-
-        @ Port for face 2 temperature sensor
-        output port face2TempGet: Drv.temperatureGet
-
-        @ Port to return the state of mux channel 3
-        output port muxChannel3HealthGet: Components.HealthGet
-
-        @ Port for face 3 load switch state
-        output port face3LoadSwitchStateGet: Components.loadSwitchStateGet
-
-        @ Port for face 3 temperature sensor initialization
-        output port face3Init: Fw.SuccessCondition
-
-        @ Port for face 3 temperature sensor
-        output port face3TempGet: Drv.temperatureGet
-
-        # Z- Board
-
-        @ Port to return the state of mux channel 5
-        output port muxChannel5HealthGet: Components.HealthGet
-
-        @ Port for face 5 load switch state
-        output port face5LoadSwitchStateGet: Components.loadSwitchStateGet
-
-        @ Port for face 5 temperature sensor initialization
-        output port face5Init: Fw.SuccessCondition
-
-        @ Port for face 5 temperature sensor
-        output port face5TempGet: Drv.temperatureGet
+        @ Port for face temperature sensors
+        output port faceTempGet: [5] Drv.temperatureGet
 
         # Battery Cell
 
-        @ Port to return the state of mux channel 4
-        output port muxChannel4HealthGet: Components.HealthGet
-
-        @ Port for battery cell 1 temperature sensor initialization
-        output port battCell1Init: Fw.SuccessCondition
-
-        @ Port for battery cell 1 temperature sensor
-        output port battCell1TempGet: Drv.temperatureGet
-
-        @ Port for battery cell 2 temperature sensor initialization
-        output port battCell2Init: Fw.SuccessCondition
-
-        @ Port for battery cell 2 temperature sensor
-        output port battCell2TempGet: Drv.temperatureGet
-
-        @ Port for battery cell 3 temperature sensor initialization
-        output port battCell3Init: Fw.SuccessCondition
-
-        @ Port for battery cell 3 temperature sensor
-        output port battCell3TempGet: Drv.temperatureGet
-
-        @ Port for battery cell 4 temperature sensor initialization
-        output port battCell4Init: Fw.SuccessCondition
-
-        @ Port for battery cell 4 temperature sensor
-        output port battCell4TempGet: Drv.temperatureGet
+        @ Port for battery cell temperature sensors
+        output port battCellTempGet: [4] Drv.temperatureGet
 
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 4b1e9ec5..9192fcff 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -294,39 +294,39 @@ module ReferenceDeployment {
     connections thermalManager {
       tmp112Face0Manager.tcaHealthGet -> tcaMonitor.healthGet
       tmp112Face0Manager.muxHealthGet -> muxChannel0Monitor.healthGet
-      thermalManager.face0TempGet -> tmp112Face0Manager.temperatureGet
+      thermalManager.faceTempGet[0] -> tmp112Face0Manager.temperatureGet
 
       tmp112Face1Manager.tcaHealthGet -> tcaMonitor.healthGet
       tmp112Face1Manager.muxHealthGet -> muxChannel1Monitor.healthGet
-      thermalManager.face1TempGet -> tmp112Face1Manager.temperatureGet
+      thermalManager.faceTempGet[1] -> tmp112Face1Manager.temperatureGet
 
       tmp112Face2Manager.tcaHealthGet -> tcaMonitor.healthGet
       tmp112Face2Manager.muxHealthGet -> muxChannel2Monitor.healthGet
-      thermalManager.face2TempGet -> tmp112Face2Manager.temperatureGet
+      thermalManager.faceTempGet[2] -> tmp112Face2Manager.temperatureGet
 
       tmp112Face3Manager.tcaHealthGet -> tcaMonitor.healthGet
       tmp112Face3Manager.muxHealthGet -> muxChannel3Monitor.healthGet
-      thermalManager.face3TempGet -> tmp112Face3Manager.temperatureGet
+      thermalManager.faceTempGet[3] -> tmp112Face3Manager.temperatureGet
 
       tmp112Face5Manager.tcaHealthGet -> tcaMonitor.healthGet
       tmp112Face5Manager.muxHealthGet -> muxChannel5Monitor.healthGet
-      thermalManager.face5TempGet -> tmp112Face5Manager.temperatureGet
+      thermalManager.faceTempGet[4] -> tmp112Face5Manager.temperatureGet
 
       tmp112BattCell1Manager.tcaHealthGet -> tcaMonitor.healthGet
       tmp112BattCell1Manager.muxHealthGet -> muxChannel4Monitor.healthGet
-      thermalManager.battCell1TempGet -> tmp112BattCell1Manager.temperatureGet
+      thermalManager.battCellTempGet[0] -> tmp112BattCell1Manager.temperatureGet
 
       tmp112BattCell2Manager.tcaHealthGet -> tcaMonitor.healthGet
       tmp112BattCell2Manager.muxHealthGet -> muxChannel4Monitor.healthGet
-      thermalManager.battCell2TempGet -> tmp112BattCell2Manager.temperatureGet
+      thermalManager.battCellTempGet[1] -> tmp112BattCell2Manager.temperatureGet
 
       tmp112BattCell3Manager.tcaHealthGet -> tcaMonitor.healthGet
       tmp112BattCell3Manager.muxHealthGet -> muxChannel4Monitor.healthGet
-      thermalManager.battCell3TempGet -> tmp112BattCell3Manager.temperatureGet
+      thermalManager.battCellTempGet[2] -> tmp112BattCell3Manager.temperatureGet
 
       tmp112BattCell4Manager.tcaHealthGet -> tcaMonitor.healthGet
       tmp112BattCell4Manager.muxHealthGet -> muxChannel4Monitor.healthGet
-      thermalManager.battCell4TempGet -> tmp112BattCell4Manager.temperatureGet
+      thermalManager.battCellTempGet[3] -> tmp112BattCell4Manager.temperatureGet
     }
 
     connections ModeManager {

From c578181e33aeabf6410808adbbe07c20ffefb4cc Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Mon, 1 Dec 2025 02:41:53 -0600
Subject: [PATCH 53/68] Fill out VELM6031 functionality

---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       |   4 +-
 .../Drv/Tmp112Manager/TMP112Manager.fpp       |   1 -
 .../Drv/Velm6031Manager/Velm6031Manager.cpp   | 341 +++++++++++++-----
 .../Drv/Velm6031Manager/Velm6031Manager.fpp   | 135 +++++--
 .../Drv/Velm6031Manager/Velm6031Manager.hpp   |  84 ++++-
 .../Components/LoadSwitch/LoadSwitch.cpp      |   4 +-
 .../Components/LoadSwitch/LoadSwitch.fpp      |   2 +-
 .../ThermalManager/ThermalManager.cpp         |   3 +-
 .../ReferenceDeployment/Main.cpp              |   2 +-
 .../Top/ReferenceDeploymentPackets.fppi       |  34 +-
 .../Top/ReferenceDeploymentTopology.cpp       |   2 +-
 .../Top/ReferenceDeploymentTopologyDefs.hpp   |   2 +-
 .../ReferenceDeployment/Top/instances.fpp     |  14 +-
 .../ReferenceDeployment/Top/topology.fpp      |  13 +-
 14 files changed, 453 insertions(+), 188 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index 1db8d3ab..1875cc3b 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -31,9 +31,9 @@ void Tmp112Manager::configure(const struct device* dev) {
 // Handler implementations for typed input ports
 // ----------------------------------------------------------------------
 
-Fw::Success Tmp112Manager ::loadSwitchStateChanged_handler(FwIndexType portNum, const Fw::On& loadSwitchState) {
+Fw::Success Tmp112Manager ::loadSwitchStateChanged_handler(FwIndexType portNum, const Fw::On& state) {
     // Store the load switch state
-    this->m_load_switch_state = loadSwitchState;
+    this->m_load_switch_state = state;
 
     // If the load switch is off, deinitialize the device
     if (this->m_load_switch_state == Fw::On::OFF) {
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index e763e507..5eed08dc 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -24,7 +24,6 @@ module Drv {
         telemetry Temperature: F64
 
         @ Event for reporting TMP112 not ready error
-        # event DeviceNotReady() severity warning high format "TMP112 device not ready"
         event DeviceNotReady() severity warning high format "TMP112 device not ready" throttle 5
 
         @ Event for reporting TMP112 initialization failure
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp
index da5e1428..55b31375 100644
--- a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp
@@ -20,134 +20,277 @@ Velm6031Manager ::Velm6031Manager(const char* const compName) : Velm6031ManagerC
 
 Velm6031Manager ::~Velm6031Manager() {}
 
+// ----------------------------------------------------------------------
+// Public helper methods
+// ----------------------------------------------------------------------
+
 void Velm6031Manager ::configure(const struct device* dev) {
     this->m_dev = dev;
 }
 
-void Velm6031Manager ::ReadData() {  // const struct device *dev,
-    // Return integer
-    int ret;
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
 
-    // Sensor value structs for reading data
-    struct sensor_value light;
-    struct sensor_value als_raw;
-    struct sensor_value ir_raw;
-    struct sensor_value sen;
+F32 Velm6031Manager ::ambientLightGet_handler(FwIndexType portNum, Fw::Success& condition) {
+    condition = Fw::Success::FAILURE;
 
-    sen.val2 = 0;
+    if (!this->initializeDevice()) {
+        return 0;
+    }
 
-    Fw::ParamValid valid;
-    sen.val1 = 5;  // pass in saying that the parameter is valid
+    configureSensorAttributes(SENSOR_CHAN_AMBIENT_LIGHT);  // ignore return value for now
 
-    // Setting the integration time attribute for the light sensor
+    int rc = sensor_sample_fetch_chan(this->m_dev, SENSOR_CHAN_AMBIENT_LIGHT);
+    if (rc != 0) {
+        this->log_WARNING_HI_SensorSampleFetchFailed(rc);
+        return 0;
+    }
+    this->log_WARNING_HI_SensorSampleFetchFailed_ThrottleClear();
 
-    if (!(this->m_attributes_set)) {
-        ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_IT, &sen);
-        if (ret) {
-            Fw::LogStringArg errMsg("Failed to set it attribute");
-            // this->log_WARNING_HI_Velm6031ManagerError(errMsg);
-        }
+    struct sensor_value val;
+    sensor_channel_get(this->m_dev, SENSOR_CHAN_AMBIENT_LIGHT, &val);
 
-        // Set the sensor attribute for div4
-        // sen.val1 = paramGet_DIV4(valid);
+    F32 lux = sensor_value_to_double(&val);
 
-        ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_DIV4, &sen);
-        if (ret) {
-            Fw::LogStringArg errMsg("Failed to set div4 attribute");
-            // this->log_WARNING_HI_Velm6031ManagerError(errMsg);
-        }
+    this->tlmWrite_VisibleLight(lux);
 
-        // Set the sensor attribute for the gain
-        sen.val1 = 0;
-        ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_GAIN, &sen);
-        if (ret) {
-            Fw::LogStringArg errMsg("Failed to set gain attribute ret");
-            // this->log_WARNING_HI_Velm6031ManagerError(errMsg);
-        }
+    condition = Fw::Success::SUCCESS;
+    return lux;
+}
+
+F32 Velm6031Manager ::infraRedLightGet_handler(FwIndexType portNum, Fw::Success& condition) {
+    condition = Fw::Success::FAILURE;
 
-        this->m_attributes_set = true;
+    if (!this->initializeDevice()) {
+        return 0;
     }
 
-    // Get the rate
-    ret = sensor_sample_fetch(this->m_dev);
-    if ((ret < 0) && (ret != -E2BIG)) {
-        Fw::LogStringArg errMsg("sample update error");
-        // this->log_WARNING_HI_Velm6031ManagerError(errMsg);
-        // this->log_WARNING_HI_Velm6031ManagerErrorInt(ret);
+    configureSensorAttributes(SENSOR_CHAN_IR);  // ignore return value for now
+
+    int rc = sensor_sample_fetch_chan(this->m_dev, SENSOR_CHAN_IR);
+    if (rc != 0) {
+        this->log_WARNING_HI_SensorSampleFetchFailed(rc);
+        return 0;
     }
+    this->log_WARNING_HI_SensorSampleFetchFailed_ThrottleClear();
+
+    struct sensor_value val;
+    sensor_channel_get(this->m_dev, SENSOR_CHAN_IR, &val);
 
-    // Get the light data
-    sensor_channel_get(this->m_dev, (enum sensor_channel)SENSOR_CHAN_LIGHT, &light);
+    F32 lux = sensor_value_to_double(&val);
 
-    // Get the raw ALS
-    sensor_channel_get(this->m_dev, (enum sensor_channel)SENSOR_CHAN_VEML6031_ALS_RAW_COUNTS, &als_raw);
+    this->tlmWrite_InfraRedLight(lux);
+
+    condition = Fw::Success::SUCCESS;
+    return lux;
+}
+
+Fw::Success Velm6031Manager ::loadSwitchStateChanged_handler(FwIndexType portNum, const Fw::On& state) {
+    // Store the load switch state
+    this->m_load_switch_state = state;
+
+    // If the load switch is off, deinitialize the device
+    if (this->m_load_switch_state == Fw::On::OFF) {
+        return this->deinitializeDevice();
+    }
 
-    // Get the raw IR
-    sensor_channel_get(this->m_dev, (enum sensor_channel)SENSOR_CHAN_VEML6031_IR_RAW_COUNTS, &ir_raw);
+    // If the load switch is on, set the timeout
+    // We only consider the load switch to be fully on after a timeout period
+    this->m_load_switch_on_timeout = this->getTime();
+    this->m_load_switch_on_timeout.add(1, 0);
 
-    this->m_RawLightData = sensor_value_to_double(&light);
-    this->m_ALSLightData = sensor_value_to_double(&als_raw);
-    this->m_IRLightData = sensor_value_to_double(&ir_raw);
+    return Fw::Success::SUCCESS;
+}
+
+F32 Velm6031Manager ::visibleLightGet_handler(FwIndexType portNum, Fw::Success& condition) {
+    condition = Fw::Success::FAILURE;
+
+    if (!this->initializeDevice()) {
+        return 0;
+    }
+
+    configureSensorAttributes(SENSOR_CHAN_LIGHT);  // ignore return value for now
+
+    int rc = sensor_sample_fetch_chan(this->m_dev, SENSOR_CHAN_LIGHT);
+    if (rc != 0) {
+        this->log_WARNING_HI_SensorSampleFetchFailed(rc);
+        return 0;
+    }
+    this->log_WARNING_HI_SensorSampleFetchFailed_ThrottleClear();
+
+    struct sensor_value val;
+    sensor_channel_get(this->m_dev, SENSOR_CHAN_LIGHT, &val);
+
+    F32 lux = sensor_value_to_double(&val);
+
+    this->tlmWrite_VisibleLight(lux);
+
+    condition = Fw::Success::SUCCESS;
+    return lux;
 }
 
 // ----------------------------------------------------------------------
-// Handler implementations for typed input ports
+// Private helper methods
 // ----------------------------------------------------------------------
 
-void Velm6031Manager ::run_handler(FwIndexType portNum, U32 context) {
-    Fw::Logic state;
-    // this->gpioRead_out(portNum, state);
-    if (state == Fw::Logic::HIGH) {  // port call to the gpio driver, pass in a specific pin #
-        this->ReadData();
-        // this->tlmWrite_RawLightData(this->m_RawLightData);
-        // this->tlmWrite_IRLightData(this->m_IRLightData);
-        // this->tlmWrite_ALSLightData(this->m_ALSLightData);
-    } else {
-        if (this->m_device_init == true) {
-            this->m_device_init = false;
-        }
-        if (state == Fw::Logic::LOW && this->m_attributes_set == true) {
-            this->m_attributes_set = false;
+bool Velm6031Manager ::isDeviceInitialized() {
+    if (!this->m_dev) {
+        this->log_WARNING_HI_DeviceNil();
+        return false;
+    }
+    this->log_WARNING_HI_DeviceNil_ThrottleClear();
+
+    if (!this->m_dev->state) {
+        this->log_WARNING_HI_DeviceStateNil();
+        return false;
+    }
+    this->log_WARNING_HI_DeviceStateNil_ThrottleClear();
+
+    return this->m_dev->state->initialized;
+}
+
+Fw::Success Velm6031Manager ::initializeDevice() {
+    if (this->isDeviceInitialized()) {
+        if (!device_is_ready(this->m_dev)) {
+            this->log_WARNING_HI_DeviceNotReady();
+            return Fw::Success::FAILURE;
         }
+        this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
+        return Fw::Success::SUCCESS;
+    }
+
+    if (this->tcaHealthGet_out(0) != Fw::Health::HEALTHY) {
+        this->log_WARNING_HI_TcaUnhealthy();
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_TcaUnhealthy_ThrottleClear();
+
+    if (this->muxHealthGet_out(0) != Fw::Health::HEALTHY) {
+        this->log_WARNING_HI_MuxUnhealthy();
+        return Fw::Success::FAILURE;
     }
+    this->log_WARNING_HI_MuxUnhealthy_ThrottleClear();
+
+    if (!this->loadSwitchReady()) {
+        this->log_WARNING_HI_LoadSwitchNotReady();
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_LoadSwitchNotReady_ThrottleClear();
+
+    int rc = device_init(this->m_dev);
+    if (rc < 0) {
+        this->log_WARNING_HI_DeviceInitFailed(rc);
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_DeviceInitFailed_ThrottleClear();
+
+    return Fw::Success::SUCCESS;
 }
 
-void Velm6031Manager::init_handler(FwIndexType portNum) {
-    // const struct device* mux = DEVICE_DT_GET(DT_NODELABEL(tca9548a));
-    // const struct device* channel = DEVICE_DT_GET(DT_NODELABEL(face0_i2c));
-    // const struct device* sensor = DEVICE_DT_GET(DT_NODELABEL(face0_light_sens));
-
-    // if (!mux || !channel || !sensor) {
-    //     // this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Device DT_NODELABEL missing"));
-    //     return;
-    // }
-
-    // int ret = device_init(mux);
-    // if (ret < 0) {
-    //     // this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("TCA9548A init failed"));
-    //     return;
-    // }
-
-    // ret = device_init(channel);
-    // if (ret < 0) {
-    //     // this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Mux channel init failed"));
-    //     return;
-    // }
-
-    // ret = device_init(sensor);
-    // if (ret < 0) {
-    //     // this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Light sensor init failed"));
-    //     // Continue anyway - might still work
-    // }
-
-    // if (!device_is_ready(sensor)) {
-    //     // this->log_WARNING_HI_Velm6031ManagerError(Fw::LogStringArg("Light sensor not ready after timeout"));
-    // }
-
-    // this->m_dev = sensor;
-    // this->m_device_init = true;
-
-    // this->log_ACTIVITY_LO_Velm6031ManagerConfigured();
+Fw::Success Velm6031Manager ::deinitializeDevice() {
+    if (!this->m_dev) {
+        this->log_WARNING_HI_DeviceNil();
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_DeviceNil_ThrottleClear();
+
+    if (!this->m_dev->state) {
+        this->log_WARNING_HI_DeviceStateNil();
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_DeviceStateNil_ThrottleClear();
+
+    this->m_dev->state->initialized = false;
+    return Fw::Success::SUCCESS;
+}
+
+bool Velm6031Manager ::loadSwitchReady() {
+    return this->m_load_switch_state == Fw::On::ON && this->getTime() >= this->m_load_switch_on_timeout;
+}
+
+Fw::Success Velm6031Manager ::setIntegrationTimeAttribute(sensor_channel chan) {
+    Fw::ParamValid valid;
+    U8 it = this->paramGet_INTEGRATION_TIME(valid);
+    if (valid != Fw::ParamValid::VALID) {
+        this->log_WARNING_HI_InvalidIntegrationTimeParam(it);
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_InvalidIntegrationTimeParam_ThrottleClear();
+
+    struct sensor_value attr;
+    sensor_value_from_double(&attr, it);
+    int rc = sensor_attr_set(this->m_dev, chan, (enum sensor_attribute)SENSOR_ATTR_VEML6031_IT, &attr);
+    if (rc) {
+        this->log_WARNING_HI_SensorAttrSetFailed(SENSOR_ATTR_VEML6031_IT, it, rc);
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_SensorAttrSetFailed_ThrottleClear();
+
+    return Fw::Success::SUCCESS;
+}
+
+Fw::Success Velm6031Manager ::setGainAttribute(sensor_channel chan) {
+    Fw::ParamValid valid;
+    U8 gain = this->paramGet_GAIN(valid);
+    if (valid != Fw::ParamValid::VALID) {
+        this->log_WARNING_HI_InvalidGainParam(gain);
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_InvalidGainParam_ThrottleClear();
+
+    struct sensor_value attr;
+    sensor_value_from_double(&attr, gain);
+    int rc = sensor_attr_set(this->m_dev, chan, (enum sensor_attribute)SENSOR_ATTR_VEML6031_GAIN, &attr);
+    if (rc) {
+        this->log_WARNING_HI_SensorAttrSetFailed(SENSOR_ATTR_VEML6031_GAIN, gain, rc);
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_SensorAttrSetFailed_ThrottleClear();
+
+    return Fw::Success::SUCCESS;
+}
+
+Fw::Success Velm6031Manager ::setDiv4Attribute(sensor_channel chan) {
+    Fw::ParamValid valid;
+    U8 div4 = this->paramGet_EFFECTIVE_PHOTODIODE_SIZE(valid);
+    if (valid != Fw::ParamValid::VALID) {
+        this->log_WARNING_HI_InvalidDiv4Param(div4);
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_InvalidDiv4Param_ThrottleClear();
+
+    struct sensor_value attr;
+    sensor_value_from_double(&attr, div4);
+    int rc = sensor_attr_set(this->m_dev, chan, (enum sensor_attribute)SENSOR_ATTR_VEML6031_DIV4, &attr);
+    if (rc) {
+        this->log_WARNING_HI_SensorAttrSetFailed(SENSOR_ATTR_VEML6031_DIV4, div4, rc);
+        return Fw::Success::FAILURE;
+    }
+    this->log_WARNING_HI_SensorAttrSetFailed_ThrottleClear();
+
+    return Fw::Success::SUCCESS;
+}
+
+Fw::Success Velm6031Manager ::configureSensorAttributes(sensor_channel chan) {
+    Fw::Success result;
+
+    result = this->setIntegrationTimeAttribute(chan);
+    if (result != Fw::Success::SUCCESS) {
+        return result;
+    }
+
+    result = this->setGainAttribute(chan);
+    if (result != Fw::Success::SUCCESS) {
+        return result;
+    }
+
+    result = this->setDiv4Attribute(chan);
+    if (result != Fw::Success::SUCCESS) {
+        return result;
+    }
+
+    return Fw::Success::SUCCESS;
 }
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp
index 5ee1e61d..9c2768c9 100644
--- a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp
@@ -1,73 +1,134 @@
 module Drv {
-    @ Component for reading light sensor data
-    port InitPort
+    port lightGet(ref condition: Fw.Success) -> F32
+
+    @ Gain settings for VELM6031 sensor
+    enum GAIN : U8 {
+        VEML6031_GAIN_1 @< Gain of 1
+        VEML6031_GAIN_2 @< Gain of 2
+        VEML6031_GAIN_0_66 @< Gain of 0.66
+        VEML6031_GAIN_0_5 @< Gain of 0.5
+    }
+
+    @ Integration time settings for VELM6031 sensor
+    enum IT : U8 {
+        VEML6031_IT_3_125 @< 3.25 ms integration time
+        VEML6031_IT_6_25 @< 6.25 ms integration time
+        VEML6031_IT_12_5 @< 12.5 ms integration time
+        VEML6031_IT_25 @< 25 ms integration time
+        VEML6031_IT_50 @< 50 ms integration time
+        VEML6031_IT_100 @< 100 ms integration time
+        VEML6031_IT_200 @< 200 ms integration time
+        VEML6031_IT_400 @< 400 ms integration time
+        VEML6031_IT_800 @< 800 ms integration time
+    }
+
+    @ Effective photodiode size (DIV4) settings for VELM6031 sensor
+    enum DIV4 : U8 {
+        VEML6031_SIZE_4_4
+        VEML6031_SIZE_1_4
+    }
+
+    @ Ambient Light Sensor (ALS) persistence protect number settings for VELM6031 sensor
+    enum ALS_PERS : U8 {
+        VEML60XX_PERS_1 @< Interrupt triggered every ALS reading
+        VEML60XX_PERS_2 @< Interrupt triggered after 2 consecutive ALS readings out of threshold
+        VEML60XX_PERS_4 @< Interrupt triggered after 4 consecutive ALS readings out of threshold
+        VEML60XX_PERS_8 @< Interrupt triggered after 8 consecutive ALS readings out of threshold
+    }
+}
 
+module Drv {
     passive component Velm6031Manager {
 
         #### Parameters ####
         @ Parameter for setting the gain of the light senors
-        param GAIN: U32 default 1
+        param GAIN: GAIN default GAIN.VEML6031_GAIN_1
+
+        @ Parameter for setting the integration time (IT) of the light sensors
+        param INTEGRATION_TIME: IT default IT.VEML6031_IT_100
 
-        @ Parameter for setting the integration time of the light sensors
-        param INTEGRATION_TIME: U32 default 100
+        @ Parameter for setting the effective photodiode size (DIV4) mode of the light sensors
+        param EFFECTIVE_PHOTODIODE_SIZE: DIV4 default DIV4.VEML6031_SIZE_4_4
 
-        @ Parameter for setting the div4 mode of the light sensors
-        param DIV4: U32 default 0
+        @ Parameter for setting the Ambient Light Sensor (ALS) persistence protect number setting (PERS).
+        param ALS_PERSISTENCE_PROTECT_NUMBER: ALS_PERS default ALS_PERS.VEML60XX_PERS_1
 
         #### Telemetry ####
-        @ Telemetry for the raw light sensor data
-        telemetry RawLightData: F32
+        @ Telemetry for the illuminance in the visible spectrum, in lux
+        telemetry VisibleLight: F32
 
-        @ Telemetry for the IR light sensor data
-        telemetry IRLightData: F32
+        @ Telemetry for the illuminance in the infra-red spectrum, in lux
+        telemetry InfraRedLight: F32
 
-        @ Telemetry for the ALS light sensor data
-        telemetry ALSLightData: F32
+        @ Telemetry for the ambient illuminance in visible spectrum, in lux
+        telemetry AmbientLight: F32
 
         #### Ports ####
 
-        @ Port for polling the light sensor data - called by rate group
-        sync input port run: Svc.Sched
+        @ Port to read the illuminance in visible spectrum, in lux
+        @ This channel represents the raw measurement counts provided by the sensor ALS register.
+        @ It is useful for estimating good values for integration time, effective photodiode size
+        @ and gain attributes in fetch and get mode.
+        sync input port visibleLightGet: lightGet
+
+        @ Port to read the illuminance in infra-red spectrum, in lux
+        sync input port infraRedLightGet: lightGet
+
+        @ Port to read the ambient illuminance in visible spectrum, in lux
+        sync input port ambientLightGet: lightGet
+
+        @ Port to initialize and deinitialize the VELM6031 device on load switch state change
+        sync input port loadSwitchStateChanged: Components.loadSwitchStateChanged
+
+        @ Output port to check device TCA health
+        output port tcaHealthGet: Components.HealthGet
+
+        @ Output port to check device MUX health
+        output port muxHealthGet: Components.HealthGet
 
         @ Port for reading gpio status
         output port gpioRead: Drv.GpioRead
 
-        @ Port to tell us when to init the device
-        sync input port init: InitPort
-
         #### Events ####
 
-        @ Event for light sensor errors
-        event Velm6031ManagerError(log: string) severity warning high format "Light Sensor Error: {}"
+        @ Event for reporting VELM6031 not ready error
+        event DeviceNotReady() severity warning high format "VELM6031 device not ready" throttle 5
 
-        event Velm6031ManagerErrorInt(log: U32) severity warning high format "Light Sensor Error: {}"
+        @ Event for reporting VELM6031 initialization failure
+        event DeviceInitFailed(ret: I32) severity warning high format "VELM6031 initialization failed with return code: {}" throttle 5
 
-        @ Event for light sensor configuration
-        event Velm6031ManagerConfigured() severity activity low format "Light Sensor Configured"
+        @ Event for reporting VELM6031 nil device error
+        event DeviceNil() severity warning high format "VELM6031 device is nil" throttle 5
 
-        event Velm6031ManagerRead() severity activity low format "Values Read from the Light Sensor"
+        @ Event for reporting VELM6031 nil state error
+        event DeviceStateNil() severity warning high format "VELM6031 device state is nil" throttle 5
 
+        @ Event for reporting TCA unhealthy state
+        event TcaUnhealthy() severity warning high format "VELM6031 TCA device is unhealthy" throttle 5
 
+        @ Event for reporting MUX unhealthy state
+        event MuxUnhealthy() severity warning high format "VELM6031 MUX device is unhealthy" throttle 5
 
+        @ Event for reporting Load Switch not ready state
+        event LoadSwitchNotReady() severity warning high format "VELM6031 Load Switch is not ready" throttle 5
 
-        ##############################################################################
-        #### Uncomment the following examples to start customizing your component ####
-        ##############################################################################
+        @ Event for reporting VELM6031 sensor fetch failure
+        event SensorSampleFetchFailed(ret: I32) severity warning high format "VELM6031 sensor fetch failed with return code: {}" throttle 5
 
-        # @ Example async command
-        # async command COMMAND_NAME(param_name: U32)
+        @ Event for reporting VELM6031 sensor channel get failure
+        event SensorChannelGetFailed(ret: I32) severity warning high format "VELM6031 sensor channel get failed with return code: {}" throttle 5
 
-        # @ Example telemetry counter
-        # telemetry ExampleCounter: U64
+        @ Event for reporting invalid gain parameter
+        event InvalidGainParam(gain: U8) severity warning high format "VELM6031 invalid gain parameter: {}" throttle 5
 
-        # @ Example event
-        # event ExampleStateEvent(example_state: Fw.On) severity activity high id 0 format "State set to {}"
+        @ Event for reporting invalid integration time parameter
+        event InvalidIntegrationTimeParam(it: U8) severity warning high format "VELM6031 invalid integration time parameter: {}" throttle 5
 
-        # @ Example port: receiving calls from the rate group
-        # sync input port run: Svc.Sched
+        @ Event for reporting invalid effective photodiode size parameter
+        event InvalidDiv4Param(div4: U8) severity warning high format "VELM6031 invalid effective photodiode size parameter: {}" throttle 5
 
-        # @ Example parameter
-        # param PARAMETER_NAME: U32
+        @ Event for reporting sensor attribute set failure
+        event SensorAttrSetFailed(attr: U16, val: U8, ret: I32) severity warning high format "VELM6031 sensor attribute {}={} set failed with return code: {}" throttle 5
 
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp
index 8e33e60e..0ed53ddc 100644
--- a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp
@@ -32,8 +32,12 @@ class Velm6031Manager final : public Velm6031ManagerComponentBase {
     //! Destroy Velm6031Manager object
     ~Velm6031Manager();
 
-    void ReadData();
+  public:
+    // ----------------------------------------------------------------------
+    // Public helper methods
+    // ----------------------------------------------------------------------
 
+    //! Configure the TMP112 device
     void configure(const struct device* dev);
 
   private:
@@ -41,28 +45,82 @@ class Velm6031Manager final : public Velm6031ManagerComponentBase {
     // Handler implementations for typed input ports
     // ----------------------------------------------------------------------
 
-    //! Handler implementation for run
+    //! Handler implementation for ambientLightGet
     //!
-    //! Port for polling the light sensor data - called by rate group
-    void run_handler(FwIndexType portNum,  //!< The port number
-                     U32 context           //!< The call order
-                     ) override;
+    //! Port to read the ambient illuminance in visible spectrum, in lux
+    F32 ambientLightGet_handler(FwIndexType portNum,  //!< The port number
+                                Fw::Success& condition) override;
+
+    //! Handler implementation for infraRedLightGet
+    //!
+    //! Port to read the illuminance in infra-red spectrum, in lux
+    F32 infraRedLightGet_handler(FwIndexType portNum,  //!< The port number
+                                 Fw::Success& condition) override;
+
+    //! Handler implementation for loadSwitchStateChanged
+    //!
+    //! Port to initialize and deinitialize the VELM6031 device on load switch state change
+    Fw::Success loadSwitchStateChanged_handler(FwIndexType portNum,  //!< The port number
+                                               const Fw::On& state) override;
+
+    //! Handler implementation for visibleLightGet
+    //!
+    //! Port to read the illuminance in visible spectrum, in lux
+    //! This channel represents the raw measurement counts provided by the sensor ALS register.
+    //! It is useful for estimating good values for integration time, effective photodiode size
+    //! and gain attributes in fetch and get mode.
+    F32 visibleLightGet_handler(FwIndexType portNum,  //!< The port number
+                                Fw::Success& condition) override;
+
+  private:
+    // ----------------------------------------------------------------------
+    // Private helper methods
+    // ----------------------------------------------------------------------
+
+    //! Initialize the TMP112 device
+    Fw::Success initializeDevice();
 
-    void init_handler(FwIndexType portNum);
+    //! Deinitialize the TMP112 device
+    Fw::Success deinitializeDevice();
 
-    F32 m_RawLightData;
+    //! Check if the TMP112 device is initialized
+    bool isDeviceInitialized();
 
-    F32 m_IRLightData;
+    //! Check if the load switch is ready (on and timeout passed)
+    bool loadSwitchReady();
 
-    F32 m_ALSLightData;
+    //! Set the integration time attribute for the VELM6031 sensor
+    Fw::Success setIntegrationTimeAttribute(sensor_channel chan);
 
-    bool m_configured = false;
+    //! Set the gain attribute for the VELM6031 sensor
+    Fw::Success setGainAttribute(sensor_channel chan);
 
-    bool m_attributes_set = false;
+    //! Set the div4 attribute for the VELM6031 sensor
+    Fw::Success setDiv4Attribute(sensor_channel chan);
 
-    bool m_device_init = false;
+    //! Set all sensor attributes for the VELM6031 sensor
+    Fw::Success configureSensorAttributes(sensor_channel chan);
 
+  private:
+    // ----------------------------------------------------------------------
+    // Private member variables
+    // ----------------------------------------------------------------------
+
+    //! Zephyr device stores the initialized TMP112 sensor
     const struct device* m_dev;
+
+    //! TCA health state
+    Fw::Health m_tca_state = Fw::Health::FAILED;
+
+    //! MUX health state
+    Fw::Health m_mux_state = Fw::Health::FAILED;
+
+    //! Load switch state
+    Fw::On m_load_switch_state = Fw::On::OFF;
+
+    //! Load switch on timeout
+    //! Time when we can consider the load switch to be fully on (giving time for power to normalize)
+    Fw::Time m_load_switch_on_timeout;
 };
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index 8224d0be..094cd976 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -59,7 +59,9 @@ void LoadSwitch ::setLoadSwitchState(Fw::On state) {
     this->gpioSet_out(0, gpioValue);
 
     // Inform downstream components of the state change
-    this->loadSwitchStateChanged_out(0, state);
+    for (FwIndexType i = 0; i < this->getNum_loadSwitchStateChanged_OutputPorts(); i++) {
+        this->loadSwitchStateChanged_out(i, state);
+    }
     this->log_ACTIVITY_HI_StatusChanged(state);
     this->tlmWrite_IsOn(state);
 }
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
index 27843f80..c2f7339d 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp
@@ -26,7 +26,7 @@ module Components {
         output port gpioGet: Drv.GpioRead
 
         @ Port to indicate a change in load switch state
-        output port loadSwitchStateChanged: loadSwitchStateChanged
+        output port loadSwitchStateChanged: [2] loadSwitchStateChanged
 
         @ Input port to turn on the load switch (called by other components)
         sync input port turnOn: Fw.Signal
diff --git a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
index 5afd2b79..17102ee2 100644
--- a/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
+++ b/FprimeZephyrReference/Components/ThermalManager/ThermalManager.cpp
@@ -24,11 +24,12 @@ ThermalManager::~ThermalManager() {}
 void ThermalManager::run_handler(FwIndexType portNum, U32 context) {
     Fw::Success condition;
 
+    // Face temp sensors
     for (FwIndexType i = 0; i < this->getNum_faceTempGet_OutputPorts(); i++) {
         this->faceTempGet_out(i, condition);
     }
 
-    // Battery cell sensors (4 sensors)
+    // Battery cell temp sensors
     for (FwIndexType i = 0; i < this->getNum_battCellTempGet_OutputPorts(); i++) {
         this->battCellTempGet_out(i, condition);
     }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index cd707337..e3642197 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -85,7 +85,7 @@ int main(int argc, char* argv[]) {
     inputs.battCell3TempDevice = batt_cell3_temp_sens;
     inputs.battCell4TempDevice = batt_cell4_temp_sens;
     // Light sensor devices
-    // inputs.face0LightDevice = face0_light_sens;
+    inputs.face0LightDevice = face0_light_sens;
     // inputs.face1LightDevice = face1_light_sens;
     // inputs.face2LightDevice = face2_light_sens;
     // inputs.face3LightDevice = face3_light_sens;
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 9088f7e0..94b367f7 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -120,29 +120,29 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.tmp112BattCell4Manager.Temperature
   }
 
-  # packet LightSensor id 14 group 4 {
-  #   ReferenceDeployment.velm6031Face0Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face1Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face2Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face3Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face5Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face6Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face7Manager.RawLightData
-  #   ReferenceDeployment.velm6031Face0Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face1Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face2Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face3Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face5Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face6Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face7Manager.IRLightData
-  #   ReferenceDeployment.velm6031Face0Manager.ALSLightData
+  packet LightSensor id 14 group 4 {
+    ReferenceDeployment.velm6031Face0Manager.VisibleLight
+    # ReferenceDeployment.velm6031Face1Manager.RawLightData
+    # ReferenceDeployment.velm6031Face2Manager.RawLightData
+    # ReferenceDeployment.velm6031Face3Manager.RawLightData
+    # ReferenceDeployment.velm6031Face5Manager.RawLightData
+    # ReferenceDeployment.velm6031Face6Manager.RawLightData
+    # ReferenceDeployment.velm6031Face7Manager.RawLightData
+    ReferenceDeployment.velm6031Face0Manager.InfraRedLight
+    # ReferenceDeployment.velm6031Face1Manager.IRLightData
+    # ReferenceDeployment.velm6031Face2Manager.IRLightData
+    # ReferenceDeployment.velm6031Face3Manager.IRLightData
+    # ReferenceDeployment.velm6031Face5Manager.IRLightData
+    # ReferenceDeployment.velm6031Face6Manager.IRLightData
+    # ReferenceDeployment.velm6031Face7Manager.IRLightData
+    ReferenceDeployment.velm6031Face0Manager.AmbientLight
   #   ReferenceDeployment.velm6031Face1Manager.ALSLightData
   #   ReferenceDeployment.velm6031Face2Manager.ALSLightData
   #   ReferenceDeployment.velm6031Face3Manager.ALSLightData
   #   ReferenceDeployment.velm6031Face5Manager.ALSLightData
   #   ReferenceDeployment.velm6031Face6Manager.ALSLightData
   #   ReferenceDeployment.velm6031Face7Manager.ALSLightData
-  # }
+  }
 
 } omit {
   CdhCore.cmdDisp.CommandErrors
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 1b7c61d2..298b9511 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -142,7 +142,7 @@ void setupTopology(const TopologyState& state) {
     tmp112BattCell4Manager.configure(state.battCell4TempDevice);
 
     // Configure all 7 VELM6031 light sensor managers
-    // velm6031Face0Manager.configure(state.face0LightDevice);
+    velm6031Face0Manager.configure(state.face0LightDevice);
     // velm6031Face1Manager.configure(state.face1LightDevice);
     // velm6031Face2Manager.configure(state.face2LightDevice);
     // velm6031Face3Manager.configure(state.face3LightDevice);
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index 64c587ca..c6dd5eb2 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -106,7 +106,7 @@ struct TopologyState {
     const device* battCell3TempDevice;  //!< TMP112 device for battery cell 3
     const device* battCell4TempDevice;  //!< TMP112 device for battery cell 4
     // - Light sensors
-    // const device* face0LightDevice;  //!< Light sensor device for cube face 0
+    const device* face0LightDevice;  //!< Light sensor device for cube face 0
     // const device* face1LightDevice;  //!< Light sensor device for cube face 1
     // const device* face2LightDevice;  //!< Light sensor device for cube face 2
     // const device* face3LightDevice;  //!< Light sensor device for cube face 3
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 9ea8cf14..c036eb33 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -185,18 +185,18 @@ module ReferenceDeployment {
 
   instance tmp112BattCell4Manager: Drv.Tmp112Manager base id 0x10053000
 
-  # instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10054000
+  instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10054000
 
-  # instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10055000
+  instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10055000
 
-  # instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10056000
+  instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10056000
 
-  # instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10057000
+  instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10057000
 
-  # instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10058000
+  instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10058000
 
-  # instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x10059000
+  instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x10059000
 
-  # instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005A000
+  instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005A000
 
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 9192fcff..7e32dfa8 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -91,7 +91,7 @@ module ReferenceDeployment {
     instance tmp112BattCell4Manager
     instance resetManager
     instance modeManager
-    # instance velm6031Face0Manager
+    instance velm6031Face0Manager
     # instance velm6031Face1Manager
     # instance velm6031Face2Manager
     # instance velm6031Face3Manager
@@ -229,23 +229,24 @@ module ReferenceDeployment {
 
       face0LoadSwitch.gpioSet -> gpioface0LS.gpioWrite
       face0LoadSwitch.gpioGet -> gpioface0LS.gpioRead
-      face0LoadSwitch.loadSwitchStateChanged -> tmp112Face0Manager.loadSwitchStateChanged
+      face0LoadSwitch.loadSwitchStateChanged[0] -> tmp112Face0Manager.loadSwitchStateChanged
+      face0LoadSwitch.loadSwitchStateChanged[1] -> velm6031Face0Manager.loadSwitchStateChanged
 
       face1LoadSwitch.gpioSet -> gpioface1LS.gpioWrite
       face1LoadSwitch.gpioGet -> gpioface1LS.gpioRead
-      face1LoadSwitch.loadSwitchStateChanged -> tmp112Face1Manager.loadSwitchStateChanged
+      face1LoadSwitch.loadSwitchStateChanged[0] -> tmp112Face1Manager.loadSwitchStateChanged
 
       face2LoadSwitch.gpioSet -> gpioface2LS.gpioWrite
       face2LoadSwitch.gpioGet -> gpioface2LS.gpioRead
-      face2LoadSwitch.loadSwitchStateChanged -> tmp112Face2Manager.loadSwitchStateChanged
+      face2LoadSwitch.loadSwitchStateChanged[0] -> tmp112Face2Manager.loadSwitchStateChanged
 
       face3LoadSwitch.gpioSet -> gpioface3LS.gpioWrite
       face3LoadSwitch.gpioGet -> gpioface3LS.gpioRead
-      face3LoadSwitch.loadSwitchStateChanged -> tmp112Face3Manager.loadSwitchStateChanged
+      face3LoadSwitch.loadSwitchStateChanged[0] -> tmp112Face3Manager.loadSwitchStateChanged
 
       face5LoadSwitch.gpioSet -> gpioface5LS.gpioWrite
       face5LoadSwitch.gpioGet -> gpioface5LS.gpioRead
-      face5LoadSwitch.loadSwitchStateChanged -> tmp112Face5Manager.loadSwitchStateChanged
+      face5LoadSwitch.loadSwitchStateChanged[0] -> tmp112Face5Manager.loadSwitchStateChanged
 
       payloadPowerLoadSwitch.gpioSet -> gpioPayloadPowerLS.gpioWrite
       payloadPowerLoadSwitch.gpioGet -> gpioPayloadPowerLS.gpioRead

From 2eba75db0e0d93fa4a0f2e51f81e01881f5eda8c Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Mon, 1 Dec 2025 03:09:01 -0600
Subject: [PATCH 54/68] Add ADCS component, still not in topology

---
 .../Components/ADCS/ADCS.cpp                  | 33 +++++++++++++++
 .../Components/ADCS/ADCS.fpp                  | 24 +++++++++++
 .../Components/ADCS/ADCS.hpp                  | 41 +++++++++++++++++++
 .../Components/ADCS/CMakeLists.txt            | 18 ++++++++
 .../Components/CMakeLists.txt                 |  1 +
 .../ReferenceDeployment/Top/instances.fpp     | 16 ++++----
 .../ReferenceDeployment/Top/topology.fpp      | 11 +++++
 .../project/config/AcConstants.fpp            |  2 +-
 8 files changed, 138 insertions(+), 8 deletions(-)
 create mode 100644 FprimeZephyrReference/Components/ADCS/ADCS.cpp
 create mode 100644 FprimeZephyrReference/Components/ADCS/ADCS.fpp
 create mode 100644 FprimeZephyrReference/Components/ADCS/ADCS.hpp
 create mode 100644 FprimeZephyrReference/Components/ADCS/CMakeLists.txt

diff --git a/FprimeZephyrReference/Components/ADCS/ADCS.cpp b/FprimeZephyrReference/Components/ADCS/ADCS.cpp
new file mode 100644
index 00000000..8a756d83
--- /dev/null
+++ b/FprimeZephyrReference/Components/ADCS/ADCS.cpp
@@ -0,0 +1,33 @@
+// ======================================================================
+// \title  ADCS.cpp
+// \brief  cpp file for ADCS component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/ADCS/ADCS.hpp"
+
+#include <Fw/Types/Assert.hpp>
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+ADCS::ADCS(const char* const compName) : ADCSComponentBase(compName) {}
+
+ADCS::~ADCS() {}
+
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+void ADCS::run_handler(FwIndexType portNum, U32 context) {
+    Fw::Success condition;
+
+    // Face light sensors
+    for (FwIndexType i = 0; i < this->getNum_visibleLightGet_OutputPorts(); i++) {
+        this->visibleLightGet_out(i, condition);
+    }
+}
+
+}  // namespace Components
diff --git a/FprimeZephyrReference/Components/ADCS/ADCS.fpp b/FprimeZephyrReference/Components/ADCS/ADCS.fpp
new file mode 100644
index 00000000..57f2b661
--- /dev/null
+++ b/FprimeZephyrReference/Components/ADCS/ADCS.fpp
@@ -0,0 +1,24 @@
+module Components {
+    @ Attitude Determination and Control Component for F Prime FSW framework.
+    passive component ADCS {
+        sync input port run: Svc.Sched
+
+        @ Port for face light sensors
+        output port visibleLightGet: [6] Drv.lightGet
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for emitting telemetry
+        telemetry port tlmOut
+
+        @ Port for emitting events
+        event port logOut
+
+        @ Port for emitting text events
+        text event port logTextOut
+    }
+}
diff --git a/FprimeZephyrReference/Components/ADCS/ADCS.hpp b/FprimeZephyrReference/Components/ADCS/ADCS.hpp
new file mode 100644
index 00000000..077815fb
--- /dev/null
+++ b/FprimeZephyrReference/Components/ADCS/ADCS.hpp
@@ -0,0 +1,41 @@
+// ======================================================================
+// \title  ADCS.hpp
+// \brief  hpp file for ADCS component implementation class
+// ======================================================================
+
+#ifndef Components_ADCS_HPP
+#define Components_ADCS_HPP
+
+#include "FprimeZephyrReference/Components/ADCS/ADCSComponentAc.hpp"
+
+namespace Components {
+
+class ADCS final : public ADCSComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct ADCS object
+    ADCS(const char* const compName  //!< The component name
+    );
+
+    //! Destroy ADCS object
+    ~ADCS();
+
+  private:
+    // ----------------------------------------------------------------------
+    // Handler implementations for typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for run
+    //!
+    //! Scheduled port for periodic temperature reading
+    void run_handler(FwIndexType portNum,  //!< The port number
+                     U32 context           //!< The call order
+                     ) override;
+};
+
+}  // namespace Components
+
+#endif
diff --git a/FprimeZephyrReference/Components/ADCS/CMakeLists.txt b/FprimeZephyrReference/Components/ADCS/CMakeLists.txt
new file mode 100644
index 00000000..fe80bbbf
--- /dev/null
+++ b/FprimeZephyrReference/Components/ADCS/CMakeLists.txt
@@ -0,0 +1,18 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+register_fprime_library(
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/ADCS.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/ADCS.cpp"
+)
diff --git a/FprimeZephyrReference/Components/CMakeLists.txt b/FprimeZephyrReference/Components/CMakeLists.txt
index face4e63..62da1a3f 100644
--- a/FprimeZephyrReference/Components/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/CMakeLists.txt
@@ -1,5 +1,6 @@
 # Include project-wide components here
 
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ADCS/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/AntennaDeployer/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Authenticate/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/BootloaderTrigger/")
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index c036eb33..3e2d6306 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -185,18 +185,20 @@ module ReferenceDeployment {
 
   instance tmp112BattCell4Manager: Drv.Tmp112Manager base id 0x10053000
 
-  instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10054000
+  instance adcs: Components.ADCS base id 0x10054000
 
-  instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10055000
+  instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10055000
 
-  instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10056000
+  instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10056000
 
-  instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10057000
+  instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10057000
 
-  instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10058000
+  instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10058000
 
-  instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x10059000
+  instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10059000
 
-  instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005A000
+  instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x1005A000
+
+  instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005B000
 
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 7e32dfa8..27110b38 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -91,6 +91,7 @@ module ReferenceDeployment {
     instance tmp112BattCell4Manager
     instance resetManager
     instance modeManager
+    instance adcs
     instance velm6031Face0Manager
     # instance velm6031Face1Manager
     # instance velm6031Face2Manager
@@ -212,6 +213,7 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[20] -> muxChannel5Monitor.run
       rateGroup1Hz.RateGroupMemberOut[21] -> muxChannel7Monitor.run
       rateGroup1Hz.RateGroupMemberOut[22] -> thermalManager.run
+      # rateGroup1Hz.RateGroupMemberOut[23] -> adcs.run
 
       # Slow rate (1/6 Hz) rate group
       # rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_6Hz] -> rateGroup1_6Hz.CycleIn
@@ -330,6 +332,15 @@ module ReferenceDeployment {
       thermalManager.battCellTempGet[3] -> tmp112BattCell4Manager.temperatureGet
     }
 
+    connections adcs {
+      adcs.visibleLightGet[0] -> velm6031Face0Manager.visibleLightGet
+      # adcs.visibleLightGet[1] -> velm6031Face1Manager.visibleLightGet --- IGNORE ---
+      # adcs.visibleLightGet[2] -> velm6031Face2Manager.visibleLightGet --- IGNORE ---
+      # adcs.visibleLightGet[3] -> velm6031Face3Manager.visibleLightGet --- IGNORE ---
+      # adcs.visibleLightGet[4] -> velm6031Face5Manager.visibleLightGet --- IGNORE ---
+      # adcs.visibleLightGet[5] -> velm6031Face6Manager.visibleLightGet --- IGNORE
+    }
+
     connections ModeManager {
       # Voltage monitoring from system power manager
       modeManager.voltageGet -> ina219SysManager.voltageGet
diff --git a/FprimeZephyrReference/project/config/AcConstants.fpp b/FprimeZephyrReference/project/config/AcConstants.fpp
index 45302ea6..4f29a2e8 100644
--- a/FprimeZephyrReference/project/config/AcConstants.fpp
+++ b/FprimeZephyrReference/project/config/AcConstants.fpp
@@ -4,7 +4,7 @@
 # ======================================================================
 
 @ Number of rate group member output ports for ActiveRateGroup
-constant ActiveRateGroupOutputPorts = 23
+constant ActiveRateGroupOutputPorts = 24
 
 @ Number of rate group member output ports for PassiveRateGroup
 constant PassiveRateGroupOutputPorts = 10

From 61b9577fda7b55b9581afc9b59c2b1eed0d6f9d0 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Mon, 1 Dec 2025 17:46:37 -0600
Subject: [PATCH 55/68] not booting

---
 .../Top/ReferenceDeploymentPackets.fppi       |  4 +-
 .../Top/ReferenceDeploymentTopology.cpp       |  2 +-
 .../ReferenceDeployment/Top/instances.fpp     |  8 ++--
 .../ReferenceDeployment/Top/topology.fpp      | 43 +++++++++----------
 .../project/config/AcConstants.fpp            |  2 +-
 prj.conf                                      |  2 +-
 6 files changed, 30 insertions(+), 31 deletions(-)

diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 94b367f7..24efcb9e 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -9,7 +9,7 @@ telemetry packets ReferenceDeploymentPackets {
     ComCcsdsUart.commsBufferManager.HiBuffs
     ReferenceDeployment.rateGroup10Hz.RgMaxTime
     ReferenceDeployment.rateGroup1Hz.RgMaxTime
-    # ReferenceDeployment.rateGroup1_6Hz.RgMaxTime
+    ReferenceDeployment.rateGroup1_6Hz.RgMaxTime
     ReferenceDeployment.startupManager.BootCount
     ReferenceDeployment.startupManager.QuiescenceEndTime
     ReferenceDeployment.modeManager.CurrentMode
@@ -24,7 +24,7 @@ telemetry packets ReferenceDeploymentPackets {
     ComCcsdsUart.commsBufferManager.EmptyBuffs
     ReferenceDeployment.rateGroup10Hz.RgCycleSlips
     ReferenceDeployment.rateGroup1Hz.RgCycleSlips
-    # ReferenceDeployment.rateGroup1_6Hz.RgCycleSlips
+    ReferenceDeployment.rateGroup1_6Hz.RgCycleSlips
   }
 
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 298b9511..9b9b51f3 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -67,7 +67,7 @@ void configureTopology() {
     // Rate groups require context arrays.
     rateGroup10Hz.configure(rateGroup10HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup10HzContext));
     rateGroup1Hz.configure(rateGroup1HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1HzContext));
-    // rateGroup1_6Hz.configure(rateGroup1_6HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1_6HzContext));
+    rateGroup1_6Hz.configure(rateGroup1_6HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1_6HzContext));
 
     cmdSeq.allocateBuffer(0, mallocator, 5 * 1024);
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 3e2d6306..1d5d3e3d 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -37,10 +37,10 @@ module ReferenceDeployment {
     stack size Default.STACK_SIZE \
     priority 3
 
-  # instance rateGroup1_6Hz: Svc.ActiveRateGroup base id 0x10003000 \
-  #   queue size Default.QUEUE_SIZE \
-  #   stack size Default.STACK_SIZE \
-  #   priority 4
+  instance rateGroup1_6Hz: Svc.ActiveRateGroup base id 0x10003000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 4
 
   instance cmdSeq: Svc.CmdSequencer base id 0x10006000 \
     queue size Default.QUEUE_SIZE * 2 \
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 27110b38..f93b96bf 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -25,7 +25,7 @@ module ReferenceDeployment {
   # ----------------------------------------------------------------------
     instance rateGroup10Hz
     instance rateGroup1Hz
-    # instance rateGroup1_6Hz
+    instance rateGroup1_6Hz
     instance rateGroupDriver
     instance timer
     instance lora
@@ -193,31 +193,30 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[0] -> ComCcsds.comQueue.run
       rateGroup1Hz.RateGroupMemberOut[1] -> CdhCore.$health.Run
       rateGroup1Hz.RateGroupMemberOut[2] -> ComCcsds.commsBufferManager.schedIn
-      rateGroup1Hz.RateGroupMemberOut[3] -> CdhCore.tlmSend.Run
-      rateGroup1Hz.RateGroupMemberOut[4] -> watchdog.run
-      rateGroup1Hz.RateGroupMemberOut[5] -> imuManager.run
-      rateGroup1Hz.RateGroupMemberOut[6] -> comDelay.run
-      rateGroup1Hz.RateGroupMemberOut[7] -> burnwire.schedIn
-      rateGroup1Hz.RateGroupMemberOut[8] -> antennaDeployer.schedIn
-      rateGroup1Hz.RateGroupMemberOut[9] -> fsSpace.run
-      rateGroup1Hz.RateGroupMemberOut[10] -> FileHandling.fileDownlink.Run
-      rateGroup1Hz.RateGroupMemberOut[11] -> startupManager.run # doubles (20ms) rate group max time
+      rateGroup1Hz.RateGroupMemberOut[3] -> watchdog.run
+      rateGroup1Hz.RateGroupMemberOut[4] -> comDelay.run
+      rateGroup1Hz.RateGroupMemberOut[5] -> burnwire.schedIn
+      rateGroup1Hz.RateGroupMemberOut[6] -> antennaDeployer.schedIn
+      rateGroup1Hz.RateGroupMemberOut[7] -> fsSpace.run
+      rateGroup1Hz.RateGroupMemberOut[8] -> FileHandling.fileDownlink.Run
+      rateGroup1Hz.RateGroupMemberOut[9] -> startupManager.run # doubles (20ms) rate group max time
       # rateGroup1Hz.RateGroupMemberOut[12] -> powerMonitor.run # Causing rate group to slip?
-      rateGroup1Hz.RateGroupMemberOut[13] -> modeManager.run
-      rateGroup1Hz.RateGroupMemberOut[14] -> tcaMonitor.run
-      rateGroup1Hz.RateGroupMemberOut[15] -> muxChannel0Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[16] -> muxChannel1Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[17] -> muxChannel2Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[18] -> muxChannel3Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[19] -> muxChannel4Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[20] -> muxChannel5Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[21] -> muxChannel7Monitor.run
-      rateGroup1Hz.RateGroupMemberOut[22] -> thermalManager.run
+      rateGroup1Hz.RateGroupMemberOut[10] -> modeManager.run
       # rateGroup1Hz.RateGroupMemberOut[23] -> adcs.run
 
       # Slow rate (1/6 Hz) rate group
-      # rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_6Hz] -> rateGroup1_6Hz.CycleIn
-
+      rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_6Hz] -> rateGroup1_6Hz.CycleIn
+      rateGroup1_6Hz.RateGroupMemberOut[0] -> CdhCore.tlmSend.Run
+      rateGroup1_6Hz.RateGroupMemberOut[1] -> imuManager.run
+      rateGroup1_6Hz.RateGroupMemberOut[2] -> tcaMonitor.run
+      rateGroup1_6Hz.RateGroupMemberOut[3] -> muxChannel0Monitor.run
+      rateGroup1_6Hz.RateGroupMemberOut[4] -> muxChannel1Monitor.run
+      rateGroup1_6Hz.RateGroupMemberOut[5] -> muxChannel2Monitor.run
+      rateGroup1_6Hz.RateGroupMemberOut[6] -> muxChannel3Monitor.run
+      rateGroup1_6Hz.RateGroupMemberOut[7] -> muxChannel4Monitor.run
+      rateGroup1_6Hz.RateGroupMemberOut[8] -> muxChannel5Monitor.run
+      rateGroup1_6Hz.RateGroupMemberOut[9] -> muxChannel7Monitor.run
+      rateGroup1_6Hz.RateGroupMemberOut[10] -> thermalManager.run
     }
 
 
diff --git a/FprimeZephyrReference/project/config/AcConstants.fpp b/FprimeZephyrReference/project/config/AcConstants.fpp
index 4f29a2e8..6eadde8f 100644
--- a/FprimeZephyrReference/project/config/AcConstants.fpp
+++ b/FprimeZephyrReference/project/config/AcConstants.fpp
@@ -4,7 +4,7 @@
 # ======================================================================
 
 @ Number of rate group member output ports for ActiveRateGroup
-constant ActiveRateGroupOutputPorts = 24
+constant ActiveRateGroupOutputPorts = 12
 
 @ Number of rate group member output ports for PassiveRateGroup
 constant PassiveRateGroupOutputPorts = 10
diff --git a/prj.conf b/prj.conf
index d54b91ee..f26c071f 100644
--- a/prj.conf
+++ b/prj.conf
@@ -39,7 +39,7 @@ CONFIG_DYNAMIC_THREAD=y
 CONFIG_KERNEL_MEM_POOL=y
 CONFIG_DYNAMIC_THREAD_ALLOC=n
 CONFIG_DYNAMIC_THREAD_PREFER_POOL=y
-CONFIG_DYNAMIC_THREAD_POOL_SIZE=30
+CONFIG_DYNAMIC_THREAD_POOL_SIZE=33
     # Num threads in the thread pool
 CONFIG_DYNAMIC_THREAD_STACK_SIZE=8192
     # Size of thread stack in thread pool, must be >= Thread Pool size in F'

From cc60a256cf156c6382861fca8676c455d78ce2d6 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Mon, 1 Dec 2025 18:12:12 -0600
Subject: [PATCH 56/68] Rename light sensor

---
 .../Components/Drv/CMakeLists.txt             |  2 +-
 .../CMakeLists.txt                            | 10 ++--
 .../Veml6031Manager.cpp}                      | 36 ++++++-------
 .../Veml6031Manager.fpp}                      | 50 +++++++++----------
 .../Veml6031Manager.hpp}                      | 30 +++++------
 .../docs/sdd.md                               |  2 +-
 .../Top/ReferenceDeploymentPackets.fppi       | 42 ++++++++--------
 .../Top/ReferenceDeploymentTopology.cpp       | 16 +++---
 .../ReferenceDeployment/Top/instances.fpp     | 14 +++---
 .../ReferenceDeployment/Top/topology.fpp      | 28 +++++------
 prj.conf                                      |  2 +-
 11 files changed, 116 insertions(+), 116 deletions(-)
 rename FprimeZephyrReference/Components/Drv/{Velm6031Manager => Veml6031Manager}/CMakeLists.txt (74%)
 rename FprimeZephyrReference/Components/Drv/{Velm6031Manager/Velm6031Manager.cpp => Veml6031Manager/Veml6031Manager.cpp} (88%)
 rename FprimeZephyrReference/Components/Drv/{Velm6031Manager/Velm6031Manager.fpp => Veml6031Manager/Veml6031Manager.fpp} (78%)
 rename FprimeZephyrReference/Components/Drv/{Velm6031Manager/Velm6031Manager.hpp => Veml6031Manager/Veml6031Manager.hpp} (83%)
 rename FprimeZephyrReference/Components/Drv/{Velm6031Manager => Veml6031Manager}/docs/sdd.md (97%)

diff --git a/FprimeZephyrReference/Components/Drv/CMakeLists.txt b/FprimeZephyrReference/Components/Drv/CMakeLists.txt
index 6f1b9ec8..7a38cbfe 100644
--- a/FprimeZephyrReference/Components/Drv/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/Drv/CMakeLists.txt
@@ -4,4 +4,4 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/RtcManager")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Tmp112Manager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Types/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Velm6031Manager/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Veml6031Manager/")
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/CMakeLists.txt b/FprimeZephyrReference/Components/Drv/Veml6031Manager/CMakeLists.txt
similarity index 74%
rename from FprimeZephyrReference/Components/Drv/Velm6031Manager/CMakeLists.txt
rename to FprimeZephyrReference/Components/Drv/Veml6031Manager/CMakeLists.txt
index 99e460de..b3fa8d69 100644
--- a/FprimeZephyrReference/Components/Drv/Velm6031Manager/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/Drv/Veml6031Manager/CMakeLists.txt
@@ -16,9 +16,9 @@
 
 register_fprime_library(
     AUTOCODER_INPUTS
-        "${CMAKE_CURRENT_LIST_DIR}/Velm6031Manager.fpp"
+        "${CMAKE_CURRENT_LIST_DIR}/Veml6031Manager.fpp"
     SOURCES
-        "${CMAKE_CURRENT_LIST_DIR}/Velm6031Manager.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/Veml6031Manager.cpp"
 #   DEPENDS
 #       MyPackage_MyOtherModule
 )
@@ -26,10 +26,10 @@ register_fprime_library(
 ### Unit Tests ###
 # register_fprime_ut(
 #     AUTOCODER_INPUTS
-#         "${CMAKE_CURRENT_LIST_DIR}/Velm6031Manager.fpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/Veml6031Manager.fpp"
 #     SOURCES
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Velm6031ManagerTestMain.cpp"
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Velm6031ManagerTester.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Veml6031ManagerTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Veml6031ManagerTester.cpp"
 #     DEPENDS
 #         STest # For rules-based testing
 #     UT_AUTO_HELPERS
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
similarity index 88%
rename from FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp
rename to FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
index 55b31375..1e520f7c 100644
--- a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
@@ -1,9 +1,9 @@
 // ======================================================================
-// \title  Velm6031Manager.cpp
-// \brief  cpp file for Velm6031Manager component implementation class
+// \title  Veml6031Manager.cpp
+// \brief  cpp file for Veml6031Manager component implementation class
 // ======================================================================
 
-#include "FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp"
+#include "FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.hpp"
 
 #include <zephyr/device.h>
 #include <zephyr/drivers/gpio.h>
@@ -16,15 +16,15 @@ namespace Drv {
 // Component construction and destruction
 // ----------------------------------------------------------------------
 
-Velm6031Manager ::Velm6031Manager(const char* const compName) : Velm6031ManagerComponentBase(compName) {}
+Veml6031Manager ::Veml6031Manager(const char* const compName) : Veml6031ManagerComponentBase(compName) {}
 
-Velm6031Manager ::~Velm6031Manager() {}
+Veml6031Manager ::~Veml6031Manager() {}
 
 // ----------------------------------------------------------------------
 // Public helper methods
 // ----------------------------------------------------------------------
 
-void Velm6031Manager ::configure(const struct device* dev) {
+void Veml6031Manager ::configure(const struct device* dev) {
     this->m_dev = dev;
 }
 
@@ -32,7 +32,7 @@ void Velm6031Manager ::configure(const struct device* dev) {
 // Handler implementations for typed input ports
 // ----------------------------------------------------------------------
 
-F32 Velm6031Manager ::ambientLightGet_handler(FwIndexType portNum, Fw::Success& condition) {
+F32 Veml6031Manager ::ambientLightGet_handler(FwIndexType portNum, Fw::Success& condition) {
     condition = Fw::Success::FAILURE;
 
     if (!this->initializeDevice()) {
@@ -59,7 +59,7 @@ F32 Velm6031Manager ::ambientLightGet_handler(FwIndexType portNum, Fw::Success&
     return lux;
 }
 
-F32 Velm6031Manager ::infraRedLightGet_handler(FwIndexType portNum, Fw::Success& condition) {
+F32 Veml6031Manager ::infraRedLightGet_handler(FwIndexType portNum, Fw::Success& condition) {
     condition = Fw::Success::FAILURE;
 
     if (!this->initializeDevice()) {
@@ -86,7 +86,7 @@ F32 Velm6031Manager ::infraRedLightGet_handler(FwIndexType portNum, Fw::Success&
     return lux;
 }
 
-Fw::Success Velm6031Manager ::loadSwitchStateChanged_handler(FwIndexType portNum, const Fw::On& state) {
+Fw::Success Veml6031Manager ::loadSwitchStateChanged_handler(FwIndexType portNum, const Fw::On& state) {
     // Store the load switch state
     this->m_load_switch_state = state;
 
@@ -103,7 +103,7 @@ Fw::Success Velm6031Manager ::loadSwitchStateChanged_handler(FwIndexType portNum
     return Fw::Success::SUCCESS;
 }
 
-F32 Velm6031Manager ::visibleLightGet_handler(FwIndexType portNum, Fw::Success& condition) {
+F32 Veml6031Manager ::visibleLightGet_handler(FwIndexType portNum, Fw::Success& condition) {
     condition = Fw::Success::FAILURE;
 
     if (!this->initializeDevice()) {
@@ -134,7 +134,7 @@ F32 Velm6031Manager ::visibleLightGet_handler(FwIndexType portNum, Fw::Success&
 // Private helper methods
 // ----------------------------------------------------------------------
 
-bool Velm6031Manager ::isDeviceInitialized() {
+bool Veml6031Manager ::isDeviceInitialized() {
     if (!this->m_dev) {
         this->log_WARNING_HI_DeviceNil();
         return false;
@@ -150,7 +150,7 @@ bool Velm6031Manager ::isDeviceInitialized() {
     return this->m_dev->state->initialized;
 }
 
-Fw::Success Velm6031Manager ::initializeDevice() {
+Fw::Success Veml6031Manager ::initializeDevice() {
     if (this->isDeviceInitialized()) {
         if (!device_is_ready(this->m_dev)) {
             this->log_WARNING_HI_DeviceNotReady();
@@ -188,7 +188,7 @@ Fw::Success Velm6031Manager ::initializeDevice() {
     return Fw::Success::SUCCESS;
 }
 
-Fw::Success Velm6031Manager ::deinitializeDevice() {
+Fw::Success Veml6031Manager ::deinitializeDevice() {
     if (!this->m_dev) {
         this->log_WARNING_HI_DeviceNil();
         return Fw::Success::FAILURE;
@@ -205,11 +205,11 @@ Fw::Success Velm6031Manager ::deinitializeDevice() {
     return Fw::Success::SUCCESS;
 }
 
-bool Velm6031Manager ::loadSwitchReady() {
+bool Veml6031Manager ::loadSwitchReady() {
     return this->m_load_switch_state == Fw::On::ON && this->getTime() >= this->m_load_switch_on_timeout;
 }
 
-Fw::Success Velm6031Manager ::setIntegrationTimeAttribute(sensor_channel chan) {
+Fw::Success Veml6031Manager ::setIntegrationTimeAttribute(sensor_channel chan) {
     Fw::ParamValid valid;
     U8 it = this->paramGet_INTEGRATION_TIME(valid);
     if (valid != Fw::ParamValid::VALID) {
@@ -230,7 +230,7 @@ Fw::Success Velm6031Manager ::setIntegrationTimeAttribute(sensor_channel chan) {
     return Fw::Success::SUCCESS;
 }
 
-Fw::Success Velm6031Manager ::setGainAttribute(sensor_channel chan) {
+Fw::Success Veml6031Manager ::setGainAttribute(sensor_channel chan) {
     Fw::ParamValid valid;
     U8 gain = this->paramGet_GAIN(valid);
     if (valid != Fw::ParamValid::VALID) {
@@ -251,7 +251,7 @@ Fw::Success Velm6031Manager ::setGainAttribute(sensor_channel chan) {
     return Fw::Success::SUCCESS;
 }
 
-Fw::Success Velm6031Manager ::setDiv4Attribute(sensor_channel chan) {
+Fw::Success Veml6031Manager ::setDiv4Attribute(sensor_channel chan) {
     Fw::ParamValid valid;
     U8 div4 = this->paramGet_EFFECTIVE_PHOTODIODE_SIZE(valid);
     if (valid != Fw::ParamValid::VALID) {
@@ -272,7 +272,7 @@ Fw::Success Velm6031Manager ::setDiv4Attribute(sensor_channel chan) {
     return Fw::Success::SUCCESS;
 }
 
-Fw::Success Velm6031Manager ::configureSensorAttributes(sensor_channel chan) {
+Fw::Success Veml6031Manager ::configureSensorAttributes(sensor_channel chan) {
     Fw::Success result;
 
     result = this->setIntegrationTimeAttribute(chan);
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.fpp
similarity index 78%
rename from FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp
rename to FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.fpp
index 9c2768c9..38e5ef9f 100644
--- a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.fpp
@@ -1,7 +1,7 @@
 module Drv {
     port lightGet(ref condition: Fw.Success) -> F32
 
-    @ Gain settings for VELM6031 sensor
+    @ Gain settings for VEML6031 sensor
     enum GAIN : U8 {
         VEML6031_GAIN_1 @< Gain of 1
         VEML6031_GAIN_2 @< Gain of 2
@@ -9,7 +9,7 @@ module Drv {
         VEML6031_GAIN_0_5 @< Gain of 0.5
     }
 
-    @ Integration time settings for VELM6031 sensor
+    @ Integration time settings for VEML6031 sensor
     enum IT : U8 {
         VEML6031_IT_3_125 @< 3.25 ms integration time
         VEML6031_IT_6_25 @< 6.25 ms integration time
@@ -22,13 +22,13 @@ module Drv {
         VEML6031_IT_800 @< 800 ms integration time
     }
 
-    @ Effective photodiode size (DIV4) settings for VELM6031 sensor
+    @ Effective photodiode size (DIV4) settings for VEML6031 sensor
     enum DIV4 : U8 {
         VEML6031_SIZE_4_4
         VEML6031_SIZE_1_4
     }
 
-    @ Ambient Light Sensor (ALS) persistence protect number settings for VELM6031 sensor
+    @ Ambient Light Sensor (ALS) persistence protect number settings for VEML6031 sensor
     enum ALS_PERS : U8 {
         VEML60XX_PERS_1 @< Interrupt triggered every ALS reading
         VEML60XX_PERS_2 @< Interrupt triggered after 2 consecutive ALS readings out of threshold
@@ -38,7 +38,7 @@ module Drv {
 }
 
 module Drv {
-    passive component Velm6031Manager {
+    passive component Veml6031Manager {
 
         #### Parameters ####
         @ Parameter for setting the gain of the light senors
@@ -77,7 +77,7 @@ module Drv {
         @ Port to read the ambient illuminance in visible spectrum, in lux
         sync input port ambientLightGet: lightGet
 
-        @ Port to initialize and deinitialize the VELM6031 device on load switch state change
+        @ Port to initialize and deinitialize the VEML6031 device on load switch state change
         sync input port loadSwitchStateChanged: Components.loadSwitchStateChanged
 
         @ Output port to check device TCA health
@@ -91,44 +91,44 @@ module Drv {
 
         #### Events ####
 
-        @ Event for reporting VELM6031 not ready error
-        event DeviceNotReady() severity warning high format "VELM6031 device not ready" throttle 5
+        @ Event for reporting VEML6031 not ready error
+        event DeviceNotReady() severity warning high format "VEML6031 device not ready" throttle 5
 
-        @ Event for reporting VELM6031 initialization failure
-        event DeviceInitFailed(ret: I32) severity warning high format "VELM6031 initialization failed with return code: {}" throttle 5
+        @ Event for reporting VEML6031 initialization failure
+        event DeviceInitFailed(ret: I32) severity warning high format "VEML6031 initialization failed with return code: {}" throttle 5
 
-        @ Event for reporting VELM6031 nil device error
-        event DeviceNil() severity warning high format "VELM6031 device is nil" throttle 5
+        @ Event for reporting VEML6031 nil device error
+        event DeviceNil() severity warning high format "VEML6031 device is nil" throttle 5
 
-        @ Event for reporting VELM6031 nil state error
-        event DeviceStateNil() severity warning high format "VELM6031 device state is nil" throttle 5
+        @ Event for reporting VEML6031 nil state error
+        event DeviceStateNil() severity warning high format "VEML6031 device state is nil" throttle 5
 
         @ Event for reporting TCA unhealthy state
-        event TcaUnhealthy() severity warning high format "VELM6031 TCA device is unhealthy" throttle 5
+        event TcaUnhealthy() severity warning high format "VEML6031 TCA device is unhealthy" throttle 5
 
         @ Event for reporting MUX unhealthy state
-        event MuxUnhealthy() severity warning high format "VELM6031 MUX device is unhealthy" throttle 5
+        event MuxUnhealthy() severity warning high format "VEML6031 MUX device is unhealthy" throttle 5
 
         @ Event for reporting Load Switch not ready state
-        event LoadSwitchNotReady() severity warning high format "VELM6031 Load Switch is not ready" throttle 5
+        event LoadSwitchNotReady() severity warning high format "VEML6031 Load Switch is not ready" throttle 5
 
-        @ Event for reporting VELM6031 sensor fetch failure
-        event SensorSampleFetchFailed(ret: I32) severity warning high format "VELM6031 sensor fetch failed with return code: {}" throttle 5
+        @ Event for reporting VEML6031 sensor fetch failure
+        event SensorSampleFetchFailed(ret: I32) severity warning high format "VEML6031 sensor fetch failed with return code: {}" throttle 5
 
-        @ Event for reporting VELM6031 sensor channel get failure
-        event SensorChannelGetFailed(ret: I32) severity warning high format "VELM6031 sensor channel get failed with return code: {}" throttle 5
+        @ Event for reporting VEML6031 sensor channel get failure
+        event SensorChannelGetFailed(ret: I32) severity warning high format "VEML6031 sensor channel get failed with return code: {}" throttle 5
 
         @ Event for reporting invalid gain parameter
-        event InvalidGainParam(gain: U8) severity warning high format "VELM6031 invalid gain parameter: {}" throttle 5
+        event InvalidGainParam(gain: U8) severity warning high format "VEML6031 invalid gain parameter: {}" throttle 5
 
         @ Event for reporting invalid integration time parameter
-        event InvalidIntegrationTimeParam(it: U8) severity warning high format "VELM6031 invalid integration time parameter: {}" throttle 5
+        event InvalidIntegrationTimeParam(it: U8) severity warning high format "VEML6031 invalid integration time parameter: {}" throttle 5
 
         @ Event for reporting invalid effective photodiode size parameter
-        event InvalidDiv4Param(div4: U8) severity warning high format "VELM6031 invalid effective photodiode size parameter: {}" throttle 5
+        event InvalidDiv4Param(div4: U8) severity warning high format "VEML6031 invalid effective photodiode size parameter: {}" throttle 5
 
         @ Event for reporting sensor attribute set failure
-        event SensorAttrSetFailed(attr: U16, val: U8, ret: I32) severity warning high format "VELM6031 sensor attribute {}={} set failed with return code: {}" throttle 5
+        event SensorAttrSetFailed(attr: U16, val: U8, ret: I32) severity warning high format "VEML6031 sensor attribute {}={} set failed with return code: {}" throttle 5
 
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.hpp
similarity index 83%
rename from FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp
rename to FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.hpp
index 0ed53ddc..a5455292 100644
--- a/FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.hpp
@@ -1,14 +1,14 @@
 // ======================================================================
-// \title  Velm6031Manager.hpp
-// \brief  hpp file for Velm6031Manager component implementation class
+// \title  Veml6031Manager.hpp
+// \brief  hpp file for Veml6031Manager component implementation class
 // ======================================================================
 
-#ifndef Components_Velm6031Manager_HPP
-#define Components_Velm6031Manager_HPP
+#ifndef Components_Veml6031Manager_HPP
+#define Components_Veml6031Manager_HPP
 
 #include <stdio.h>
 
-#include "FprimeZephyrReference/Components/Drv/Velm6031Manager/Velm6031ManagerComponentAc.hpp"
+#include "FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031ManagerComponentAc.hpp"
 #include <zephyr/device.h>
 #include <zephyr/drivers/i2c.h>
 #include <zephyr/drivers/sensor.h>
@@ -19,18 +19,18 @@
 
 namespace Drv {
 
-class Velm6031Manager final : public Velm6031ManagerComponentBase {
+class Veml6031Manager final : public Veml6031ManagerComponentBase {
   public:
     // ----------------------------------------------------------------------
     // Component construction and destruction
     // ----------------------------------------------------------------------
 
-    //! Construct Velm6031Manager object
-    Velm6031Manager(const char* const compName  //!< The component name
+    //! Construct Veml6031Manager object
+    Veml6031Manager(const char* const compName  //!< The component name
     );
 
-    //! Destroy Velm6031Manager object
-    ~Velm6031Manager();
+    //! Destroy Veml6031Manager object
+    ~Veml6031Manager();
 
   public:
     // ----------------------------------------------------------------------
@@ -59,7 +59,7 @@ class Velm6031Manager final : public Velm6031ManagerComponentBase {
 
     //! Handler implementation for loadSwitchStateChanged
     //!
-    //! Port to initialize and deinitialize the VELM6031 device on load switch state change
+    //! Port to initialize and deinitialize the VEML6031 device on load switch state change
     Fw::Success loadSwitchStateChanged_handler(FwIndexType portNum,  //!< The port number
                                                const Fw::On& state) override;
 
@@ -89,16 +89,16 @@ class Velm6031Manager final : public Velm6031ManagerComponentBase {
     //! Check if the load switch is ready (on and timeout passed)
     bool loadSwitchReady();
 
-    //! Set the integration time attribute for the VELM6031 sensor
+    //! Set the integration time attribute for the VEML6031 sensor
     Fw::Success setIntegrationTimeAttribute(sensor_channel chan);
 
-    //! Set the gain attribute for the VELM6031 sensor
+    //! Set the gain attribute for the VEML6031 sensor
     Fw::Success setGainAttribute(sensor_channel chan);
 
-    //! Set the div4 attribute for the VELM6031 sensor
+    //! Set the div4 attribute for the VEML6031 sensor
     Fw::Success setDiv4Attribute(sensor_channel chan);
 
-    //! Set all sensor attributes for the VELM6031 sensor
+    //! Set all sensor attributes for the VEML6031 sensor
     Fw::Success configureSensorAttributes(sensor_channel chan);
 
   private:
diff --git a/FprimeZephyrReference/Components/Drv/Velm6031Manager/docs/sdd.md b/FprimeZephyrReference/Components/Drv/Veml6031Manager/docs/sdd.md
similarity index 97%
rename from FprimeZephyrReference/Components/Drv/Velm6031Manager/docs/sdd.md
rename to FprimeZephyrReference/Components/Drv/Veml6031Manager/docs/sdd.md
index 2f35f91e..f0672bcd 100644
--- a/FprimeZephyrReference/Components/Drv/Velm6031Manager/docs/sdd.md
+++ b/FprimeZephyrReference/Components/Drv/Veml6031Manager/docs/sdd.md
@@ -1,4 +1,4 @@
-# Components::Velm6031Manager
+# Components::Veml6031Manager
 
 Component for reading light sensor data
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 24efcb9e..df0baf83 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -121,27 +121,27 @@ telemetry packets ReferenceDeploymentPackets {
   }
 
   packet LightSensor id 14 group 4 {
-    ReferenceDeployment.velm6031Face0Manager.VisibleLight
-    # ReferenceDeployment.velm6031Face1Manager.RawLightData
-    # ReferenceDeployment.velm6031Face2Manager.RawLightData
-    # ReferenceDeployment.velm6031Face3Manager.RawLightData
-    # ReferenceDeployment.velm6031Face5Manager.RawLightData
-    # ReferenceDeployment.velm6031Face6Manager.RawLightData
-    # ReferenceDeployment.velm6031Face7Manager.RawLightData
-    ReferenceDeployment.velm6031Face0Manager.InfraRedLight
-    # ReferenceDeployment.velm6031Face1Manager.IRLightData
-    # ReferenceDeployment.velm6031Face2Manager.IRLightData
-    # ReferenceDeployment.velm6031Face3Manager.IRLightData
-    # ReferenceDeployment.velm6031Face5Manager.IRLightData
-    # ReferenceDeployment.velm6031Face6Manager.IRLightData
-    # ReferenceDeployment.velm6031Face7Manager.IRLightData
-    ReferenceDeployment.velm6031Face0Manager.AmbientLight
-  #   ReferenceDeployment.velm6031Face1Manager.ALSLightData
-  #   ReferenceDeployment.velm6031Face2Manager.ALSLightData
-  #   ReferenceDeployment.velm6031Face3Manager.ALSLightData
-  #   ReferenceDeployment.velm6031Face5Manager.ALSLightData
-  #   ReferenceDeployment.velm6031Face6Manager.ALSLightData
-  #   ReferenceDeployment.velm6031Face7Manager.ALSLightData
+    ReferenceDeployment.veml6031Face0Manager.VisibleLight
+    # ReferenceDeployment.veml6031Face1Manager.RawLightData
+    # ReferenceDeployment.veml6031Face2Manager.RawLightData
+    # ReferenceDeployment.veml6031Face3Manager.RawLightData
+    # ReferenceDeployment.veml6031Face5Manager.RawLightData
+    # ReferenceDeployment.veml6031Face6Manager.RawLightData
+    # ReferenceDeployment.veml6031Face7Manager.RawLightData
+    ReferenceDeployment.veml6031Face0Manager.InfraRedLight
+    # ReferenceDeployment.veml6031Face1Manager.IRLightData
+    # ReferenceDeployment.veml6031Face2Manager.IRLightData
+    # ReferenceDeployment.veml6031Face3Manager.IRLightData
+    # ReferenceDeployment.veml6031Face5Manager.IRLightData
+    # ReferenceDeployment.veml6031Face6Manager.IRLightData
+    # ReferenceDeployment.veml6031Face7Manager.IRLightData
+    ReferenceDeployment.veml6031Face0Manager.AmbientLight
+  #   ReferenceDeployment.veml6031Face1Manager.ALSLightData
+  #   ReferenceDeployment.veml6031Face2Manager.ALSLightData
+  #   ReferenceDeployment.veml6031Face3Manager.ALSLightData
+  #   ReferenceDeployment.veml6031Face5Manager.ALSLightData
+  #   ReferenceDeployment.veml6031Face6Manager.ALSLightData
+  #   ReferenceDeployment.veml6031Face7Manager.ALSLightData
   }
 
 } omit {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 9b9b51f3..d6406ec3 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -141,14 +141,14 @@ void setupTopology(const TopologyState& state) {
     tmp112BattCell3Manager.configure(state.battCell3TempDevice);
     tmp112BattCell4Manager.configure(state.battCell4TempDevice);
 
-    // Configure all 7 VELM6031 light sensor managers
-    velm6031Face0Manager.configure(state.face0LightDevice);
-    // velm6031Face1Manager.configure(state.face1LightDevice);
-    // velm6031Face2Manager.configure(state.face2LightDevice);
-    // velm6031Face3Manager.configure(state.face3LightDevice);
-    // velm6031Face5Manager.configure(state.face5LightDevice);
-    // velm6031Face6Manager.configure(state.face6LightDevice);
-    // velm6031Face7Manager.configure(state.face7LightDevice);
+    // Configure all 7 VEML6031 light sensor managers
+    veml6031Face0Manager.configure(state.face0LightDevice);
+    // veml6031Face1Manager.configure(state.face1LightDevice);
+    // veml6031Face2Manager.configure(state.face2LightDevice);
+    // veml6031Face3Manager.configure(state.face3LightDevice);
+    // veml6031Face5Manager.configure(state.face5LightDevice);
+    // veml6031Face6Manager.configure(state.face6LightDevice);
+    // veml6031Face7Manager.configure(state.face7LightDevice);
 }
 
 void startRateGroups() {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 1d5d3e3d..94b9311c 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -187,18 +187,18 @@ module ReferenceDeployment {
 
   instance adcs: Components.ADCS base id 0x10054000
 
-  instance velm6031Face0Manager: Drv.Velm6031Manager base id 0x10055000
+  instance veml6031Face0Manager: Drv.Veml6031Manager base id 0x10055000
 
-  instance velm6031Face1Manager: Drv.Velm6031Manager base id 0x10056000
+  instance veml6031Face1Manager: Drv.Veml6031Manager base id 0x10056000
 
-  instance velm6031Face2Manager: Drv.Velm6031Manager base id 0x10057000
+  instance veml6031Face2Manager: Drv.Veml6031Manager base id 0x10057000
 
-  instance velm6031Face3Manager: Drv.Velm6031Manager base id 0x10058000
+  instance veml6031Face3Manager: Drv.Veml6031Manager base id 0x10058000
 
-  instance velm6031Face5Manager: Drv.Velm6031Manager base id 0x10059000
+  instance veml6031Face5Manager: Drv.Veml6031Manager base id 0x10059000
 
-  instance velm6031Face6Manager: Drv.Velm6031Manager base id 0x1005A000
+  instance veml6031Face6Manager: Drv.Veml6031Manager base id 0x1005A000
 
-  instance velm6031Face7Manager: Drv.Velm6031Manager base id 0x1005B000
+  instance veml6031Face7Manager: Drv.Veml6031Manager base id 0x1005B000
 
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index f93b96bf..49741a9b 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -92,13 +92,13 @@ module ReferenceDeployment {
     instance resetManager
     instance modeManager
     instance adcs
-    instance velm6031Face0Manager
-    # instance velm6031Face1Manager
-    # instance velm6031Face2Manager
-    # instance velm6031Face3Manager
-    # instance velm6031Face5Manager
-    # instance velm6031Face6Manager
-    # instance velm6031Face7Manager
+    instance veml6031Face0Manager
+    # instance veml6031Face1Manager
+    # instance veml6031Face2Manager
+    # instance veml6031Face3Manager
+    # instance veml6031Face5Manager
+    # instance veml6031Face6Manager
+    # instance veml6031Face7Manager
 
 
   # ----------------------------------------------------------------------
@@ -231,7 +231,7 @@ module ReferenceDeployment {
       face0LoadSwitch.gpioSet -> gpioface0LS.gpioWrite
       face0LoadSwitch.gpioGet -> gpioface0LS.gpioRead
       face0LoadSwitch.loadSwitchStateChanged[0] -> tmp112Face0Manager.loadSwitchStateChanged
-      face0LoadSwitch.loadSwitchStateChanged[1] -> velm6031Face0Manager.loadSwitchStateChanged
+      face0LoadSwitch.loadSwitchStateChanged[1] -> veml6031Face0Manager.loadSwitchStateChanged
 
       face1LoadSwitch.gpioSet -> gpioface1LS.gpioWrite
       face1LoadSwitch.gpioGet -> gpioface1LS.gpioRead
@@ -332,12 +332,12 @@ module ReferenceDeployment {
     }
 
     connections adcs {
-      adcs.visibleLightGet[0] -> velm6031Face0Manager.visibleLightGet
-      # adcs.visibleLightGet[1] -> velm6031Face1Manager.visibleLightGet --- IGNORE ---
-      # adcs.visibleLightGet[2] -> velm6031Face2Manager.visibleLightGet --- IGNORE ---
-      # adcs.visibleLightGet[3] -> velm6031Face3Manager.visibleLightGet --- IGNORE ---
-      # adcs.visibleLightGet[4] -> velm6031Face5Manager.visibleLightGet --- IGNORE ---
-      # adcs.visibleLightGet[5] -> velm6031Face6Manager.visibleLightGet --- IGNORE
+      adcs.visibleLightGet[0] -> veml6031Face0Manager.visibleLightGet
+      # adcs.visibleLightGet[1] -> veml6031Face1Manager.visibleLightGet --- IGNORE ---
+      # adcs.visibleLightGet[2] -> veml6031Face2Manager.visibleLightGet --- IGNORE ---
+      # adcs.visibleLightGet[3] -> veml6031Face3Manager.visibleLightGet --- IGNORE ---
+      # adcs.visibleLightGet[4] -> veml6031Face5Manager.visibleLightGet --- IGNORE ---
+      # adcs.visibleLightGet[5] -> veml6031Face6Manager.visibleLightGet --- IGNORE
     }
 
     connections ModeManager {
diff --git a/prj.conf b/prj.conf
index f26c071f..d54b91ee 100644
--- a/prj.conf
+++ b/prj.conf
@@ -39,7 +39,7 @@ CONFIG_DYNAMIC_THREAD=y
 CONFIG_KERNEL_MEM_POOL=y
 CONFIG_DYNAMIC_THREAD_ALLOC=n
 CONFIG_DYNAMIC_THREAD_PREFER_POOL=y
-CONFIG_DYNAMIC_THREAD_POOL_SIZE=33
+CONFIG_DYNAMIC_THREAD_POOL_SIZE=30
     # Num threads in the thread pool
 CONFIG_DYNAMIC_THREAD_STACK_SIZE=8192
     # Size of thread stack in thread pool, must be >= Thread Pool size in F'

From d8c5b7fcf3cdbaa657b094618e83118b310eeb91 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Mon, 1 Dec 2025 18:51:44 -0600
Subject: [PATCH 57/68] bump max packets

---
 FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp b/FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp
index f116344b..16071fc2 100644
--- a/FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp
+++ b/FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp
@@ -16,7 +16,7 @@
 #include <Fw/FPrimeBasicTypes.hpp>
 
 namespace Svc {
-static const FwChanIdType MAX_PACKETIZER_PACKETS = 10;
+static const FwChanIdType MAX_PACKETIZER_PACKETS = 13;
 static const FwChanIdType TLMPACKETIZER_NUM_TLM_HASH_SLOTS =
     15;  // !< Number of slots in the hash table.
          // Works best when set to about twice the number of components producing telemetry

From 8a0a201cb08d62956267a6c93a178a324bdb45d4 Mon Sep 17 00:00:00 2001
From: Michael Pham <61564344+Mikefly123@users.noreply.github.com>
Date: Tue, 2 Dec 2025 16:46:10 -0800
Subject: [PATCH 58/68] Increase Health Queue and Decrease Thread Stack Size

---
 .../ReferenceDeployment/Top/instances.fpp                 | 2 +-
 FprimeZephyrReference/project/config/CdhCoreConfig.fpp    | 8 ++++----
 FprimeZephyrReference/project/config/ComCcsdsConfig.fpp   | 4 ++--
 .../project/config/FileHandlingConfig.fpp                 | 8 ++++----
 prj.conf                                                  | 2 +-
 5 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index a2cd9211..42bae188 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -20,7 +20,7 @@ module ReferenceDeployment {
 
   module Default {
     constant QUEUE_SIZE = 10
-    constant STACK_SIZE = 8 * 1024 # Must match prj.conf thread stack size
+    constant STACK_SIZE = 4 * 1024 # Must match prj.conf thread stack size
   }
 
   # ----------------------------------------------------------------------
diff --git a/FprimeZephyrReference/project/config/CdhCoreConfig.fpp b/FprimeZephyrReference/project/config/CdhCoreConfig.fpp
index 36c77be5..be3e0a37 100644
--- a/FprimeZephyrReference/project/config/CdhCoreConfig.fpp
+++ b/FprimeZephyrReference/project/config/CdhCoreConfig.fpp
@@ -6,14 +6,14 @@ module CdhCoreConfig {
         constant cmdDisp     = 10
         constant events      = 25
         constant tlmSend     = 5
-        constant $health     = 10
+        constant $health     = 20
     }
 
 
     module StackSizes {
-        constant cmdDisp     = 8 * 1024 # Must match prj.conf thread stack size
-        constant events      = 8 * 1024 # Must match prj.conf thread stack size
-        constant tlmSend     = 8 * 1024 # Must match prj.conf thread stack size
+        constant cmdDisp     = 4 * 1024 # Must match prj.conf thread stack size
+        constant events      = 4 * 1024 # Must match prj.conf thread stack size
+        constant tlmSend     = 4 * 1024 # Must match prj.conf thread stack size
     }
 
     module Priorities {
diff --git a/FprimeZephyrReference/project/config/ComCcsdsConfig.fpp b/FprimeZephyrReference/project/config/ComCcsdsConfig.fpp
index c39d3778..9d0bddf8 100644
--- a/FprimeZephyrReference/project/config/ComCcsdsConfig.fpp
+++ b/FprimeZephyrReference/project/config/ComCcsdsConfig.fpp
@@ -9,8 +9,8 @@ module ComCcsdsConfig {
     }
 
     module StackSizes {
-        constant comQueue   = 8 * 1024 # Must match prj.conf thread stack size
-        constant aggregator = 8 * 1024 # Must match prj.conf thread stack size
+        constant comQueue   = 4 * 1024 # Must match prj.conf thread stack size
+        constant aggregator = 4 * 1024 # Must match prj.conf thread stack size
     }
 
     module Priorities {
diff --git a/FprimeZephyrReference/project/config/FileHandlingConfig.fpp b/FprimeZephyrReference/project/config/FileHandlingConfig.fpp
index 1074f62c..4af8199c 100644
--- a/FprimeZephyrReference/project/config/FileHandlingConfig.fpp
+++ b/FprimeZephyrReference/project/config/FileHandlingConfig.fpp
@@ -10,10 +10,10 @@ module FileHandlingConfig {
     }
 
     module StackSizes {
-        constant fileUplink    = 8 * 1024
-        constant fileDownlink  = 8 * 1024
-        constant fileManager   = 8 * 1024
-        constant prmDb         = 8 * 1024
+        constant fileUplink    = 4 * 1024
+        constant fileDownlink  = 4 * 1024
+        constant fileManager   = 4 * 1024
+        constant prmDb         = 4 * 1024
     }
 
     module Priorities {
diff --git a/prj.conf b/prj.conf
index 6c8cb703..743d7d1f 100644
--- a/prj.conf
+++ b/prj.conf
@@ -41,7 +41,7 @@ CONFIG_DYNAMIC_THREAD_ALLOC=n
 CONFIG_DYNAMIC_THREAD_PREFER_POOL=y
 CONFIG_DYNAMIC_THREAD_POOL_SIZE=30
     # Num threads in the thread pool
-CONFIG_DYNAMIC_THREAD_STACK_SIZE=8192
+CONFIG_DYNAMIC_THREAD_STACK_SIZE=4096
     # Size of thread stack in thread pool, must be >= Thread Pool size in F'
 
 CONFIG_THREAD_STACK_INFO=y

From b2bea66fb3e537cda2a399d4c9f72fd6babd9a0a Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Tue, 2 Dec 2025 23:27:17 -0600
Subject: [PATCH 59/68] Remove generic health monitor component

---
 .../Components/CMakeLists.txt                 |   1 -
 .../Drv/Tmp112Manager/TMP112Manager.cpp       |  16 +-
 .../Drv/Tmp112Manager/TMP112Manager.fpp       |   6 -
 .../Drv/Tmp112Manager/TMP112Manager.hpp       |  14 +-
 .../Drv/Veml6031Manager/Veml6031Manager.cpp   |   8 +-
 .../Drv/Veml6031Manager/Veml6031Manager.fpp   |   9 -
 .../Drv/Veml6031Manager/Veml6031Manager.hpp   |  10 +-
 .../GenericDeviceMonitor/CMakeLists.txt       |  36 ----
 .../GenericDeviceMonitor.cpp                  |  45 -----
 .../GenericDeviceMonitor.fpp                  |  38 -----
 .../GenericDeviceMonitor.hpp                  |  65 -------
 .../GenericDeviceMonitor/docs/sdd.md          |  66 --------
 .../ReferenceDeployment/Main.cpp              |  12 +-
 .../Top/ReferenceDeploymentPackets.fppi       |  54 +++---
 .../Top/ReferenceDeploymentTopology.cpp       |  42 ++---
 .../Top/ReferenceDeploymentTopologyDefs.hpp   |  12 +-
 .../ReferenceDeployment/Top/instances.fpp     | 160 +++++++-----------
 .../ReferenceDeployment/Top/topology.fpp      |  83 +++------
 .../project/config/AcConstants.fpp            |   2 +-
 19 files changed, 162 insertions(+), 517 deletions(-)
 delete mode 100644 FprimeZephyrReference/Components/GenericDeviceMonitor/CMakeLists.txt
 delete mode 100644 FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.cpp
 delete mode 100644 FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.fpp
 delete mode 100644 FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.hpp
 delete mode 100644 FprimeZephyrReference/Components/GenericDeviceMonitor/docs/sdd.md

diff --git a/FprimeZephyrReference/Components/CMakeLists.txt b/FprimeZephyrReference/Components/CMakeLists.txt
index 307b05de..a3589964 100644
--- a/FprimeZephyrReference/Components/CMakeLists.txt
+++ b/FprimeZephyrReference/Components/CMakeLists.txt
@@ -8,7 +8,6 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ComDelay/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Drv/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FatalHandler")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FsSpace/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/GenericDeviceMonitor/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ImuManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LoadSwitch/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ModeManager/")
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index 1875cc3b..943a9acf 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -23,8 +23,15 @@ Tmp112Manager ::~Tmp112Manager() {}
 // Helper methods
 // ----------------------------------------------------------------------
 
-void Tmp112Manager::configure(const struct device* dev) {
+void Tmp112Manager::configure(const struct device* tca,
+                              const struct device* mux,
+                              const struct device* dev,
+                              bool loadSwitchCheck) {
+    this->m_tca = tca;
+    this->m_mux = mux;
     this->m_dev = dev;
+    // TODO(nateinaction): Abstract load switch check, perhaps wrap this component and only use when needed?
+    this->m_load_switch_check = loadSwitchCheck;
 }
 
 // ----------------------------------------------------------------------
@@ -105,13 +112,13 @@ Fw::Success Tmp112Manager ::initializeDevice() {
         return Fw::Success::SUCCESS;
     }
 
-    if (this->tcaHealthGet_out(0) != Fw::Health::HEALTHY) {
+    if (!device_is_ready(this->m_tca)) {
         this->log_WARNING_HI_TcaUnhealthy();
         return Fw::Success::FAILURE;
     }
     this->log_WARNING_HI_TcaUnhealthy_ThrottleClear();
 
-    if (this->muxHealthGet_out(0) != Fw::Health::HEALTHY) {
+    if (!device_is_ready(this->m_mux)) {
         this->log_WARNING_HI_MuxUnhealthy();
         return Fw::Success::FAILURE;
     }
@@ -151,7 +158,8 @@ Fw::Success Tmp112Manager ::deinitializeDevice() {
 }
 
 bool Tmp112Manager ::loadSwitchReady() {
-    return this->m_load_switch_state == Fw::On::ON && this->getTime() >= this->m_load_switch_on_timeout;
+    return (this->m_load_switch_state == Fw::On::ON && this->getTime() >= this->m_load_switch_on_timeout) ||
+           !this->m_load_switch_check;
 }
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
index 5eed08dc..81173781 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.fpp
@@ -12,12 +12,6 @@ module Drv {
         @ Port to initialize and deinitialize the TMP112 device on load switch state change
         sync input port loadSwitchStateChanged: Components.loadSwitchStateChanged
 
-        @ Output port to check device TCA health
-        output port tcaHealthGet: Components.HealthGet
-
-        @ Output port to check device MUX health
-        output port muxHealthGet: Components.HealthGet
-
         # Telemetry channels
 
         @ Telemetry channel for temperature in degrees Celsius
diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
index 2414ae1b..cc45fc16 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.hpp
@@ -31,7 +31,7 @@ class Tmp112Manager final : public Tmp112ManagerComponentBase {
     // ----------------------------------------------------------------------
 
     //! Configure the TMP112 device
-    void configure(const struct device* dev);
+    void configure(const struct device* tca, const struct device* mux, const struct device* dev, bool loadSwitchCheck);
 
   private:
     // ----------------------------------------------------------------------
@@ -75,11 +75,11 @@ class Tmp112Manager final : public Tmp112ManagerComponentBase {
     //! Zephyr device stores the initialized TMP112 sensor
     const struct device* m_dev;
 
-    //! TCA health state
-    Fw::Health m_tca_state = Fw::Health::FAILED;
+    //! Zephyr device for the TCA
+    const struct device* m_tca;
 
-    //! MUX health state
-    Fw::Health m_mux_state = Fw::Health::FAILED;
+    //! Zephyr device for the mux
+    const struct device* m_mux;
 
     //! Load switch state
     Fw::On m_load_switch_state = Fw::On::OFF;
@@ -87,6 +87,10 @@ class Tmp112Manager final : public Tmp112ManagerComponentBase {
     //! Load switch on timeout
     //! Time when we can consider the load switch to be fully on (giving time for power to normalize)
     Fw::Time m_load_switch_on_timeout;
+
+    //! Load switch check
+    //! Available to disable if the component is not powered by a load switch
+    bool m_load_switch_check = true;
 };
 
 }  // namespace Drv
diff --git a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
index 1e520f7c..216e4b12 100644
--- a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
@@ -24,7 +24,9 @@ Veml6031Manager ::~Veml6031Manager() {}
 // Public helper methods
 // ----------------------------------------------------------------------
 
-void Veml6031Manager ::configure(const struct device* dev) {
+void Veml6031Manager ::configure(const struct device* tca, const struct device* mux, const struct device* dev) {
+    this->m_tca = tca;
+    this->m_mux = mux;
     this->m_dev = dev;
 }
 
@@ -160,13 +162,13 @@ Fw::Success Veml6031Manager ::initializeDevice() {
         return Fw::Success::SUCCESS;
     }
 
-    if (this->tcaHealthGet_out(0) != Fw::Health::HEALTHY) {
+    if (!device_is_ready(this->m_tca)) {
         this->log_WARNING_HI_TcaUnhealthy();
         return Fw::Success::FAILURE;
     }
     this->log_WARNING_HI_TcaUnhealthy_ThrottleClear();
 
-    if (this->muxHealthGet_out(0) != Fw::Health::HEALTHY) {
+    if (!device_is_ready(this->m_mux)) {
         this->log_WARNING_HI_MuxUnhealthy();
         return Fw::Success::FAILURE;
     }
diff --git a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.fpp b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.fpp
index 38e5ef9f..2bd567b5 100644
--- a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.fpp
@@ -80,15 +80,6 @@ module Drv {
         @ Port to initialize and deinitialize the VEML6031 device on load switch state change
         sync input port loadSwitchStateChanged: Components.loadSwitchStateChanged
 
-        @ Output port to check device TCA health
-        output port tcaHealthGet: Components.HealthGet
-
-        @ Output port to check device MUX health
-        output port muxHealthGet: Components.HealthGet
-
-        @ Port for reading gpio status
-        output port gpioRead: Drv.GpioRead
-
         #### Events ####
 
         @ Event for reporting VEML6031 not ready error
diff --git a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.hpp b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.hpp
index a5455292..f2552ede 100644
--- a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.hpp
+++ b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.hpp
@@ -38,7 +38,7 @@ class Veml6031Manager final : public Veml6031ManagerComponentBase {
     // ----------------------------------------------------------------------
 
     //! Configure the TMP112 device
-    void configure(const struct device* dev);
+    void configure(const struct device* tca, const struct device* mux, const struct device* dev);
 
   private:
     // ----------------------------------------------------------------------
@@ -109,11 +109,11 @@ class Veml6031Manager final : public Veml6031ManagerComponentBase {
     //! Zephyr device stores the initialized TMP112 sensor
     const struct device* m_dev;
 
-    //! TCA health state
-    Fw::Health m_tca_state = Fw::Health::FAILED;
+    //! Zephyr device for the TCA
+    const struct device* m_tca;
 
-    //! MUX health state
-    Fw::Health m_mux_state = Fw::Health::FAILED;
+    //! Zephyr device for the mux
+    const struct device* m_mux;
 
     //! Load switch state
     Fw::On m_load_switch_state = Fw::On::OFF;
diff --git a/FprimeZephyrReference/Components/GenericDeviceMonitor/CMakeLists.txt b/FprimeZephyrReference/Components/GenericDeviceMonitor/CMakeLists.txt
deleted file mode 100644
index 731a72e3..00000000
--- a/FprimeZephyrReference/Components/GenericDeviceMonitor/CMakeLists.txt
+++ /dev/null
@@ -1,36 +0,0 @@
-####
-# F Prime CMakeLists.txt:
-#
-# SOURCES: list of source files (to be compiled)
-# AUTOCODER_INPUTS: list of files to be passed to the autocoders
-# DEPENDS: list of libraries that this module depends on
-#
-# More information in the F´ CMake API documentation:
-# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
-#
-####
-
-# Module names are derived from the path from the nearest project/library/framework
-# root when not specifically overridden by the developer. i.e. The module defined by
-# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
-
-register_fprime_library(
-    AUTOCODER_INPUTS
-        "${CMAKE_CURRENT_LIST_DIR}/GenericDeviceMonitor.fpp"
-    SOURCES
-        "${CMAKE_CURRENT_LIST_DIR}/GenericDeviceMonitor.cpp"
-#   DEPENDS
-#       MyPackage_MyOtherModule
-)
-
-### Unit Tests ###
-# register_fprime_ut(
-#     AUTOCODER_INPUTS
-#         "${CMAKE_CURRENT_LIST_DIR}/GenericDeviceMonitor.fpp"
-#     SOURCES
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/GenericDeviceMonitorTestMain.cpp"
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/GenericDeviceMonitorTester.cpp"
-#     DEPENDS
-#         STest # For rules-based testing
-#     UT_AUTO_HELPERS
-# )
diff --git a/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.cpp b/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.cpp
deleted file mode 100644
index 17bca66e..00000000
--- a/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-// ======================================================================
-// \title  GenericDeviceMonitor.cpp
-// \author nate
-// \brief  cpp file for GenericDeviceMonitor component implementation class
-// ======================================================================
-
-#include "FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.hpp"
-
-namespace Components {
-
-// ----------------------------------------------------------------------
-// Component construction and destruction
-// ----------------------------------------------------------------------
-
-GenericDeviceMonitor ::GenericDeviceMonitor(const char* const compName) : GenericDeviceMonitorComponentBase(compName) {}
-
-GenericDeviceMonitor ::~GenericDeviceMonitor() {}
-
-// ----------------------------------------------------------------------
-// Helper methods
-// ----------------------------------------------------------------------
-
-void GenericDeviceMonitor::configure(const struct device* dev) {
-    this->m_dev = dev;
-}
-
-// ----------------------------------------------------------------------
-// Handler implementations for typed input ports
-// ----------------------------------------------------------------------
-
-Fw::Health GenericDeviceMonitor ::healthGet_handler(FwIndexType portNum) {
-    return device_is_ready(this->m_dev) ? Fw::Health::HEALTHY : Fw::Health::FAILED;
-}
-
-void GenericDeviceMonitor ::run_handler(FwIndexType portNum, U32 context) {
-    if (!device_is_ready(this->m_dev)) {
-        this->tlmWrite_Healthy(Fw::Health::FAILED);
-        this->log_WARNING_LO_DeviceNotReady();
-        return;
-    }
-
-    this->tlmWrite_Healthy(Fw::Health::HEALTHY);
-}
-
-}  // namespace Components
diff --git a/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.fpp b/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.fpp
deleted file mode 100644
index e5da4abc..00000000
--- a/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.fpp
+++ /dev/null
@@ -1,38 +0,0 @@
-module Components {
-    port HealthGet -> Fw.Health
-}
-
-module Components {
-    @ Generic Device Health Reporter
-    @ Use for devices which only need to report simple health status and have no interactivity
-    passive component GenericDeviceMonitor {
-
-        @ Port receiving calls from the rate group
-        sync input port run: Svc.Sched
-
-        @ Port receiving calls to request device health
-        sync input port healthGet: HealthGet
-
-        @ Telemetry showing device health
-        telemetry Healthy: Fw.Health
-
-        @ Event indicating device not ready
-        event DeviceNotReady() severity warning low id 0 format "Device not ready" throttle 5
-
-        ###############################################################################
-        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
-        ###############################################################################
-        @ Port for requesting the current time
-        time get port timeCaller
-
-        @ Port for sending textual representation of events
-        text event port logTextOut
-
-        @ Port for sending events to downlink
-        event port logOut
-
-        @ Port for sending telemetry channels to downlink
-        telemetry port tlmOut
-
-    }
-}
diff --git a/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.hpp b/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.hpp
deleted file mode 100644
index ea0d741f..00000000
--- a/FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitor.hpp
+++ /dev/null
@@ -1,65 +0,0 @@
-// ======================================================================
-// \title  GenericDeviceMonitor.hpp
-// \author nate
-// \brief  hpp file for GenericDeviceMonitor component implementation class
-// ======================================================================
-
-#ifndef Components_GenericDeviceMonitor_HPP
-#define Components_GenericDeviceMonitor_HPP
-
-#include "FprimeZephyrReference/Components/GenericDeviceMonitor/GenericDeviceMonitorComponentAc.hpp"
-#include <zephyr/device.h>
-
-namespace Components {
-
-class GenericDeviceMonitor final : public GenericDeviceMonitorComponentBase {
-  public:
-    // ----------------------------------------------------------------------
-    // Component construction and destruction
-    // ----------------------------------------------------------------------
-
-    //! Construct GenericDeviceMonitor object
-    GenericDeviceMonitor(const char* const compName  //!< The component name
-    );
-
-    //! Destroy GenericDeviceMonitor object
-    ~GenericDeviceMonitor();
-
-  public:
-    // ----------------------------------------------------------------------
-    // Public helper methods
-    // ----------------------------------------------------------------------
-
-    //! Configure the zephyr mux channel device
-    void configure(const struct device* dev);
-
-  private:
-    // ----------------------------------------------------------------------
-    // Handler implementations for typed input ports
-    // ----------------------------------------------------------------------
-
-    //! Handler implementation for healthGet
-    //!
-    //! Port receiving calls to request device health
-    Fw::Health healthGet_handler(FwIndexType portNum  //!< The port number
-                                 ) override;
-
-    //! Handler implementation for run
-    //!
-    //! Port receiving calls from the rate group
-    void run_handler(FwIndexType portNum,  //!< The port number
-                     U32 context           //!< The call order
-                     ) override;
-
-  private:
-    // ----------------------------------------------------------------------
-    // Private member variables
-    // ----------------------------------------------------------------------
-
-    //! Zephyr device stores the initialized mux channel
-    const struct device* m_dev;
-};
-
-}  // namespace Components
-
-#endif
diff --git a/FprimeZephyrReference/Components/GenericDeviceMonitor/docs/sdd.md b/FprimeZephyrReference/Components/GenericDeviceMonitor/docs/sdd.md
deleted file mode 100644
index fb0ea3d4..00000000
--- a/FprimeZephyrReference/Components/GenericDeviceMonitor/docs/sdd.md
+++ /dev/null
@@ -1,66 +0,0 @@
-# Components::GenericDeviceMonitor
-
-Mux Channel Health Reporter
-
-## Usage Examples
-Add usage examples here
-
-### Diagrams
-Add diagrams here
-
-### Typical Usage
-And the typical usage of the component here
-
-## Class Diagram
-Add a class diagram here
-
-## Port Descriptions
-| Name | Description |
-|---|---|
-|---|---|
-
-## Component States
-Add component states in the chart below
-| Name | Description |
-|---|---|
-|---|---|
-
-## Sequence Diagrams
-Add sequence diagrams here
-
-## Parameters
-| Name | Description |
-|---|---|
-|---|---|
-
-## Commands
-| Name | Description |
-|---|---|
-|---|---|
-
-## Events
-| Name | Description |
-|---|---|
-|---|---|
-
-## Telemetry
-| Name | Description |
-|---|---|
-|---|---|
-
-## Unit Tests
-Add unit test descriptions in the chart below
-| Name | Description | Output | Coverage |
-|---|---|---|---|
-|---|---|---|---|
-
-## Requirements
-Add requirements in the chart below
-| Name | Description | Validation |
-|---|---|---|
-|---|---|---|
-
-## Change Log
-| Date | Description |
-|---|---|
-|---| Initial Draft |
diff --git a/FprimeZephyrReference/ReferenceDeployment/Main.cpp b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
index e3642197..16b871ce 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Main.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Main.cpp
@@ -86,12 +86,12 @@ int main(int argc, char* argv[]) {
     inputs.battCell4TempDevice = batt_cell4_temp_sens;
     // Light sensor devices
     inputs.face0LightDevice = face0_light_sens;
-    // inputs.face1LightDevice = face1_light_sens;
-    // inputs.face2LightDevice = face2_light_sens;
-    // inputs.face3LightDevice = face3_light_sens;
-    // inputs.face5LightDevice = face5_light_sens;
-    // inputs.face6LightDevice = face6_light_sens;
-    // inputs.face7LightDevice = face7_light_sens;
+    inputs.face1LightDevice = face1_light_sens;
+    inputs.face2LightDevice = face2_light_sens;
+    inputs.face3LightDevice = face3_light_sens;
+    inputs.face5LightDevice = face5_light_sens;
+    inputs.face6LightDevice = face6_light_sens;
+    inputs.face7LightDevice = face7_light_sens;
 
     inputs.baudRate = 115200;
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 1771e858..c8f90f9a 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -9,7 +9,6 @@ telemetry packets ReferenceDeploymentPackets {
     ComCcsdsUart.commsBufferManager.HiBuffs
     ReferenceDeployment.rateGroup10Hz.RgMaxTime
     ReferenceDeployment.rateGroup1Hz.RgMaxTime
-    ReferenceDeployment.rateGroup1_6Hz.RgMaxTime
     ReferenceDeployment.startupManager.BootCount
     ReferenceDeployment.startupManager.QuiescenceEndTime
     ReferenceDeployment.modeManager.CurrentMode
@@ -24,7 +23,6 @@ telemetry packets ReferenceDeploymentPackets {
     ComCcsdsUart.commsBufferManager.EmptyBuffs
     ReferenceDeployment.rateGroup10Hz.RgCycleSlips
     ReferenceDeployment.rateGroup1Hz.RgCycleSlips
-    ReferenceDeployment.rateGroup1_6Hz.RgCycleSlips
   }
 
 
@@ -89,19 +87,7 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.powerMonitor.TotalPowerGenerated
   }
 
-  packet TcaMonitor id 12 group 4 {
-    ReferenceDeployment.tcaMonitor.Healthy
-    ReferenceDeployment.muxChannel0Monitor.Healthy
-    ReferenceDeployment.muxChannel1Monitor.Healthy
-    ReferenceDeployment.muxChannel2Monitor.Healthy
-    ReferenceDeployment.muxChannel3Monitor.Healthy
-    ReferenceDeployment.muxChannel4Monitor.Healthy
-    ReferenceDeployment.muxChannel5Monitor.Healthy
-    ReferenceDeployment.muxChannel6Monitor.Healthy
-    ReferenceDeployment.muxChannel7Monitor.Healthy
-  }
-
-  packet Thermal id 13 group 4 {
+  packet Thermal id 12 group 4 {
     ReferenceDeployment.tmp112Face0Manager.Temperature
     ReferenceDeployment.tmp112Face1Manager.Temperature
     ReferenceDeployment.tmp112Face2Manager.Temperature
@@ -113,28 +99,28 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.tmp112BattCell4Manager.Temperature
   }
 
-  packet LightSensor id 14 group 4 {
+  packet LightSensor id 13 group 4 {
     ReferenceDeployment.veml6031Face0Manager.VisibleLight
-    # ReferenceDeployment.veml6031Face1Manager.RawLightData
-    # ReferenceDeployment.veml6031Face2Manager.RawLightData
-    # ReferenceDeployment.veml6031Face3Manager.RawLightData
-    # ReferenceDeployment.veml6031Face5Manager.RawLightData
-    # ReferenceDeployment.veml6031Face6Manager.RawLightData
-    # ReferenceDeployment.veml6031Face7Manager.RawLightData
+    ReferenceDeployment.veml6031Face1Manager.VisibleLight
+    ReferenceDeployment.veml6031Face2Manager.VisibleLight
+    ReferenceDeployment.veml6031Face3Manager.VisibleLight
+    ReferenceDeployment.veml6031Face5Manager.VisibleLight
+    ReferenceDeployment.veml6031Face6Manager.VisibleLight
+    ReferenceDeployment.veml6031Face7Manager.VisibleLight
     ReferenceDeployment.veml6031Face0Manager.InfraRedLight
-    # ReferenceDeployment.veml6031Face1Manager.IRLightData
-    # ReferenceDeployment.veml6031Face2Manager.IRLightData
-    # ReferenceDeployment.veml6031Face3Manager.IRLightData
-    # ReferenceDeployment.veml6031Face5Manager.IRLightData
-    # ReferenceDeployment.veml6031Face6Manager.IRLightData
-    # ReferenceDeployment.veml6031Face7Manager.IRLightData
+    ReferenceDeployment.veml6031Face1Manager.InfraRedLight
+    ReferenceDeployment.veml6031Face2Manager.InfraRedLight
+    ReferenceDeployment.veml6031Face3Manager.InfraRedLight
+    ReferenceDeployment.veml6031Face5Manager.InfraRedLight
+    ReferenceDeployment.veml6031Face6Manager.InfraRedLight
+    ReferenceDeployment.veml6031Face7Manager.InfraRedLight
     ReferenceDeployment.veml6031Face0Manager.AmbientLight
-  #   ReferenceDeployment.veml6031Face1Manager.ALSLightData
-  #   ReferenceDeployment.veml6031Face2Manager.ALSLightData
-  #   ReferenceDeployment.veml6031Face3Manager.ALSLightData
-  #   ReferenceDeployment.veml6031Face5Manager.ALSLightData
-  #   ReferenceDeployment.veml6031Face6Manager.ALSLightData
-  #   ReferenceDeployment.veml6031Face7Manager.ALSLightData
+    ReferenceDeployment.veml6031Face1Manager.AmbientLight
+    ReferenceDeployment.veml6031Face2Manager.AmbientLight
+    ReferenceDeployment.veml6031Face3Manager.AmbientLight
+    ReferenceDeployment.veml6031Face5Manager.AmbientLight
+    ReferenceDeployment.veml6031Face6Manager.AmbientLight
+    ReferenceDeployment.veml6031Face7Manager.AmbientLight
   }
 
 } omit {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index d6406ec3..6326cdf2 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -67,7 +67,7 @@ void configureTopology() {
     // Rate groups require context arrays.
     rateGroup10Hz.configure(rateGroup10HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup10HzContext));
     rateGroup1Hz.configure(rateGroup1HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1HzContext));
-    rateGroup1_6Hz.configure(rateGroup1_6HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1_6HzContext));
+    // rateGroup1_6Hz.configure(rateGroup1_6HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1_6HzContext));
 
     cmdSeq.allocateBuffer(0, mallocator, 5 * 1024);
 
@@ -121,34 +121,26 @@ void setupTopology(const TopologyState& state) {
     lis2mdlManager.configure(state.lis2mdlDevice);
     ina219SysManager.configure(state.ina219SysDevice);
     ina219SolManager.configure(state.ina219SolDevice);
-    tcaMonitor.configure(state.tca9548aDevice);
-    muxChannel0Monitor.configure(state.muxChannel0Device);
-    muxChannel1Monitor.configure(state.muxChannel1Device);
-    muxChannel2Monitor.configure(state.muxChannel2Device);
-    muxChannel3Monitor.configure(state.muxChannel3Device);
-    muxChannel4Monitor.configure(state.muxChannel4Device);
-    muxChannel5Monitor.configure(state.muxChannel5Device);
-    muxChannel7Monitor.configure(state.muxChannel7Device);
 
     // Configure all 11 TMP112 temperature sensor managers
-    tmp112Face0Manager.configure(state.face0TempDevice);
-    tmp112Face1Manager.configure(state.face1TempDevice);
-    tmp112Face2Manager.configure(state.face2TempDevice);
-    tmp112Face3Manager.configure(state.face3TempDevice);
-    tmp112Face5Manager.configure(state.face5TempDevice);
-    tmp112BattCell1Manager.configure(state.battCell1TempDevice);
-    tmp112BattCell2Manager.configure(state.battCell2TempDevice);
-    tmp112BattCell3Manager.configure(state.battCell3TempDevice);
-    tmp112BattCell4Manager.configure(state.battCell4TempDevice);
+    tmp112Face0Manager.configure(state.tca9548aDevice, state.muxChannel0Device, state.face0TempDevice, true);
+    tmp112Face1Manager.configure(state.tca9548aDevice, state.muxChannel1Device, state.face1TempDevice, true);
+    tmp112Face2Manager.configure(state.tca9548aDevice, state.muxChannel2Device, state.face2TempDevice, true);
+    tmp112Face3Manager.configure(state.tca9548aDevice, state.muxChannel3Device, state.face3TempDevice, true);
+    tmp112Face5Manager.configure(state.tca9548aDevice, state.muxChannel5Device, state.face5TempDevice, true);
+    tmp112BattCell1Manager.configure(state.tca9548aDevice, state.muxChannel4Device, state.battCell1TempDevice, false);
+    tmp112BattCell2Manager.configure(state.tca9548aDevice, state.muxChannel4Device, state.battCell2TempDevice, false);
+    tmp112BattCell3Manager.configure(state.tca9548aDevice, state.muxChannel4Device, state.battCell3TempDevice, false);
+    tmp112BattCell4Manager.configure(state.tca9548aDevice, state.muxChannel4Device, state.battCell4TempDevice, false);
 
     // Configure all 7 VEML6031 light sensor managers
-    veml6031Face0Manager.configure(state.face0LightDevice);
-    // veml6031Face1Manager.configure(state.face1LightDevice);
-    // veml6031Face2Manager.configure(state.face2LightDevice);
-    // veml6031Face3Manager.configure(state.face3LightDevice);
-    // veml6031Face5Manager.configure(state.face5LightDevice);
-    // veml6031Face6Manager.configure(state.face6LightDevice);
-    // veml6031Face7Manager.configure(state.face7LightDevice);
+    veml6031Face0Manager.configure(state.tca9548aDevice, state.muxChannel0Device, state.face0LightDevice);
+    veml6031Face1Manager.configure(state.tca9548aDevice, state.muxChannel1Device, state.face1LightDevice);
+    veml6031Face2Manager.configure(state.tca9548aDevice, state.muxChannel2Device, state.face2LightDevice);
+    veml6031Face3Manager.configure(state.tca9548aDevice, state.muxChannel3Device, state.face3LightDevice);
+    veml6031Face5Manager.configure(state.tca9548aDevice, state.muxChannel5Device, state.face5LightDevice);
+    veml6031Face6Manager.configure(state.tca9548aDevice, state.muxChannel6Device, state.face6LightDevice);
+    veml6031Face7Manager.configure(state.tca9548aDevice, state.muxChannel7Device, state.face7LightDevice);
 }
 
 void startRateGroups() {
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index c6dd5eb2..19d72cea 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -107,12 +107,12 @@ struct TopologyState {
     const device* battCell4TempDevice;  //!< TMP112 device for battery cell 4
     // - Light sensors
     const device* face0LightDevice;  //!< Light sensor device for cube face 0
-    // const device* face1LightDevice;  //!< Light sensor device for cube face 1
-    // const device* face2LightDevice;  //!< Light sensor device for cube face 2
-    // const device* face3LightDevice;  //!< Light sensor device for cube face 3
-    // const device* face5LightDevice;  //!< Light sensor device for cube face 5
-    // const device* face6LightDevice;  //!< Light sensor device for cube face 6
-    // const device* face7LightDevice;  //!< Light sensor device for cube face 7
+    const device* face1LightDevice;  //!< Light sensor device for cube face 1
+    const device* face2LightDevice;  //!< Light sensor device for cube face 2
+    const device* face3LightDevice;  //!< Light sensor device for cube face 3
+    const device* face5LightDevice;  //!< Light sensor device for cube face 5
+    const device* face6LightDevice;  //!< Light sensor device for cube face 6
+    const device* face7LightDevice;  //!< Light sensor device for cube face 7
 };
 
 namespace PingEntries = ::PingEntries;
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 94b9311c..ca50782c 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -42,17 +42,17 @@ module ReferenceDeployment {
     stack size Default.STACK_SIZE \
     priority 4
 
-  instance cmdSeq: Svc.CmdSequencer base id 0x10006000 \
+  instance cmdSeq: Svc.CmdSequencer base id 0x10004000 \
     queue size Default.QUEUE_SIZE * 2 \
     stack size Default.STACK_SIZE \
     priority 15
 
-  instance prmDb: Svc.PrmDb base id 0x1000B000 \
+  instance prmDb: Svc.PrmDb base id 0x10005000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 14
 
-  instance modeManager: Components.ModeManager base id 0x10040000 \
+  instance modeManager: Components.ModeManager base id 0x10006000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 16
@@ -85,120 +85,78 @@ module ReferenceDeployment {
 
   instance lsm6dsoManager: Drv.Lsm6dsoManager base id 0x10019000
 
-  instance bootloaderTrigger: Components.BootloaderTrigger base id 0x10020000
+  instance bootloaderTrigger: Components.BootloaderTrigger base id 0x1001A000
 
-  instance burnwire: Components.Burnwire base id 0x10021000
+  instance burnwire: Components.Burnwire base id 0x1001B000
 
-  instance gpioBurnwire0: Zephyr.ZephyrGpioDriver base id 0x10022000
+  instance comDelay: Components.ComDelay base id 0x1001C000
 
-  instance gpioBurnwire1: Zephyr.ZephyrGpioDriver base id 0x10023000
+  instance comSplitterEvents: Svc.ComSplitter base id 0x1001D000
 
-  instance comDelay: Components.ComDelay base id 0x10025000
+  instance comSplitterTelemetry: Svc.ComSplitter base id 0x1001E000
 
-  instance lora: Zephyr.LoRa base id 0x10026000
+  instance lora: Zephyr.LoRa base id 0x1001F000
 
-  instance comSplitterEvents: Svc.ComSplitter base id 0x10027000
+  instance antennaDeployer: Components.AntennaDeployer base id 0x10020000
 
-  instance comSplitterTelemetry: Svc.ComSplitter base id 0x10028000
+  instance fsSpace: Components.FsSpace base id 0x10021000
 
-  instance antennaDeployer: Components.AntennaDeployer base id 0x10029000
+  instance resetManager: Components.ResetManager base id 0x10022000
 
-  instance gpioface4LS: Zephyr.ZephyrGpioDriver base id 0x1002A000
+  instance powerMonitor: Components.PowerMonitor base id 0x10023000
 
-  instance gpioface0LS: Zephyr.ZephyrGpioDriver base id 0x1002B000
+  instance startupManager: Components.StartupManager base id 0x10024000
 
-  instance gpioface1LS: Zephyr.ZephyrGpioDriver base id 0x1002C000
+  instance thermalManager: Components.ThermalManager base id 0x10025000
 
-  instance gpioface2LS: Zephyr.ZephyrGpioDriver base id 0x1002D000
+  instance adcs: Components.ADCS base id 0x10026000
 
-  instance gpioface3LS: Zephyr.ZephyrGpioDriver base id 0x1002E000
+  # GPIO Drivers
+  instance gpioBurnwire0: Zephyr.ZephyrGpioDriver base id 0x10027000
+  instance gpioBurnwire1: Zephyr.ZephyrGpioDriver base id 0x10028000
+  instance gpioface0LS: Zephyr.ZephyrGpioDriver base id 0x10029000
+  instance gpioface1LS: Zephyr.ZephyrGpioDriver base id 0x1002A000
+  instance gpioface2LS: Zephyr.ZephyrGpioDriver base id 0x1002B000
+  instance gpioface3LS: Zephyr.ZephyrGpioDriver base id 0x1002C000
+  instance gpioface4LS: Zephyr.ZephyrGpioDriver base id 0x1002D000
+  instance gpioface5LS: Zephyr.ZephyrGpioDriver base id 0x1002E000
+  instance gpioPayloadPowerLS: Zephyr.ZephyrGpioDriver base id 0x1002F000
+  instance gpioPayloadBatteryLS: Zephyr.ZephyrGpioDriver base id 0x10030000
 
-  instance gpioface5LS: Zephyr.ZephyrGpioDriver base id 0x1002F000
+  # Load Switches
+  instance face0LoadSwitch: Components.LoadSwitch base id 0x10031000
+  instance face1LoadSwitch: Components.LoadSwitch base id 0x10032000
+  instance face2LoadSwitch: Components.LoadSwitch base id 0x10033000
+  instance face3LoadSwitch: Components.LoadSwitch base id 0x10034000
+  instance face4LoadSwitch: Components.LoadSwitch base id 0x10035000
+  instance face5LoadSwitch: Components.LoadSwitch base id 0x10036000
+  instance payloadPowerLoadSwitch: Components.LoadSwitch base id 0x10037000
+  instance payloadBatteryLoadSwitch: Components.LoadSwitch base id 0x10038000
 
-  instance gpioPayloadPowerLS: Zephyr.ZephyrGpioDriver base id 0x10030000
+  # Power Monitors
+  instance ina219SysManager: Drv.Ina219Manager base id 0x10039000
+  instance ina219SolManager: Drv.Ina219Manager base id 0x1003A000
 
-  instance gpioPayloadBatteryLS: Zephyr.ZephyrGpioDriver base id 0x10031000
+  # Temperature Sensors
+  instance tmp112Face0Manager: Drv.Tmp112Manager base id 0x1003B000
+  instance tmp112Face1Manager: Drv.Tmp112Manager base id 0x1003C000
+  instance tmp112Face2Manager: Drv.Tmp112Manager base id 0x1003D000
+  instance tmp112Face3Manager: Drv.Tmp112Manager base id 0x1003E000
+  instance tmp112Face4Manager: Drv.Tmp112Manager base id 0x1003F000
+  instance tmp112Face5Manager: Drv.Tmp112Manager base id 0x10040000
+  instance tmp112BattCell1Manager: Drv.Tmp112Manager base id 0x10041000
+  instance tmp112BattCell2Manager: Drv.Tmp112Manager base id 0x10042000
+  instance tmp112BattCell3Manager: Drv.Tmp112Manager base id 0x10043000
+  instance tmp112BattCell4Manager: Drv.Tmp112Manager base id 0x10044000
 
-  instance fsSpace: Components.FsSpace base id 0x10032000
-
-  instance face4LoadSwitch: Components.LoadSwitch base id 0x10033000
-
-  instance face0LoadSwitch: Components.LoadSwitch base id 0x10034000
-
-  instance face1LoadSwitch: Components.LoadSwitch base id 0x10035000
-
-  instance face2LoadSwitch: Components.LoadSwitch base id 0x10036000
-
-  instance face3LoadSwitch: Components.LoadSwitch base id 0x10037000
-
-  instance face5LoadSwitch: Components.LoadSwitch base id 0x10038000
-
-  instance payloadPowerLoadSwitch: Components.LoadSwitch base id 0x10039000
-
-  instance payloadBatteryLoadSwitch: Components.LoadSwitch base id 0x1003A000
-
-  instance resetManager: Components.ResetManager base id 0x1003B000
-
-  instance powerMonitor: Components.PowerMonitor base id 0x1003C000
-
-  instance ina219SysManager: Drv.Ina219Manager base id 0x1003D000
-
-  instance ina219SolManager: Drv.Ina219Manager base id 0x1003E000
-
-  instance startupManager: Components.StartupManager base id 0x1003F000
-
-  instance tcaMonitor: Components.GenericDeviceMonitor base id 0x10041000
-
-  instance muxChannel0Monitor: Components.GenericDeviceMonitor base id 0x10042000
-
-  instance muxChannel1Monitor: Components.GenericDeviceMonitor base id 0x10043000
-
-  instance muxChannel2Monitor: Components.GenericDeviceMonitor base id 0x10044000
-
-  instance muxChannel3Monitor: Components.GenericDeviceMonitor base id 0x10045000
-
-  instance muxChannel4Monitor: Components.GenericDeviceMonitor base id 0x10046000
-
-  instance muxChannel5Monitor: Components.GenericDeviceMonitor base id 0x10047000
-
-  instance muxChannel6Monitor: Components.GenericDeviceMonitor base id 0x10048000
-
-  instance muxChannel7Monitor: Components.GenericDeviceMonitor base id 0x10049000
-
-  instance thermalManager: Components.ThermalManager base id 0x1004A000
-
-  instance tmp112Face0Manager: Drv.Tmp112Manager base id 0x1004B000
-
-  instance tmp112Face1Manager: Drv.Tmp112Manager base id 0x1004C000
-
-  instance tmp112Face2Manager: Drv.Tmp112Manager base id 0x1004D000
-
-  instance tmp112Face3Manager: Drv.Tmp112Manager base id 0x1004E000
-
-  instance tmp112Face5Manager: Drv.Tmp112Manager base id 0x1004F000
-
-  instance tmp112BattCell1Manager: Drv.Tmp112Manager base id 0x10050000
-
-  instance tmp112BattCell2Manager: Drv.Tmp112Manager base id 0x10051000
-
-  instance tmp112BattCell3Manager: Drv.Tmp112Manager base id 0x10052000
-
-  instance tmp112BattCell4Manager: Drv.Tmp112Manager base id 0x10053000
-
-  instance adcs: Components.ADCS base id 0x10054000
-
-  instance veml6031Face0Manager: Drv.Veml6031Manager base id 0x10055000
-
-  instance veml6031Face1Manager: Drv.Veml6031Manager base id 0x10056000
-
-  instance veml6031Face2Manager: Drv.Veml6031Manager base id 0x10057000
-
-  instance veml6031Face3Manager: Drv.Veml6031Manager base id 0x10058000
-
-  instance veml6031Face5Manager: Drv.Veml6031Manager base id 0x10059000
-
-  instance veml6031Face6Manager: Drv.Veml6031Manager base id 0x1005A000
-
-  instance veml6031Face7Manager: Drv.Veml6031Manager base id 0x1005B000
+  # Light Sensors
+  instance veml6031Face0Manager: Drv.Veml6031Manager base id 0x10045000
+  instance veml6031Face1Manager: Drv.Veml6031Manager base id 0x10046000
+  instance veml6031Face2Manager: Drv.Veml6031Manager base id 0x10047000
+  instance veml6031Face3Manager: Drv.Veml6031Manager base id 0x10048000
+  instance veml6031Face4Manager: Drv.Veml6031Manager base id 0x10049000
+  instance veml6031Face5Manager: Drv.Veml6031Manager base id 0x1004A000
+  instance veml6031Face6Manager: Drv.Veml6031Manager base id 0x1004B000
+  instance veml6031Face7Manager: Drv.Veml6031Manager base id 0x1004C000
 
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 49741a9b..bbc51199 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -25,7 +25,7 @@ module ReferenceDeployment {
   # ----------------------------------------------------------------------
     instance rateGroup10Hz
     instance rateGroup1Hz
-    instance rateGroup1_6Hz
+    # instance rateGroup1_6Hz
     instance rateGroupDriver
     instance timer
     instance lora
@@ -68,15 +68,6 @@ module ReferenceDeployment {
     instance powerMonitor
     instance ina219SysManager
     instance ina219SolManager
-    instance tcaMonitor
-    instance muxChannel0Monitor
-    instance muxChannel1Monitor
-    instance muxChannel2Monitor
-    instance muxChannel3Monitor
-    instance muxChannel4Monitor
-    instance muxChannel5Monitor
-    instance muxChannel6Monitor
-    instance muxChannel7Monitor
 
     # Face Board Instances
     instance thermalManager
@@ -93,12 +84,12 @@ module ReferenceDeployment {
     instance modeManager
     instance adcs
     instance veml6031Face0Manager
-    # instance veml6031Face1Manager
-    # instance veml6031Face2Manager
-    # instance veml6031Face3Manager
-    # instance veml6031Face5Manager
-    # instance veml6031Face6Manager
-    # instance veml6031Face7Manager
+    instance veml6031Face1Manager
+    instance veml6031Face2Manager
+    instance veml6031Face3Manager
+    instance veml6031Face5Manager
+    instance veml6031Face6Manager
+    instance veml6031Face7Manager
 
 
   # ----------------------------------------------------------------------
@@ -200,23 +191,15 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[7] -> fsSpace.run
       rateGroup1Hz.RateGroupMemberOut[8] -> FileHandling.fileDownlink.Run
       rateGroup1Hz.RateGroupMemberOut[9] -> startupManager.run # doubles (20ms) rate group max time
-      # rateGroup1Hz.RateGroupMemberOut[12] -> powerMonitor.run # Causing rate group to slip?
       rateGroup1Hz.RateGroupMemberOut[10] -> modeManager.run
-      # rateGroup1Hz.RateGroupMemberOut[23] -> adcs.run
+      rateGroup1Hz.RateGroupMemberOut[11] -> adcs.run
+      rateGroup1Hz.RateGroupMemberOut[12] -> powerMonitor.run # Causing rate group to slip?
+      rateGroup1Hz.RateGroupMemberOut[13] -> CdhCore.tlmSend.Run
+      rateGroup1Hz.RateGroupMemberOut[14] -> imuManager.run
+      rateGroup1Hz.RateGroupMemberOut[15] -> thermalManager.run
 
       # Slow rate (1/6 Hz) rate group
-      rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_6Hz] -> rateGroup1_6Hz.CycleIn
-      rateGroup1_6Hz.RateGroupMemberOut[0] -> CdhCore.tlmSend.Run
-      rateGroup1_6Hz.RateGroupMemberOut[1] -> imuManager.run
-      rateGroup1_6Hz.RateGroupMemberOut[2] -> tcaMonitor.run
-      rateGroup1_6Hz.RateGroupMemberOut[3] -> muxChannel0Monitor.run
-      rateGroup1_6Hz.RateGroupMemberOut[4] -> muxChannel1Monitor.run
-      rateGroup1_6Hz.RateGroupMemberOut[5] -> muxChannel2Monitor.run
-      rateGroup1_6Hz.RateGroupMemberOut[6] -> muxChannel3Monitor.run
-      rateGroup1_6Hz.RateGroupMemberOut[7] -> muxChannel4Monitor.run
-      rateGroup1_6Hz.RateGroupMemberOut[8] -> muxChannel5Monitor.run
-      rateGroup1_6Hz.RateGroupMemberOut[9] -> muxChannel7Monitor.run
-      rateGroup1_6Hz.RateGroupMemberOut[10] -> thermalManager.run
+      # rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_6Hz] -> rateGroup1_6Hz.CycleIn
     }
 
 
@@ -236,18 +219,22 @@ module ReferenceDeployment {
       face1LoadSwitch.gpioSet -> gpioface1LS.gpioWrite
       face1LoadSwitch.gpioGet -> gpioface1LS.gpioRead
       face1LoadSwitch.loadSwitchStateChanged[0] -> tmp112Face1Manager.loadSwitchStateChanged
+      face1LoadSwitch.loadSwitchStateChanged[1] -> veml6031Face1Manager.loadSwitchStateChanged
 
       face2LoadSwitch.gpioSet -> gpioface2LS.gpioWrite
       face2LoadSwitch.gpioGet -> gpioface2LS.gpioRead
       face2LoadSwitch.loadSwitchStateChanged[0] -> tmp112Face2Manager.loadSwitchStateChanged
+      face2LoadSwitch.loadSwitchStateChanged[1] -> veml6031Face2Manager.loadSwitchStateChanged
 
       face3LoadSwitch.gpioSet -> gpioface3LS.gpioWrite
       face3LoadSwitch.gpioGet -> gpioface3LS.gpioRead
       face3LoadSwitch.loadSwitchStateChanged[0] -> tmp112Face3Manager.loadSwitchStateChanged
+      face3LoadSwitch.loadSwitchStateChanged[1] -> veml6031Face3Manager.loadSwitchStateChanged
 
       face5LoadSwitch.gpioSet -> gpioface5LS.gpioWrite
       face5LoadSwitch.gpioGet -> gpioface5LS.gpioRead
       face5LoadSwitch.loadSwitchStateChanged[0] -> tmp112Face5Manager.loadSwitchStateChanged
+      face5LoadSwitch.loadSwitchStateChanged[1] -> veml6031Face5Manager.loadSwitchStateChanged
 
       payloadPowerLoadSwitch.gpioSet -> gpioPayloadPowerLS.gpioWrite
       payloadPowerLoadSwitch.gpioGet -> gpioPayloadPowerLS.gpioRead
@@ -294,50 +281,24 @@ module ReferenceDeployment {
     }
 
     connections thermalManager {
-      tmp112Face0Manager.tcaHealthGet -> tcaMonitor.healthGet
-      tmp112Face0Manager.muxHealthGet -> muxChannel0Monitor.healthGet
       thermalManager.faceTempGet[0] -> tmp112Face0Manager.temperatureGet
-
-      tmp112Face1Manager.tcaHealthGet -> tcaMonitor.healthGet
-      tmp112Face1Manager.muxHealthGet -> muxChannel1Monitor.healthGet
       thermalManager.faceTempGet[1] -> tmp112Face1Manager.temperatureGet
-
-      tmp112Face2Manager.tcaHealthGet -> tcaMonitor.healthGet
-      tmp112Face2Manager.muxHealthGet -> muxChannel2Monitor.healthGet
       thermalManager.faceTempGet[2] -> tmp112Face2Manager.temperatureGet
-
-      tmp112Face3Manager.tcaHealthGet -> tcaMonitor.healthGet
-      tmp112Face3Manager.muxHealthGet -> muxChannel3Monitor.healthGet
       thermalManager.faceTempGet[3] -> tmp112Face3Manager.temperatureGet
-
-      tmp112Face5Manager.tcaHealthGet -> tcaMonitor.healthGet
-      tmp112Face5Manager.muxHealthGet -> muxChannel5Monitor.healthGet
       thermalManager.faceTempGet[4] -> tmp112Face5Manager.temperatureGet
-
-      tmp112BattCell1Manager.tcaHealthGet -> tcaMonitor.healthGet
-      tmp112BattCell1Manager.muxHealthGet -> muxChannel4Monitor.healthGet
       thermalManager.battCellTempGet[0] -> tmp112BattCell1Manager.temperatureGet
-
-      tmp112BattCell2Manager.tcaHealthGet -> tcaMonitor.healthGet
-      tmp112BattCell2Manager.muxHealthGet -> muxChannel4Monitor.healthGet
       thermalManager.battCellTempGet[1] -> tmp112BattCell2Manager.temperatureGet
-
-      tmp112BattCell3Manager.tcaHealthGet -> tcaMonitor.healthGet
-      tmp112BattCell3Manager.muxHealthGet -> muxChannel4Monitor.healthGet
       thermalManager.battCellTempGet[2] -> tmp112BattCell3Manager.temperatureGet
-
-      tmp112BattCell4Manager.tcaHealthGet -> tcaMonitor.healthGet
-      tmp112BattCell4Manager.muxHealthGet -> muxChannel4Monitor.healthGet
       thermalManager.battCellTempGet[3] -> tmp112BattCell4Manager.temperatureGet
     }
 
     connections adcs {
       adcs.visibleLightGet[0] -> veml6031Face0Manager.visibleLightGet
-      # adcs.visibleLightGet[1] -> veml6031Face1Manager.visibleLightGet --- IGNORE ---
-      # adcs.visibleLightGet[2] -> veml6031Face2Manager.visibleLightGet --- IGNORE ---
-      # adcs.visibleLightGet[3] -> veml6031Face3Manager.visibleLightGet --- IGNORE ---
-      # adcs.visibleLightGet[4] -> veml6031Face5Manager.visibleLightGet --- IGNORE ---
-      # adcs.visibleLightGet[5] -> veml6031Face6Manager.visibleLightGet --- IGNORE
+      adcs.visibleLightGet[1] -> veml6031Face1Manager.visibleLightGet
+      adcs.visibleLightGet[2] -> veml6031Face2Manager.visibleLightGet
+      adcs.visibleLightGet[3] -> veml6031Face3Manager.visibleLightGet
+      adcs.visibleLightGet[4] -> veml6031Face5Manager.visibleLightGet
+      adcs.visibleLightGet[5] -> veml6031Face6Manager.visibleLightGet
     }
 
     connections ModeManager {
diff --git a/FprimeZephyrReference/project/config/AcConstants.fpp b/FprimeZephyrReference/project/config/AcConstants.fpp
index 6eadde8f..1b372f0e 100644
--- a/FprimeZephyrReference/project/config/AcConstants.fpp
+++ b/FprimeZephyrReference/project/config/AcConstants.fpp
@@ -4,7 +4,7 @@
 # ======================================================================
 
 @ Number of rate group member output ports for ActiveRateGroup
-constant ActiveRateGroupOutputPorts = 12
+constant ActiveRateGroupOutputPorts = 16
 
 @ Number of rate group member output ports for PassiveRateGroup
 constant PassiveRateGroupOutputPorts = 10

From c01153830c75c2f95a8fb9580e6ee4905ad570af Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Tue, 2 Dec 2025 23:29:41 -0600
Subject: [PATCH 60/68] Reduce logging overhead

---
 prj.conf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/prj.conf b/prj.conf
index 743d7d1f..c635cfce 100644
--- a/prj.conf
+++ b/prj.conf
@@ -54,7 +54,7 @@ CONFIG_COMMON_LIBC_MALLOC=y
 CONFIG_SENSOR=y
 
 # Enable detailed logging for I2C and sensor debugging
-CONFIG_LOG=y
+CONFIG_LOG=n
 CONFIG_LOG_DEFAULT_LEVEL=3
 
 CONFIG_CBPRINTF_FP_SUPPORT=y

From aa1dcd89d33960f6b70ebb67c2aa5d9b0c85ab2a Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Tue, 2 Dec 2025 23:46:32 -0600
Subject: [PATCH 61/68] Reduce lines changed. Remove 1/6Hz rate group

---
 .../Top/ReferenceDeploymentTopology.cpp       |  16 +-
 .../Top/ReferenceDeploymentTopologyDefs.hpp   |   8 +-
 .../ReferenceDeployment/Top/instances.fpp     | 137 +++++++++---------
 .../ReferenceDeployment/Top/topology.fpp      |   7 +-
 .../project/config/AcConstants.fpp            |   4 +-
 .../config/CommandDispatcherImplCfg.hpp       |   2 +-
 6 files changed, 83 insertions(+), 91 deletions(-)

diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 6326cdf2..efb6019e 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -42,16 +42,14 @@ constexpr FwSizeType getRateGroupPeriod(const FwSizeType hz) {
 // The reference topology divides the incoming clock signal (1Hz) into sub-signals: 1Hz, 1/2Hz, and 1/4Hz with 0 offset
 Svc::RateGroupDriver::DividerSet rateGroupDivisorsSet{{
     // Array of divider objects
-    {getRateGroupPeriod(10), 0},  // 10Hz = 100ms
-    {getRateGroupPeriod(1), 0},   // 1Hz = 1s
-    {6000, 0}                     // 1/6 Hz = 6s
+    {getRateGroupPeriod(10), 0},  // 10Hz
+    {getRateGroupPeriod(1), 0},   // 1Hz
 }};
 
 // Rate groups may supply a context token to each of the attached children whose purpose is set by the project. The
 // reference topology sets each token to zero as these contexts are unused in this project.
 U32 rateGroup10HzContext[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {getRateGroupPeriod(10)};
 U32 rateGroup1HzContext[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {getRateGroupPeriod(1)};
-U32 rateGroup1_6HzContext[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {6000};
 
 /**
  * \brief configure/setup components in project-specific way
@@ -67,16 +65,12 @@ void configureTopology() {
     // Rate groups require context arrays.
     rateGroup10Hz.configure(rateGroup10HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup10HzContext));
     rateGroup1Hz.configure(rateGroup1HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1HzContext));
-    // rateGroup1_6Hz.configure(rateGroup1_6HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1_6HzContext));
 
-    cmdSeq.allocateBuffer(0, mallocator, 5 * 1024);
-
-    // FC GPIO configuration
     gpioWatchdog.open(ledGpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioBurnwire0.open(burnwire0Gpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioBurnwire1.open(burnwire1Gpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
 
-    // Face load switch GPIO configuration
+    cmdSeq.allocateBuffer(0, mallocator, 5 * 1024);
     gpioface4LS.open(face4LoadSwitchGpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioface0LS.open(face0LoadSwitchGpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioface1LS.open(face1LoadSwitchGpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
@@ -122,7 +116,7 @@ void setupTopology(const TopologyState& state) {
     ina219SysManager.configure(state.ina219SysDevice);
     ina219SolManager.configure(state.ina219SolDevice);
 
-    // Configure all 11 TMP112 temperature sensor managers
+    // Configure TMP112 temperature sensor managers
     tmp112Face0Manager.configure(state.tca9548aDevice, state.muxChannel0Device, state.face0TempDevice, true);
     tmp112Face1Manager.configure(state.tca9548aDevice, state.muxChannel1Device, state.face1TempDevice, true);
     tmp112Face2Manager.configure(state.tca9548aDevice, state.muxChannel2Device, state.face2TempDevice, true);
@@ -133,7 +127,7 @@ void setupTopology(const TopologyState& state) {
     tmp112BattCell3Manager.configure(state.tca9548aDevice, state.muxChannel4Device, state.battCell3TempDevice, false);
     tmp112BattCell4Manager.configure(state.tca9548aDevice, state.muxChannel4Device, state.battCell4TempDevice, false);
 
-    // Configure all 7 VEML6031 light sensor managers
+    // Configure VEML6031 light sensor managers
     veml6031Face0Manager.configure(state.tca9548aDevice, state.muxChannel0Device, state.face0LightDevice);
     veml6031Face1Manager.configure(state.tca9548aDevice, state.muxChannel1Device, state.face1LightDevice);
     veml6031Face2Manager.configure(state.tca9548aDevice, state.muxChannel2Device, state.face2LightDevice);
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index 19d72cea..1e20354e 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -53,9 +53,6 @@ enum { WARN = 3, FATAL = 5 };
 namespace ReferenceDeployment_rateGroup1Hz {
 enum { WARN = 3, FATAL = 5 };
 }
-namespace ReferenceDeployment_rateGroup1_6Hz {
-enum { WARN = 3, FATAL = 5 };
-}
 namespace ReferenceDeployment_cmdSeq {
 enum { WARN = 3, FATAL = 5 };
 }
@@ -72,9 +69,8 @@ namespace ReferenceDeployment {
  * autocoder. The contents are entirely up to the definition of the project. This deployment uses subtopologies.
  */
 struct TopologyState {
-    const device* uartDevice;  //!< UART device path for communication
-    const device* loraDevice;  //!< LoRa device path for communication
-
+    const device* uartDevice;                     //!< UART device path for communication
+    const device* loraDevice;                     //!< LoRa device path for communication
     U32 baudRate;                                 //!< Baud rate for UART communication
     CdhCore::SubtopologyState cdhCore;            //!< Subtopology state for CdhCore
     ComCcsds::SubtopologyState comCcsds;          //!< Subtopology state for ComCcsds
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 4ec4d65e..7d57293e 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -20,7 +20,7 @@ module ReferenceDeployment {
 
   module Default {
     constant QUEUE_SIZE = 10
-    constant STACK_SIZE = 4 * 1024 # Must match prj.conf thread stack size
+    constant STACK_SIZE = 8 * 1024 # Must match prj.conf thread stack size
   }
 
   # ----------------------------------------------------------------------
@@ -37,22 +37,17 @@ module ReferenceDeployment {
     stack size Default.STACK_SIZE \
     priority 3
 
-  instance rateGroup1_6Hz: Svc.ActiveRateGroup base id 0x10003000 \
-    queue size Default.QUEUE_SIZE \
-    stack size Default.STACK_SIZE \
-    priority 4
-
-  instance cmdSeq: Svc.CmdSequencer base id 0x10004000 \
+  instance cmdSeq: Svc.CmdSequencer base id 0x10006000 \
     queue size Default.QUEUE_SIZE * 2 \
     stack size Default.STACK_SIZE \
     priority 15
 
-  instance prmDb: Svc.PrmDb base id 0x10005000 \
+  instance prmDb: Svc.PrmDb base id 0x1000B000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 14
 
-  instance modeManager: Components.ModeManager base id 0x10006000 \
+  instance modeManager: Components.ModeManager base id 0x10040000 \
     queue size Default.QUEUE_SIZE \
     stack size Default.STACK_SIZE \
     priority 16
@@ -85,78 +80,90 @@ module ReferenceDeployment {
 
   instance lsm6dsoManager: Drv.Lsm6dsoManager base id 0x10019000
 
-  instance bootloaderTrigger: Components.BootloaderTrigger base id 0x1001A000
+  instance bootloaderTrigger: Components.BootloaderTrigger base id 0x10020000
+
+  instance burnwire: Components.Burnwire base id 0x10021000
+
+  instance gpioBurnwire0: Zephyr.ZephyrGpioDriver base id 0x10022000
+
+  instance gpioBurnwire1: Zephyr.ZephyrGpioDriver base id 0x10023000
+
+  instance comDelay: Components.ComDelay base id 0x10025000
+
+  instance lora: Zephyr.LoRa base id 0x10026000
+
+  instance comSplitterEvents: Svc.ComSplitter base id 0x10027000
+
+  instance comSplitterTelemetry: Svc.ComSplitter base id 0x10028000
+
+  instance antennaDeployer: Components.AntennaDeployer base id 0x10029000
+
+  instance gpioface4LS: Zephyr.ZephyrGpioDriver base id 0x1002A000
+
+  instance gpioface0LS: Zephyr.ZephyrGpioDriver base id 0x1002B000
+
+  instance gpioface1LS: Zephyr.ZephyrGpioDriver base id 0x1002C000
+
+  instance gpioface2LS: Zephyr.ZephyrGpioDriver base id 0x1002D000
+
+  instance gpioface3LS: Zephyr.ZephyrGpioDriver base id 0x1002E000
+
+  instance gpioface5LS: Zephyr.ZephyrGpioDriver base id 0x1002F000
+
+  instance gpioPayloadPowerLS: Zephyr.ZephyrGpioDriver base id 0x10030000
 
-  instance burnwire: Components.Burnwire base id 0x1001B000
+  instance gpioPayloadBatteryLS: Zephyr.ZephyrGpioDriver base id 0x10031000
 
-  instance comDelay: Components.ComDelay base id 0x1001C000
+  instance fsSpace: Components.FsSpace base id 0x10032000
 
-  instance comSplitterEvents: Svc.ComSplitter base id 0x1001D000
+  instance face4LoadSwitch: Components.LoadSwitch base id 0x10033000
 
-  instance comSplitterTelemetry: Svc.ComSplitter base id 0x1001E000
+  instance face0LoadSwitch: Components.LoadSwitch base id 0x10034000
 
-  instance lora: Zephyr.LoRa base id 0x1001F000
+  instance face1LoadSwitch: Components.LoadSwitch base id 0x10035000
 
-  instance antennaDeployer: Components.AntennaDeployer base id 0x10020000
+  instance face2LoadSwitch: Components.LoadSwitch base id 0x10036000
 
-  instance fsSpace: Components.FsSpace base id 0x10021000
+  instance face3LoadSwitch: Components.LoadSwitch base id 0x10037000
 
-  instance resetManager: Components.ResetManager base id 0x10022000
+  instance face5LoadSwitch: Components.LoadSwitch base id 0x10038000
 
-  instance powerMonitor: Components.PowerMonitor base id 0x10023000
+  instance payloadPowerLoadSwitch: Components.LoadSwitch base id 0x10039000
 
-  instance startupManager: Components.StartupManager base id 0x10024000
+  instance payloadBatteryLoadSwitch: Components.LoadSwitch base id 0x1003A000
 
-  instance thermalManager: Components.ThermalManager base id 0x10025000
+  instance resetManager: Components.ResetManager base id 0x1003B000
 
-  instance adcs: Components.ADCS base id 0x10026000
+  instance powerMonitor: Components.PowerMonitor base id 0x1003C000
 
-  # GPIO Drivers
-  instance gpioBurnwire0: Zephyr.ZephyrGpioDriver base id 0x10027000
-  instance gpioBurnwire1: Zephyr.ZephyrGpioDriver base id 0x10028000
-  instance gpioface0LS: Zephyr.ZephyrGpioDriver base id 0x10029000
-  instance gpioface1LS: Zephyr.ZephyrGpioDriver base id 0x1002A000
-  instance gpioface2LS: Zephyr.ZephyrGpioDriver base id 0x1002B000
-  instance gpioface3LS: Zephyr.ZephyrGpioDriver base id 0x1002C000
-  instance gpioface4LS: Zephyr.ZephyrGpioDriver base id 0x1002D000
-  instance gpioface5LS: Zephyr.ZephyrGpioDriver base id 0x1002E000
-  instance gpioPayloadPowerLS: Zephyr.ZephyrGpioDriver base id 0x1002F000
-  instance gpioPayloadBatteryLS: Zephyr.ZephyrGpioDriver base id 0x10030000
+  instance ina219SysManager: Drv.Ina219Manager base id 0x1003D000
 
-  # Load Switches
-  instance face0LoadSwitch: Components.LoadSwitch base id 0x10031000
-  instance face1LoadSwitch: Components.LoadSwitch base id 0x10032000
-  instance face2LoadSwitch: Components.LoadSwitch base id 0x10033000
-  instance face3LoadSwitch: Components.LoadSwitch base id 0x10034000
-  instance face4LoadSwitch: Components.LoadSwitch base id 0x10035000
-  instance face5LoadSwitch: Components.LoadSwitch base id 0x10036000
-  instance payloadPowerLoadSwitch: Components.LoadSwitch base id 0x10037000
-  instance payloadBatteryLoadSwitch: Components.LoadSwitch base id 0x10038000
+  instance ina219SolManager: Drv.Ina219Manager base id 0x1003E000
 
-  # Power Monitors
-  instance ina219SysManager: Drv.Ina219Manager base id 0x10039000
-  instance ina219SolManager: Drv.Ina219Manager base id 0x1003A000
+  instance startupManager: Components.StartupManager base id 0x1003F000
 
-  # Temperature Sensors
-  instance tmp112Face0Manager: Drv.Tmp112Manager base id 0x1003B000
-  instance tmp112Face1Manager: Drv.Tmp112Manager base id 0x1003C000
-  instance tmp112Face2Manager: Drv.Tmp112Manager base id 0x1003D000
-  instance tmp112Face3Manager: Drv.Tmp112Manager base id 0x1003E000
-  instance tmp112Face4Manager: Drv.Tmp112Manager base id 0x1003F000
-  instance tmp112Face5Manager: Drv.Tmp112Manager base id 0x10040000
-  instance tmp112BattCell1Manager: Drv.Tmp112Manager base id 0x10041000
-  instance tmp112BattCell2Manager: Drv.Tmp112Manager base id 0x10042000
-  instance tmp112BattCell3Manager: Drv.Tmp112Manager base id 0x10043000
-  instance tmp112BattCell4Manager: Drv.Tmp112Manager base id 0x10044000
+  # Thermal Management System
+  instance thermalManager: Components.ThermalManager base id 0x10041000
+  instance tmp112Face0Manager: Drv.Tmp112Manager base id 0x10042000
+  instance tmp112Face1Manager: Drv.Tmp112Manager base id 0x10043000
+  instance tmp112Face2Manager: Drv.Tmp112Manager base id 0x10044000
+  instance tmp112Face3Manager: Drv.Tmp112Manager base id 0x10045000
+  instance tmp112Face4Manager: Drv.Tmp112Manager base id 0x10046000
+  instance tmp112Face5Manager: Drv.Tmp112Manager base id 0x10047000
+  instance tmp112BattCell1Manager: Drv.Tmp112Manager base id 0x10048000
+  instance tmp112BattCell2Manager: Drv.Tmp112Manager base id 0x10049000
+  instance tmp112BattCell3Manager: Drv.Tmp112Manager base id 0x1004A000
+  instance tmp112BattCell4Manager: Drv.Tmp112Manager base id 0x1004B000
 
-  # Light Sensors
-  instance veml6031Face0Manager: Drv.Veml6031Manager base id 0x10045000
-  instance veml6031Face1Manager: Drv.Veml6031Manager base id 0x10046000
-  instance veml6031Face2Manager: Drv.Veml6031Manager base id 0x10047000
-  instance veml6031Face3Manager: Drv.Veml6031Manager base id 0x10048000
-  instance veml6031Face4Manager: Drv.Veml6031Manager base id 0x10049000
-  instance veml6031Face5Manager: Drv.Veml6031Manager base id 0x1004A000
-  instance veml6031Face6Manager: Drv.Veml6031Manager base id 0x1004B000
-  instance veml6031Face7Manager: Drv.Veml6031Manager base id 0x1004C000
+  # Attitude Determination and Control System (ADCS)
+  instance adcs: Components.ADCS base id 0x1004C000
+  instance veml6031Face0Manager: Drv.Veml6031Manager base id 0x1004D000
+  instance veml6031Face1Manager: Drv.Veml6031Manager base id 0x1004E000
+  instance veml6031Face2Manager: Drv.Veml6031Manager base id 0x1004F000
+  instance veml6031Face3Manager: Drv.Veml6031Manager base id 0x10050000
+  instance veml6031Face4Manager: Drv.Veml6031Manager base id 0x10051000
+  instance veml6031Face5Manager: Drv.Veml6031Manager base id 0x10052000
+  instance veml6031Face6Manager: Drv.Veml6031Manager base id 0x10053000
+  instance veml6031Face7Manager: Drv.Veml6031Manager base id 0x10054000
 
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index bbc51199..bbeb3363 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -7,7 +7,6 @@ module ReferenceDeployment {
   enum Ports_RateGroups {
     rateGroup10Hz
     rateGroup1Hz
-    rateGroup1_6Hz
   }
 
   topology ReferenceDeployment {
@@ -25,7 +24,6 @@ module ReferenceDeployment {
   # ----------------------------------------------------------------------
     instance rateGroup10Hz
     instance rateGroup1Hz
-    # instance rateGroup1_6Hz
     instance rateGroupDriver
     instance timer
     instance lora
@@ -179,7 +177,7 @@ module ReferenceDeployment {
       rateGroup10Hz.RateGroupMemberOut[3] -> FileHandling.fileManager.schedIn
       rateGroup10Hz.RateGroupMemberOut[4] -> cmdSeq.schedIn
 
-      # Medium rate (1Hz) rate group
+      # Slow rate (1Hz) rate group
       rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1Hz] -> rateGroup1Hz.CycleIn
       rateGroup1Hz.RateGroupMemberOut[0] -> ComCcsds.comQueue.run
       rateGroup1Hz.RateGroupMemberOut[1] -> CdhCore.$health.Run
@@ -197,9 +195,6 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[13] -> CdhCore.tlmSend.Run
       rateGroup1Hz.RateGroupMemberOut[14] -> imuManager.run
       rateGroup1Hz.RateGroupMemberOut[15] -> thermalManager.run
-
-      # Slow rate (1/6 Hz) rate group
-      # rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_6Hz] -> rateGroup1_6Hz.CycleIn
     }
 
 
diff --git a/FprimeZephyrReference/project/config/AcConstants.fpp b/FprimeZephyrReference/project/config/AcConstants.fpp
index 1b372f0e..8eeefb4b 100644
--- a/FprimeZephyrReference/project/config/AcConstants.fpp
+++ b/FprimeZephyrReference/project/config/AcConstants.fpp
@@ -4,7 +4,7 @@
 # ======================================================================
 
 @ Number of rate group member output ports for ActiveRateGroup
-constant ActiveRateGroupOutputPorts = 16
+constant ActiveRateGroupOutputPorts = 15
 
 @ Number of rate group member output ports for PassiveRateGroup
 constant PassiveRateGroupOutputPorts = 10
@@ -13,7 +13,7 @@ constant PassiveRateGroupOutputPorts = 10
 constant RateGroupDriverRateGroupPorts = 3
 
 @ Used for command and registration ports
-constant CmdDispatcherComponentCommandPorts = 36
+constant CmdDispatcherComponentCommandPorts = 30
 
 @ Used for uplink/sequencer buffer/response ports
 constant CmdDispatcherSequencePorts = 5
diff --git a/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp b/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
index e4bd50b9..3f426ec8 100644
--- a/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
+++ b/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
@@ -11,7 +11,7 @@
 // Define configuration values for dispatcher
 
 enum {
-    CMD_DISPATCHER_DISPATCH_TABLE_SIZE = 128,  // !< The size of the table holding opcodes to dispatch
+    CMD_DISPATCHER_DISPATCH_TABLE_SIZE = 160,  // !< The size of the table holding opcodes to dispatch
     CMD_DISPATCHER_SEQUENCER_TABLE_SIZE = 10,  // !< The size of the table holding commands in progress
 };
 

From 67ec13ea24e4058aa92791840f8dcbe45bed56f6 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Wed, 3 Dec 2025 00:01:43 -0600
Subject: [PATCH 62/68] Next error

---
 FprimeZephyrReference/project/config/AcConstants.fpp          | 4 ++--
 .../project/config/CommandDispatcherImplCfg.hpp               | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/FprimeZephyrReference/project/config/AcConstants.fpp b/FprimeZephyrReference/project/config/AcConstants.fpp
index 8eeefb4b..2c84297d 100644
--- a/FprimeZephyrReference/project/config/AcConstants.fpp
+++ b/FprimeZephyrReference/project/config/AcConstants.fpp
@@ -4,7 +4,7 @@
 # ======================================================================
 
 @ Number of rate group member output ports for ActiveRateGroup
-constant ActiveRateGroupOutputPorts = 15
+constant ActiveRateGroupOutputPorts = 16
 
 @ Number of rate group member output ports for PassiveRateGroup
 constant PassiveRateGroupOutputPorts = 10
@@ -13,7 +13,7 @@ constant PassiveRateGroupOutputPorts = 10
 constant RateGroupDriverRateGroupPorts = 3
 
 @ Used for command and registration ports
-constant CmdDispatcherComponentCommandPorts = 30
+constant CmdDispatcherComponentCommandPorts = 35
 
 @ Used for uplink/sequencer buffer/response ports
 constant CmdDispatcherSequencePorts = 5
diff --git a/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp b/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
index 3f426ec8..6f0a521a 100644
--- a/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
+++ b/FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp
@@ -11,7 +11,7 @@
 // Define configuration values for dispatcher
 
 enum {
-    CMD_DISPATCHER_DISPATCH_TABLE_SIZE = 160,  // !< The size of the table holding opcodes to dispatch
+    CMD_DISPATCHER_DISPATCH_TABLE_SIZE = 192,  // !< The size of the table holding opcodes to dispatch
     CMD_DISPATCHER_SEQUENCER_TABLE_SIZE = 10,  // !< The size of the table holding commands in progress
 };
 

From 797fc7e34a9ba46b8cd4473b6b0dc37f408c9697 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Wed, 3 Dec 2025 00:29:02 -0600
Subject: [PATCH 63/68] Booting

---
 prj.conf | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/prj.conf b/prj.conf
index c635cfce..250b38ee 100644
--- a/prj.conf
+++ b/prj.conf
@@ -39,9 +39,9 @@ CONFIG_DYNAMIC_THREAD=y
 CONFIG_KERNEL_MEM_POOL=y
 CONFIG_DYNAMIC_THREAD_ALLOC=n
 CONFIG_DYNAMIC_THREAD_PREFER_POOL=y
-CONFIG_DYNAMIC_THREAD_POOL_SIZE=30
+CONFIG_DYNAMIC_THREAD_POOL_SIZE=25
     # Num threads in the thread pool
-CONFIG_DYNAMIC_THREAD_STACK_SIZE=4096
+CONFIG_DYNAMIC_THREAD_STACK_SIZE=8192
     # Size of thread stack in thread pool, must be >= Thread Pool size in F'
 
 CONFIG_THREAD_STACK_INFO=y

From 74f546690ed646593d92ae409f9ac45bcfa2a452 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Wed, 3 Dec 2025 23:15:38 -0600
Subject: [PATCH 64/68] Update param value defaults

---
 .../Components/Drv/Veml6031Manager/Veml6031Manager.cpp      | 2 +-
 .../Components/Drv/Veml6031Manager/Veml6031Manager.fpp      | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
index 216e4b12..4ee12c88 100644
--- a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
@@ -55,7 +55,7 @@ F32 Veml6031Manager ::ambientLightGet_handler(FwIndexType portNum, Fw::Success&
 
     F32 lux = sensor_value_to_double(&val);
 
-    this->tlmWrite_VisibleLight(lux);
+    this->tlmWrite_AmbientLight(lux);
 
     condition = Fw::Success::SUCCESS;
     return lux;
diff --git a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.fpp b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.fpp
index 2bd567b5..22b36d52 100644
--- a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.fpp
+++ b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.fpp
@@ -42,13 +42,13 @@ module Drv {
 
         #### Parameters ####
         @ Parameter for setting the gain of the light senors
-        param GAIN: GAIN default GAIN.VEML6031_GAIN_1
+        param GAIN: GAIN default GAIN.VEML6031_GAIN_0_5
 
         @ Parameter for setting the integration time (IT) of the light sensors
-        param INTEGRATION_TIME: IT default IT.VEML6031_IT_100
+        param INTEGRATION_TIME: IT default IT.VEML6031_IT_25
 
         @ Parameter for setting the effective photodiode size (DIV4) mode of the light sensors
-        param EFFECTIVE_PHOTODIODE_SIZE: DIV4 default DIV4.VEML6031_SIZE_4_4
+        param EFFECTIVE_PHOTODIODE_SIZE: DIV4 default DIV4.VEML6031_SIZE_1_4
 
         @ Parameter for setting the Ambient Light Sensor (ALS) persistence protect number setting (PERS).
         param ALS_PERSISTENCE_PROTECT_NUMBER: ALS_PERS default ALS_PERS.VEML60XX_PERS_1

From 4dee50b4b5f541abccb7dbe35d4fedc37973152f Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Thu, 4 Dec 2025 12:48:21 -0600
Subject: [PATCH 65/68] More defensive

---
 .../Drv/Tmp112Manager/TMP112Manager.cpp       |  6 ++---
 .../Drv/Veml6031Manager/Veml6031Manager.cpp   | 21 +++++++++++++---
 .../ReferenceDeployment/Top/topology.fpp      | 24 +++++++++----------
 3 files changed, 33 insertions(+), 18 deletions(-)

diff --git a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
index 943a9acf..10f5d5cb 100644
--- a/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Tmp112Manager/TMP112Manager.cpp
@@ -6,6 +6,7 @@
 #include "FprimeZephyrReference/Components/Drv/Tmp112Manager/Tmp112Manager.hpp"
 
 #include <Fw/Types/Assert.hpp>
+#include <string>
 
 #include <zephyr/sys/printk.h>
 
@@ -62,8 +63,6 @@ F64 Tmp112Manager ::temperatureGet_handler(FwIndexType portNum, Fw::Success& con
         return 0;
     }
 
-    struct sensor_value val;
-
     int rc = sensor_sample_fetch_chan(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP);
     if (rc != 0) {
         this->log_WARNING_HI_SensorSampleFetchFailed(rc);
@@ -71,6 +70,7 @@ F64 Tmp112Manager ::temperatureGet_handler(FwIndexType portNum, Fw::Success& con
     }
     this->log_WARNING_HI_SensorSampleFetchFailed_ThrottleClear();
 
+    struct sensor_value val;
     rc = sensor_channel_get(this->m_dev, SENSOR_CHAN_AMBIENT_TEMP, &val);
     if (rc != 0) {
         this->log_WARNING_HI_SensorChannelGetFailed(rc);
@@ -79,10 +79,10 @@ F64 Tmp112Manager ::temperatureGet_handler(FwIndexType portNum, Fw::Success& con
     this->log_WARNING_HI_SensorChannelGetFailed_ThrottleClear();
 
     F64 temp = sensor_value_to_double(&val);
-    condition = Fw::Success::SUCCESS;
 
     this->tlmWrite_Temperature(temp);
 
+    condition = Fw::Success::SUCCESS;
     return temp;
 }
 
diff --git a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
index 4ee12c88..786b33ab 100644
--- a/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
+++ b/FprimeZephyrReference/Components/Drv/Veml6031Manager/Veml6031Manager.cpp
@@ -51,7 +51,12 @@ F32 Veml6031Manager ::ambientLightGet_handler(FwIndexType portNum, Fw::Success&
     this->log_WARNING_HI_SensorSampleFetchFailed_ThrottleClear();
 
     struct sensor_value val;
-    sensor_channel_get(this->m_dev, SENSOR_CHAN_AMBIENT_LIGHT, &val);
+    rc = sensor_channel_get(this->m_dev, SENSOR_CHAN_AMBIENT_LIGHT, &val);
+    if (rc != 0) {
+        this->log_WARNING_HI_SensorChannelGetFailed(rc);
+        return 0;
+    }
+    this->log_WARNING_HI_SensorChannelGetFailed_ThrottleClear();
 
     F32 lux = sensor_value_to_double(&val);
 
@@ -78,7 +83,12 @@ F32 Veml6031Manager ::infraRedLightGet_handler(FwIndexType portNum, Fw::Success&
     this->log_WARNING_HI_SensorSampleFetchFailed_ThrottleClear();
 
     struct sensor_value val;
-    sensor_channel_get(this->m_dev, SENSOR_CHAN_IR, &val);
+    rc = sensor_channel_get(this->m_dev, SENSOR_CHAN_IR, &val);
+    if (rc != 0) {
+        this->log_WARNING_HI_SensorChannelGetFailed(rc);
+        return 0;
+    }
+    this->log_WARNING_HI_SensorChannelGetFailed_ThrottleClear();
 
     F32 lux = sensor_value_to_double(&val);
 
@@ -122,7 +132,12 @@ F32 Veml6031Manager ::visibleLightGet_handler(FwIndexType portNum, Fw::Success&
     this->log_WARNING_HI_SensorSampleFetchFailed_ThrottleClear();
 
     struct sensor_value val;
-    sensor_channel_get(this->m_dev, SENSOR_CHAN_LIGHT, &val);
+    rc = sensor_channel_get(this->m_dev, SENSOR_CHAN_LIGHT, &val);
+    if (rc != 0) {
+        this->log_WARNING_HI_SensorChannelGetFailed(rc);
+        return 0;
+    }
+    this->log_WARNING_HI_SensorChannelGetFailed_ThrottleClear();
 
     F32 lux = sensor_value_to_double(&val);
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index bbeb3363..345a58c1 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -182,18 +182,18 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[0] -> ComCcsds.comQueue.run
       rateGroup1Hz.RateGroupMemberOut[1] -> CdhCore.$health.Run
       rateGroup1Hz.RateGroupMemberOut[2] -> ComCcsds.commsBufferManager.schedIn
-      rateGroup1Hz.RateGroupMemberOut[3] -> watchdog.run
-      rateGroup1Hz.RateGroupMemberOut[4] -> comDelay.run
-      rateGroup1Hz.RateGroupMemberOut[5] -> burnwire.schedIn
-      rateGroup1Hz.RateGroupMemberOut[6] -> antennaDeployer.schedIn
-      rateGroup1Hz.RateGroupMemberOut[7] -> fsSpace.run
-      rateGroup1Hz.RateGroupMemberOut[8] -> FileHandling.fileDownlink.Run
-      rateGroup1Hz.RateGroupMemberOut[9] -> startupManager.run # doubles (20ms) rate group max time
-      rateGroup1Hz.RateGroupMemberOut[10] -> modeManager.run
-      rateGroup1Hz.RateGroupMemberOut[11] -> adcs.run
-      rateGroup1Hz.RateGroupMemberOut[12] -> powerMonitor.run # Causing rate group to slip?
-      rateGroup1Hz.RateGroupMemberOut[13] -> CdhCore.tlmSend.Run
-      rateGroup1Hz.RateGroupMemberOut[14] -> imuManager.run
+      rateGroup1Hz.RateGroupMemberOut[3] -> CdhCore.tlmSend.Run
+      rateGroup1Hz.RateGroupMemberOut[4] -> watchdog.run
+      rateGroup1Hz.RateGroupMemberOut[5] -> imuManager.run
+      rateGroup1Hz.RateGroupMemberOut[6] -> comDelay.run
+      rateGroup1Hz.RateGroupMemberOut[7] -> burnwire.schedIn
+      rateGroup1Hz.RateGroupMemberOut[8] -> antennaDeployer.schedIn
+      rateGroup1Hz.RateGroupMemberOut[9] -> fsSpace.run
+      rateGroup1Hz.RateGroupMemberOut[10] -> FileHandling.fileDownlink.Run
+      rateGroup1Hz.RateGroupMemberOut[11] -> startupManager.run # doubles (20ms) rate group max time
+      rateGroup1Hz.RateGroupMemberOut[12] -> powerMonitor.run
+      rateGroup1Hz.RateGroupMemberOut[13] -> modeManager.run
+      rateGroup1Hz.RateGroupMemberOut[14] -> adcs.run
       rateGroup1Hz.RateGroupMemberOut[15] -> thermalManager.run
     }
 

From 8aa4cbc568ca8d858623f405d5f792fadfa9acfb Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Thu, 4 Dec 2025 13:41:29 -0600
Subject: [PATCH 66/68] 2 new rategroups

---
 .../Top/ReferenceDeploymentPackets.fppi          |  4 ++++
 .../Top/ReferenceDeploymentTopology.cpp          |  4 ++++
 .../Top/ReferenceDeploymentTopologyDefs.hpp      |  6 ++++++
 .../ReferenceDeployment/Top/instances.fpp        | 10 ++++++++++
 .../ReferenceDeployment/Top/topology.fpp         | 16 ++++++++++++----
 .../project/config/AcConstants.fpp               |  2 +-
 6 files changed, 37 insertions(+), 5 deletions(-)

diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index c8f90f9a..9685d012 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -9,6 +9,8 @@ telemetry packets ReferenceDeploymentPackets {
     ComCcsdsUart.commsBufferManager.HiBuffs
     ReferenceDeployment.rateGroup10Hz.RgMaxTime
     ReferenceDeployment.rateGroup1Hz.RgMaxTime
+    ReferenceDeployment.rateGroup1_6Hz.RgMaxTime
+    ReferenceDeployment.rateGroup1_10Hz.RgMaxTime
     ReferenceDeployment.startupManager.BootCount
     ReferenceDeployment.startupManager.QuiescenceEndTime
     ReferenceDeployment.modeManager.CurrentMode
@@ -23,6 +25,8 @@ telemetry packets ReferenceDeploymentPackets {
     ComCcsdsUart.commsBufferManager.EmptyBuffs
     ReferenceDeployment.rateGroup10Hz.RgCycleSlips
     ReferenceDeployment.rateGroup1Hz.RgCycleSlips
+    ReferenceDeployment.rateGroup1_6Hz.RgCycleSlips
+    ReferenceDeployment.rateGroup1_10Hz.RgCycleSlips
   }
 
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index efb6019e..9f3eef19 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -50,6 +50,8 @@ Svc::RateGroupDriver::DividerSet rateGroupDivisorsSet{{
 // reference topology sets each token to zero as these contexts are unused in this project.
 U32 rateGroup10HzContext[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {getRateGroupPeriod(10)};
 U32 rateGroup1HzContext[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {getRateGroupPeriod(1)};
+U32 rateGroup1_6HzContext[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {6000};
+U32 rateGroup1_10HzContext[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {12000};
 
 /**
  * \brief configure/setup components in project-specific way
@@ -65,6 +67,8 @@ void configureTopology() {
     // Rate groups require context arrays.
     rateGroup10Hz.configure(rateGroup10HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup10HzContext));
     rateGroup1Hz.configure(rateGroup1HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1HzContext));
+    rateGroup1_6Hz.configure(rateGroup1_6HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1_6HzContext));
+    rateGroup1_10Hz.configure(rateGroup1_10HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1_10HzContext));
 
     gpioWatchdog.open(ledGpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioBurnwire0.open(burnwire0Gpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
index 1e20354e..efeb40eb 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp
@@ -53,6 +53,12 @@ enum { WARN = 3, FATAL = 5 };
 namespace ReferenceDeployment_rateGroup1Hz {
 enum { WARN = 3, FATAL = 5 };
 }
+namespace ReferenceDeployment_rateGroup1_6Hz {
+enum { WARN = 3, FATAL = 5 };
+}
+namespace ReferenceDeployment_rateGroup1_10Hz {
+enum { WARN = 3, FATAL = 5 };
+}
 namespace ReferenceDeployment_cmdSeq {
 enum { WARN = 3, FATAL = 5 };
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
index 7d57293e..ce6a15b2 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp
@@ -37,6 +37,16 @@ module ReferenceDeployment {
     stack size Default.STACK_SIZE \
     priority 3
 
+  instance rateGroup1_6Hz: Svc.ActiveRateGroup base id 0x10003000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 4
+
+  instance rateGroup1_10Hz: Svc.ActiveRateGroup base id 0x10004000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 5
+
   instance cmdSeq: Svc.CmdSequencer base id 0x10006000 \
     queue size Default.QUEUE_SIZE * 2 \
     stack size Default.STACK_SIZE \
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 345a58c1..af4cef97 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -7,6 +7,8 @@ module ReferenceDeployment {
   enum Ports_RateGroups {
     rateGroup10Hz
     rateGroup1Hz
+    rateGroup1_6Hz
+    rateGroup1_10Hz
   }
 
   topology ReferenceDeployment {
@@ -24,6 +26,8 @@ module ReferenceDeployment {
   # ----------------------------------------------------------------------
     instance rateGroup10Hz
     instance rateGroup1Hz
+    instance rateGroup1_6Hz
+    instance rateGroup1_10Hz
     instance rateGroupDriver
     instance timer
     instance lora
@@ -184,17 +188,21 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[2] -> ComCcsds.commsBufferManager.schedIn
       rateGroup1Hz.RateGroupMemberOut[3] -> CdhCore.tlmSend.Run
       rateGroup1Hz.RateGroupMemberOut[4] -> watchdog.run
-      rateGroup1Hz.RateGroupMemberOut[5] -> imuManager.run
       rateGroup1Hz.RateGroupMemberOut[6] -> comDelay.run
       rateGroup1Hz.RateGroupMemberOut[7] -> burnwire.schedIn
       rateGroup1Hz.RateGroupMemberOut[8] -> antennaDeployer.schedIn
       rateGroup1Hz.RateGroupMemberOut[9] -> fsSpace.run
       rateGroup1Hz.RateGroupMemberOut[10] -> FileHandling.fileDownlink.Run
       rateGroup1Hz.RateGroupMemberOut[11] -> startupManager.run # doubles (20ms) rate group max time
-      rateGroup1Hz.RateGroupMemberOut[12] -> powerMonitor.run
       rateGroup1Hz.RateGroupMemberOut[13] -> modeManager.run
-      rateGroup1Hz.RateGroupMemberOut[14] -> adcs.run
-      rateGroup1Hz.RateGroupMemberOut[15] -> thermalManager.run
+
+      rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_6Hz] -> rateGroup1_6Hz.CycleIn
+      rateGroup1_6Hz.RateGroupMemberOut[0] -> powerMonitor.run
+
+      rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_10Hz] -> rateGroup1_10Hz.CycleIn
+      rateGroup1_10Hz.RateGroupMemberOut[0] -> imuManager.run
+      rateGroup1_10Hz.RateGroupMemberOut[1] -> adcs.run
+      rateGroup1_10Hz.RateGroupMemberOut[2] -> thermalManager.run
     }
 
 
diff --git a/FprimeZephyrReference/project/config/AcConstants.fpp b/FprimeZephyrReference/project/config/AcConstants.fpp
index 2c84297d..2408d32a 100644
--- a/FprimeZephyrReference/project/config/AcConstants.fpp
+++ b/FprimeZephyrReference/project/config/AcConstants.fpp
@@ -10,7 +10,7 @@ constant ActiveRateGroupOutputPorts = 16
 constant PassiveRateGroupOutputPorts = 10
 
 @ Used to drive rate groups
-constant RateGroupDriverRateGroupPorts = 3
+constant RateGroupDriverRateGroupPorts = 4
 
 @ Used for command and registration ports
 constant CmdDispatcherComponentCommandPorts = 35

From 9011012e97557a97232c78c04bae658d5a1a0202 Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Thu, 4 Dec 2025 19:12:18 -0600
Subject: [PATCH 67/68] Fix for face4 BSOD

---
 .../Components/ADCS/ADCS.cpp                  | 12 +++++-
 .../Components/ADCS/ADCS.fpp                  |  8 +++-
 .../Components/LoadSwitch/LoadSwitch.cpp      |  3 ++
 .../Top/ReferenceDeploymentPackets.fppi       | 30 +++++++-------
 .../Top/ReferenceDeploymentTopology.cpp       |  6 ++-
 .../ReferenceDeployment/Top/topology.fpp      | 41 +++++++++++++------
 6 files changed, 69 insertions(+), 31 deletions(-)

diff --git a/FprimeZephyrReference/Components/ADCS/ADCS.cpp b/FprimeZephyrReference/Components/ADCS/ADCS.cpp
index 8a756d83..2c3b4649 100644
--- a/FprimeZephyrReference/Components/ADCS/ADCS.cpp
+++ b/FprimeZephyrReference/Components/ADCS/ADCS.cpp
@@ -24,10 +24,20 @@ ADCS::~ADCS() {}
 void ADCS::run_handler(FwIndexType portNum, U32 context) {
     Fw::Success condition;
 
-    // Face light sensors
+    // Visible light
     for (FwIndexType i = 0; i < this->getNum_visibleLightGet_OutputPorts(); i++) {
         this->visibleLightGet_out(i, condition);
     }
+
+    // Infra-red light
+    for (FwIndexType i = 0; i < this->getNum_infraRedLightGet_OutputPorts(); i++) {
+        this->infraRedLightGet_out(i, condition);
+    }
+
+    // Ambient light
+    for (FwIndexType i = 0; i < this->getNum_ambientLightGet_OutputPorts(); i++) {
+        this->ambientLightGet_out(i, condition);
+    }
 }
 
 }  // namespace Components
diff --git a/FprimeZephyrReference/Components/ADCS/ADCS.fpp b/FprimeZephyrReference/Components/ADCS/ADCS.fpp
index 57f2b661..8315f709 100644
--- a/FprimeZephyrReference/Components/ADCS/ADCS.fpp
+++ b/FprimeZephyrReference/Components/ADCS/ADCS.fpp
@@ -3,9 +3,15 @@ module Components {
     passive component ADCS {
         sync input port run: Svc.Sched
 
-        @ Port for face light sensors
+        @ Port for visible light from the light sensors
         output port visibleLightGet: [6] Drv.lightGet
 
+        @Port for infra-red light from the light sensors
+        output port infraRedLightGet: [6] Drv.lightGet
+
+        @Port for ambient light from the light sensors
+        output port ambientLightGet: [6] Drv.lightGet
+
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
         ###############################################################################
diff --git a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
index 094cd976..f16f6834 100644
--- a/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
+++ b/FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp
@@ -60,6 +60,9 @@ void LoadSwitch ::setLoadSwitchState(Fw::On state) {
 
     // Inform downstream components of the state change
     for (FwIndexType i = 0; i < this->getNum_loadSwitchStateChanged_OutputPorts(); i++) {
+        if (!this->isConnected_loadSwitchStateChanged_OutputPort(i)) {
+            continue;
+        }
         this->loadSwitchStateChanged_out(i, state);
     }
     this->log_ACTIVITY_HI_StatusChanged(state);
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
index 619ebb6f..d3126da5 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -90,7 +90,7 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.powerMonitor.TotalPowerGenerated
   }
 
-  packet Thermal id 12 group 4 {
+  packet Thermal id 11 group 4 {
     ReferenceDeployment.tmp112Face0Manager.Temperature
     ReferenceDeployment.tmp112Face1Manager.Temperature
     ReferenceDeployment.tmp112Face2Manager.Temperature
@@ -110,20 +110,6 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.veml6031Face5Manager.VisibleLight
     ReferenceDeployment.veml6031Face6Manager.VisibleLight
     ReferenceDeployment.veml6031Face7Manager.VisibleLight
-    ReferenceDeployment.veml6031Face0Manager.InfraRedLight
-    ReferenceDeployment.veml6031Face1Manager.InfraRedLight
-    ReferenceDeployment.veml6031Face2Manager.InfraRedLight
-    ReferenceDeployment.veml6031Face3Manager.InfraRedLight
-    ReferenceDeployment.veml6031Face5Manager.InfraRedLight
-    ReferenceDeployment.veml6031Face6Manager.InfraRedLight
-    ReferenceDeployment.veml6031Face7Manager.InfraRedLight
-    ReferenceDeployment.veml6031Face0Manager.AmbientLight
-    ReferenceDeployment.veml6031Face1Manager.AmbientLight
-    ReferenceDeployment.veml6031Face2Manager.AmbientLight
-    ReferenceDeployment.veml6031Face3Manager.AmbientLight
-    ReferenceDeployment.veml6031Face5Manager.AmbientLight
-    ReferenceDeployment.veml6031Face6Manager.AmbientLight
-    ReferenceDeployment.veml6031Face7Manager.AmbientLight
   }
 
 } omit {
@@ -161,4 +147,18 @@ telemetry packets ReferenceDeploymentPackets {
   FileHandling.fileManager.Errors
   FileHandling.fileUplink.Warnings
   FileHandling.fileDownlink.Warnings
+  ReferenceDeployment.veml6031Face0Manager.InfraRedLight
+  ReferenceDeployment.veml6031Face1Manager.InfraRedLight
+  ReferenceDeployment.veml6031Face2Manager.InfraRedLight
+  ReferenceDeployment.veml6031Face3Manager.InfraRedLight
+  ReferenceDeployment.veml6031Face5Manager.InfraRedLight
+  ReferenceDeployment.veml6031Face6Manager.InfraRedLight
+  ReferenceDeployment.veml6031Face7Manager.InfraRedLight
+  ReferenceDeployment.veml6031Face0Manager.AmbientLight
+  ReferenceDeployment.veml6031Face1Manager.AmbientLight
+  ReferenceDeployment.veml6031Face2Manager.AmbientLight
+  ReferenceDeployment.veml6031Face3Manager.AmbientLight
+  ReferenceDeployment.veml6031Face5Manager.AmbientLight
+  ReferenceDeployment.veml6031Face6Manager.AmbientLight
+  ReferenceDeployment.veml6031Face7Manager.AmbientLight
 }
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
index 9f3eef19..e8ae548e 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp
@@ -42,8 +42,10 @@ constexpr FwSizeType getRateGroupPeriod(const FwSizeType hz) {
 // The reference topology divides the incoming clock signal (1Hz) into sub-signals: 1Hz, 1/2Hz, and 1/4Hz with 0 offset
 Svc::RateGroupDriver::DividerSet rateGroupDivisorsSet{{
     // Array of divider objects
-    {getRateGroupPeriod(10), 0},  // 10Hz
-    {getRateGroupPeriod(1), 0},   // 1Hz
+    {getRateGroupPeriod(10), 0},  // 10Hz = 100ms
+    {getRateGroupPeriod(1), 0},   // 1Hz = 1s
+    {6000, 0},                    // 1/6Hz = 6s
+    {12000, 0}                    // 1/10Hz = 10s
 }};
 
 // Rate groups may supply a context token to each of the attached children whose purpose is set by the project. The
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index af4cef97..5c80fb1c 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -186,23 +186,23 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[0] -> ComCcsds.comQueue.run
       rateGroup1Hz.RateGroupMemberOut[1] -> CdhCore.$health.Run
       rateGroup1Hz.RateGroupMemberOut[2] -> ComCcsds.commsBufferManager.schedIn
-      rateGroup1Hz.RateGroupMemberOut[3] -> CdhCore.tlmSend.Run
-      rateGroup1Hz.RateGroupMemberOut[4] -> watchdog.run
-      rateGroup1Hz.RateGroupMemberOut[6] -> comDelay.run
-      rateGroup1Hz.RateGroupMemberOut[7] -> burnwire.schedIn
-      rateGroup1Hz.RateGroupMemberOut[8] -> antennaDeployer.schedIn
-      rateGroup1Hz.RateGroupMemberOut[9] -> fsSpace.run
-      rateGroup1Hz.RateGroupMemberOut[10] -> FileHandling.fileDownlink.Run
-      rateGroup1Hz.RateGroupMemberOut[11] -> startupManager.run # doubles (20ms) rate group max time
-      rateGroup1Hz.RateGroupMemberOut[13] -> modeManager.run
+      rateGroup1Hz.RateGroupMemberOut[3] -> watchdog.run
+      rateGroup1Hz.RateGroupMemberOut[4] -> comDelay.run
+      rateGroup1Hz.RateGroupMemberOut[5] -> burnwire.schedIn
+      rateGroup1Hz.RateGroupMemberOut[6] -> antennaDeployer.schedIn
+      rateGroup1Hz.RateGroupMemberOut[7] -> fsSpace.run
+      rateGroup1Hz.RateGroupMemberOut[8] -> FileHandling.fileDownlink.Run
+      rateGroup1Hz.RateGroupMemberOut[9] -> startupManager.run # doubles (20ms) rate group max time
+      rateGroup1Hz.RateGroupMemberOut[10] -> modeManager.run
 
       rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_6Hz] -> rateGroup1_6Hz.CycleIn
       rateGroup1_6Hz.RateGroupMemberOut[0] -> powerMonitor.run
+      rateGroup1_6Hz.RateGroupMemberOut[1] -> imuManager.run
+      rateGroup1_6Hz.RateGroupMemberOut[2] -> adcs.run
+      rateGroup1_6Hz.RateGroupMemberOut[3] -> thermalManager.run
 
       rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_10Hz] -> rateGroup1_10Hz.CycleIn
-      rateGroup1_10Hz.RateGroupMemberOut[0] -> imuManager.run
-      rateGroup1_10Hz.RateGroupMemberOut[1] -> adcs.run
-      rateGroup1_10Hz.RateGroupMemberOut[2] -> thermalManager.run
+      rateGroup1_10Hz.RateGroupMemberOut[0] -> CdhCore.tlmSend.Run
     }
 
 
@@ -297,11 +297,28 @@ module ReferenceDeployment {
 
     connections adcs {
       adcs.visibleLightGet[0] -> veml6031Face0Manager.visibleLightGet
+      adcs.infraRedLightGet[0] -> veml6031Face0Manager.infraRedLightGet
+      adcs.ambientLightGet[0] -> veml6031Face0Manager.ambientLightGet
+
       adcs.visibleLightGet[1] -> veml6031Face1Manager.visibleLightGet
+      adcs.infraRedLightGet[1] -> veml6031Face1Manager.infraRedLightGet
+      adcs.ambientLightGet[1] -> veml6031Face1Manager.ambientLightGet
+
       adcs.visibleLightGet[2] -> veml6031Face2Manager.visibleLightGet
+      adcs.infraRedLightGet[2] -> veml6031Face2Manager.infraRedLightGet
+      adcs.ambientLightGet[2] -> veml6031Face2Manager.ambientLightGet
+
       adcs.visibleLightGet[3] -> veml6031Face3Manager.visibleLightGet
+      adcs.infraRedLightGet[3] -> veml6031Face3Manager.infraRedLightGet
+      adcs.ambientLightGet[3] -> veml6031Face3Manager.ambientLightGet
+
       adcs.visibleLightGet[4] -> veml6031Face5Manager.visibleLightGet
+      adcs.infraRedLightGet[4] -> veml6031Face5Manager.infraRedLightGet
+      adcs.ambientLightGet[4] -> veml6031Face5Manager.ambientLightGet
+
       adcs.visibleLightGet[5] -> veml6031Face6Manager.visibleLightGet
+      adcs.infraRedLightGet[5] -> veml6031Face6Manager.infraRedLightGet
+      adcs.ambientLightGet[5] -> veml6031Face6Manager.ambientLightGet
     }
 
     connections ModeManager {

From a0dcb056af472f1d515504cb162d35da083c35dd Mon Sep 17 00:00:00 2001
From: Nate Gay <email@nategay.me>
Date: Thu, 4 Dec 2025 19:48:00 -0600
Subject: [PATCH 68/68] with topology

---
 .../ReferenceDeployment/Top/topology.fpp       | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
index 5c80fb1c..7f467bcd 100644
--- a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
+++ b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -186,14 +186,15 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[0] -> ComCcsds.comQueue.run
       rateGroup1Hz.RateGroupMemberOut[1] -> CdhCore.$health.Run
       rateGroup1Hz.RateGroupMemberOut[2] -> ComCcsds.commsBufferManager.schedIn
-      rateGroup1Hz.RateGroupMemberOut[3] -> watchdog.run
-      rateGroup1Hz.RateGroupMemberOut[4] -> comDelay.run
-      rateGroup1Hz.RateGroupMemberOut[5] -> burnwire.schedIn
-      rateGroup1Hz.RateGroupMemberOut[6] -> antennaDeployer.schedIn
-      rateGroup1Hz.RateGroupMemberOut[7] -> fsSpace.run
-      rateGroup1Hz.RateGroupMemberOut[8] -> FileHandling.fileDownlink.Run
-      rateGroup1Hz.RateGroupMemberOut[9] -> startupManager.run # doubles (20ms) rate group max time
-      rateGroup1Hz.RateGroupMemberOut[10] -> modeManager.run
+      rateGroup1Hz.RateGroupMemberOut[3] -> CdhCore.tlmSend.Run
+      rateGroup1Hz.RateGroupMemberOut[4] -> watchdog.run
+      rateGroup1Hz.RateGroupMemberOut[5] -> comDelay.run
+      rateGroup1Hz.RateGroupMemberOut[6] -> burnwire.schedIn
+      rateGroup1Hz.RateGroupMemberOut[7] -> antennaDeployer.schedIn
+      rateGroup1Hz.RateGroupMemberOut[8] -> fsSpace.run
+      rateGroup1Hz.RateGroupMemberOut[9] -> FileHandling.fileDownlink.Run
+      rateGroup1Hz.RateGroupMemberOut[10] -> startupManager.run # doubles (20ms) rate group max time
+      rateGroup1Hz.RateGroupMemberOut[11] -> modeManager.run
 
       rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_6Hz] -> rateGroup1_6Hz.CycleIn
       rateGroup1_6Hz.RateGroupMemberOut[0] -> powerMonitor.run
@@ -202,7 +203,6 @@ module ReferenceDeployment {
       rateGroup1_6Hz.RateGroupMemberOut[3] -> thermalManager.run
 
       rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1_10Hz] -> rateGroup1_10Hz.CycleIn
-      rateGroup1_10Hz.RateGroupMemberOut[0] -> CdhCore.tlmSend.Run
     }