diff --git a/.vscode/launch.json b/.vscode/launch.json
index 7d9b30d41..14289e2ec 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -239,4 +239,4 @@
             }
         }
     ]
-}
\ No newline at end of file
+}
diff --git a/can_library/configs/nodes/PDU.json b/can_library/configs/nodes/PDU.json
index d18ce9023..d0fdf6056 100644
--- a/can_library/configs/nodes/PDU.json
+++ b/can_library/configs/nodes/PDU.json
@@ -32,7 +32,7 @@
                             "unit": "mV"
                         }
                     ],
-                    "msg_period": 500,
+                    "msg_period": 100,
                     "msg_priority": 4
                 },
                 {
@@ -52,7 +52,7 @@
                             "unit": "mA"
                         }
                     ],
-                    "msg_period": 500,
+                    "msg_period": 100,
                     "msg_priority": 4
                 },
                 {
@@ -82,7 +82,7 @@
                             "length": 12
                         }
                     ],
-                    "msg_period": 500,
+                    "msg_period": 100,
                     "msg_priority": 4
                 },
                 {
@@ -102,7 +102,7 @@
                             "length": 12
                         }
                     ],
-                    "msg_period": 500,
+                    "msg_period": 100,
                     "msg_priority": 4
                 },
                 {
@@ -140,7 +140,7 @@
                             "length": 12
                         }
                     ],
-                    "msg_period": 500,
+                    "msg_period": 100,
                     "msg_priority": 4
                 },
                 {
@@ -197,7 +197,7 @@
                             "unit": "LPM"
                         }
                     ],
-                    "msg_period": 200,
+                    "msg_period": 100,
                     "msg_priority": 5
                 },
                 {
@@ -211,7 +211,7 @@
                             "unit": "C"
                         }
                     ],
-                    "msg_period": 500,
+                    "msg_period": 100,
                     "msg_priority": 5
                 },
                 {
diff --git a/source/pdu/CMakeLists.txt b/source/pdu/CMakeLists.txt
index a07efd8e1..44d0f909f 100644
--- a/source/pdu/CMakeLists.txt
+++ b/source/pdu/CMakeLists.txt
@@ -4,4 +4,4 @@ add_firmware_component(
     NAME pdu
     LINKER_SCRIPT "STM32F407VGTx_FLASH"
     LIBS "can_node_PDU;CMSIS_F407;PHAL_F407;FREERTOS_F407;BANGBANG;HEARTBEAT;WATCHDOG"
-)
\ No newline at end of file
+)
diff --git a/source/pdu/README.md b/source/pdu/README.md
index 29746be4e..c4306ebab 100644
--- a/source/pdu/README.md
+++ b/source/pdu/README.md
@@ -1,2 +1,85 @@
-## PDU
-PDU is responsible for controlling and monitoring critical power rails and cooling loops.
\ No newline at end of file
+# PDU Firmware
+
+PDU controls and monitors low-voltage power rails and cooling hardware for the car.
+
+## Responsibilities
+
+- Control switchable rails (GPIO outputs).
+- Sample ADC channels for rail voltage/current telemetry.
+- Scan rail nFAULT lines and report/latch faults.
+- Control fan/pump/hxfan outputs and fan PWM duty cycles.
+- Publish PDU telemetry and coolant output status over CAN.
+
+## Module Layout
+
+- `main.c`
+  - Board init, peripheral init, task definitions, task startup order.
+  - No business logic beyond orchestration.
+
+- `state.h/.c`
+  - Shared runtime state (`g_pdu_state`) for all PDU logic.
+
+- `switches.h/.c`
+  - Switch command/read API.
+  - ADC and mux measurement pipeline.
+  - Rail current/voltage conversions.
+  - Default-rail enable sequence.
+
+- `faults.h/.c`
+  - Table-driven nFAULT polling.
+  - One-fault-slot-per-cycle update cadence.
+  - Rail fault LED behavior.
+
+- `cooling.h/.c`
+  - Cooling policy computation.
+  - Cooling actuation (switches + fan PWM).
+  - Cooling CAN output publication.
+
+- `cooling_bangbang.h/.c`
+  - Optional bang-bang policy backend.
+  - Compiled in but disabled by default.
+
+- `telemetry.h/.c`
+  - Power/thermal telemetry CAN publication.
+  - Flowrate telemetry CAN publication.
+
+- Hardware adapter modules (kept separate):
+  - `led/`
+  - `fan_control/`
+  - `flow_rate/`
+
+## Runtime State (`g_pdu_state`)
+
+The shared state contains:
+
+- `rail_voltage_mv` for 24V/5V/3V3 measurements.
+- `switch_current_ma[]` for sensed currents (switch and rail channels).
+- `mux_adc_counts[]` and `next_mux_channel` for mux-sampled inputs.
+- `next_rail_fault_index` for staggered rail fault scanning.
+- `cooling_command` for requested/applied cooling outputs.
+
+## Task Model
+
+Defined in `main.c`:
+
+- `CAN_rx_update` (0 ms)
+- `CAN_tx_update` (5 ms)
+- `switches_periodic` (15 ms)
+- `cooling_periodic` (100 ms)
+- `faults_periodic` (100 ms)
+- `fault_library_periodic` (100 ms)
+- `telemetry_flow_periodic` (200 ms)
+- `LED_periodic` (500 ms)
+- `telemetry_power_periodic` (500 ms)
+- Heartbeat task (LED sweep callback)
+
+## Cooling Backend: Bang-Bang (Disabled by Default)
+
+The bang-bang backend is present for future policy work, but disabled to preserve current behavior.
+
+- Toggle: `COOLING_ENABLE_BANGBANG` in `cooling_bangbang.h`
+  - `0` (default): backend is a no-op.
+  - `1`: motor temp based bang-bang updates are applied.
+
+Current non-bangbang behavior remains the active policy path.
+
diff --git a/source/pdu/auto_switch/auto_switch.c b/source/pdu/auto_switch/auto_switch.c
deleted file mode 100644
index f3287dac2..000000000
--- a/source/pdu/auto_switch/auto_switch.c
+++ /dev/null
@@ -1,333 +0,0 @@
-/**
- * @file auto_switch.c
- * @author Gavin Zyonse (gzyonse@purdue.edu)
- * @brief
- * @version 1.0
- * @date 2023-11-09
- *
- * @copyright Copyright (c) 2023
- *
- */
-#include "auto_switch.h"
-
-#include "can_library/faults_common.h"
-#include "can_library/generated/PDU.h"
-#include "common/phal/gpio.h"
-#include "led.h"
-#include "main.h"
-
-// Initialize struct
-auto_switches_t auto_switches;
-static uint16_t mux_readings[6];
-static uint8_t mux_index;
-
-// Static function declarations
-static void updateCurrent();
-static void updateVoltage();
-static uint16_t calcCurrent_HP(uint16_t);
-static uint16_t calcCurrent_LP(uint16_t);
-static void calcCurrent_Total();
-static uint16_t calcVoltage(uint16_t, int, int);
-static void setMuxChannel(uint8_t channel);
-static void updateMux();
-
-// Called periodically, Calculates current through each switch in mA
-void updateCurrent() {
-    // High power switches (direct ADC)
-    auto_switches.current[SW_PUMP_1] = calcCurrent_HP(adc_readings.pump_1_imon);
-    auto_switches.current[SW_PUMP_2] = calcCurrent_HP(adc_readings.pump_2_imon);
-    auto_switches.current[SW_SDC]    = calcCurrent_HP(adc_readings.sdc_imon);
-    auto_switches.current[SW_HXFAN]  = calcCurrent_HP(adc_readings.hxfan_imon);
-
-    // High power switches (mux-sensed)
-    auto_switches.current[SW_FAN_1] = calcCurrent_HP(mux_readings[0]);
-    auto_switches.current[SW_FAN_2] = calcCurrent_HP(mux_readings[1]);
-    auto_switches.current[SW_FAN_3] = calcCurrent_HP(mux_readings[2]);
-    auto_switches.current[SW_FAN_4] = calcCurrent_HP(mux_readings[3]);
-    auto_switches.current[SW_AMK1]  = calcCurrent_HP(mux_readings[4]);
-    auto_switches.current[SW_AMK2]  = calcCurrent_HP(mux_readings[5]);
-
-    // Low power switches
-    auto_switches.current[SW_DASH] = calcCurrent_LP(adc_readings.dash_cs);
-    auto_switches.current[SW_ABOX] = calcCurrent_LP(adc_readings.abox_cs);
-    auto_switches.current[SW_MAIN] = calcCurrent_LP(adc_readings.main_cs);
-    auto_switches.current[SW_DLFR] = calcCurrent_LP(adc_readings.dlfr_cs);
-    auto_switches.current[SW_DLBK] = calcCurrent_LP(adc_readings.dlbk_cs);
-
-    // Upstream CS
-    calcCurrent_Total();
-}
-
-// Called periodically, Updates voltage for each rail in mV
-void updateVoltage() {
-    auto_switches.voltage.in_24v  = calcVoltage(adc_readings.v24_vs, LV_24V_R1, LV_24V_R2);
-    auto_switches.voltage.out_5v  = calcVoltage(adc_readings.v5_vs, LV_5V_R1, LV_5V_R2);
-    auto_switches.voltage.out_3v3 = calcVoltage(adc_readings.v3v3_vs, LV_3V3_R1, LV_3V3_R2);
-}
-
-static void updateMux() {
-    mux_readings[mux_index] = adc_readings.mux_out;
-    mux_index               = (uint8_t)((mux_index + 1U) % 6U);
-    setMuxChannel(mux_index);
-}
-
-uint16_t getMuxReading(uint8_t channel) {
-    if (channel >= 6U) {
-        return 0;
-    }
-
-    return mux_readings[channel];
-}
-
-static void setMuxChannel(uint8_t channel) {
-    PHAL_writeGPIO(MUX_CTRL_A_GPIO_Port, MUX_CTRL_A_Pin, (channel & 0x01U) != 0U);
-    PHAL_writeGPIO(MUX_CTRL_B_GPIO_Port, MUX_CTRL_B_Pin, (channel & 0x02U) != 0U);
-    PHAL_writeGPIO(MUX_CTRL_C_GPIO_Port, MUX_CTRL_C_Pin, (channel & 0x04U) != 0U);
-}
-
-// Current helper functions
-uint16_t calcCurrent_HP(uint16_t current) {
-    current = current * ADC_REF_mV / ADC_MAX; // Convert to mV
-    current = current * (HP_CS_R1 + HP_CS_R2) / HP_CS_R2;
-    current = current * HP_CS_R3 / (HP_CS_R1 + HP_CS_R2);
-    return current;
-}
-
-uint16_t calcCurrent_LP(uint16_t current) {
-    current = current * ADC_REF_mV / ADC_MAX; // Convert to mA
-    return current;
-}
-
-// CS signals for upstream 24V and 5V (total current through each)
-void calcCurrent_Total() {
-    // 24V current
-    uint16_t current              = adc_readings.v24_cs;
-    current                       = current * ADC_REF_mV / ADC_MAX; // Convert to mV
-    current                       = current / HP_CS_R_SENSE / CS_GAIN;
-    auto_switches.current[CS_24V] = current;
-
-    // 5V current
-    current                      = adc_readings.v5_cs;
-    current                      = current * ADC_REF_mV / ADC_MAX; // Convert to mA
-    auto_switches.current[CS_5V] = current;
-}
-
-// Converts ADC voltage reading to mV
-uint16_t calcVoltage(uint16_t voltage, int r1, int r2) {
-    // Compensate for voltage divider
-    voltage = voltage * (r1 + r2) / r2;
-    // Scale for 12-bit adc at 3.3v
-    voltage = voltage * ADC_REF_mV / ADC_MAX;
-    return voltage;
-}
-
-// Enable or disable switches by name
-void setSwitch(switches_t auto_switch_enum, bool state) {
-    switch (auto_switch_enum) {
-        case CS_24V:
-        case CS_5V:
-        case CS_SWITCH_COUNT:
-            return;
-        case SW_PUMP_1:
-            PHAL_writeGPIO(PUMP_1_CTRL_GPIO_Port, PUMP_1_CTRL_Pin, state);
-            LED_control(LED_PUMP_1, state);
-            break;
-        case SW_PUMP_2:
-            PHAL_writeGPIO(PUMP_2_CTRL_GPIO_Port, PUMP_2_CTRL_Pin, state);
-            LED_control(LED_PUMP_2, state);
-            break;
-        case SW_SDC:
-            // NoToggle switch (always on)
-            LED_control(LED_SDC, state);
-            break;
-        case SW_AMK1:
-        case SW_AMK2:
-            // NoToggle switches (always on, no LED on driver)
-            break;
-        case SW_HXFAN:
-            PHAL_writeGPIO(HXFAN_CTRL_GPIO_Port, HXFAN_CTRL_Pin, state);
-            LED_control(LED_HXFAN, state);
-            break;
-        case SW_FAN_1:
-            PHAL_writeGPIO(FAN_1_CTRL_GPIO_Port, FAN_1_CTRL_Pin, state);
-            break;
-        case SW_FAN_2:
-            PHAL_writeGPIO(FAN_2_CTRL_GPIO_Port, FAN_2_CTRL_Pin, state);
-            break;
-        case SW_FAN_3:
-            PHAL_writeGPIO(FAN_3_CTRL_GPIO_Port, FAN_3_CTRL_Pin, state);
-            break;
-        case SW_FAN_4:
-            PHAL_writeGPIO(FAN_4_CTRL_GPIO_Port, FAN_4_CTRL_Pin, state);
-            break;
-        case SW_BLT:
-            PHAL_writeGPIO(BLT_CTRL_GPIO_Port, BLT_CTRL_Pin, state);
-            LED_control(LED_BLT, state);
-            break;
-        case SW_CRIT_5V:
-            PHAL_writeGPIO(CRIT_5V_CTRL_GPIO_Port, CRIT_5V_CTRL_Pin, state);
-            LED_control(LED_5V_CRIT, state);
-            break;
-        case SW_MAIN:
-            LED_control(LED_MAIN, state);
-            break;
-        case SW_DLFR:
-            PHAL_writeGPIO(DLFR_CTRL_GPIO_Port, DLFR_CTRL_Pin, state);
-            LED_control(LED_DLFR, state);
-            break;
-        case SW_DLBK:
-            PHAL_writeGPIO(DLBK_CTRL_GPIO_Port, DLBK_CTRL_Pin, state);
-            LED_control(LED_DLBK, state);
-            break;
-        case SW_ABOX:
-            LED_control(LED_ABOX, state);
-            break;
-        case SW_DASH:
-            LED_control(LED_DASH, state);
-            break;
-        case SW_TV:
-            PHAL_writeGPIO(TV_CTRL_GPIO_Port, TV_CTRL_Pin, state);
-            LED_control(LED_TV, state);
-            break;
-        case SW_DAQ:
-            // NoToggle switch (always on)
-            LED_control(LED_DAQ, state);
-            break;
-        case SW_FAN_5V:
-            PHAL_writeGPIO(FAN_5V_CTRL_GPIO_Port, FAN_5V_CTRL_Pin, state);
-            LED_control(LED_5V_FAN, state);
-            break;
-    }
-}
-
-// Get switch state and return it
-bool getSwitchStatus(switches_t auto_switch_enum) {
-    bool status;
-    switch (auto_switch_enum) {
-        case SW_PUMP_1:
-            status = PHAL_readGPIO(PUMP_1_CTRL_GPIO_Port, PUMP_1_CTRL_Pin);
-            break;
-        case SW_PUMP_2:
-            status = PHAL_readGPIO(PUMP_2_CTRL_GPIO_Port, PUMP_2_CTRL_Pin);
-            break;
-        case SW_HXFAN:
-            status = PHAL_readGPIO(HXFAN_CTRL_GPIO_Port, HXFAN_CTRL_Pin);
-            break;
-        case SW_FAN_1:
-            status = PHAL_readGPIO(FAN_1_CTRL_GPIO_Port, FAN_1_CTRL_Pin);
-            break;
-        case SW_FAN_2:
-            status = PHAL_readGPIO(FAN_2_CTRL_GPIO_Port, FAN_2_CTRL_Pin);
-            break;
-        case SW_FAN_3:
-            status = PHAL_readGPIO(FAN_3_CTRL_GPIO_Port, FAN_3_CTRL_Pin);
-            break;
-        case SW_FAN_4:
-            status = PHAL_readGPIO(FAN_4_CTRL_GPIO_Port, FAN_4_CTRL_Pin);
-            break;
-        case SW_BLT:
-            status = PHAL_readGPIO(BLT_CTRL_GPIO_Port, BLT_CTRL_Pin);
-            break;
-        case SW_CRIT_5V:
-            status = PHAL_readGPIO(CRIT_5V_CTRL_GPIO_Port, CRIT_5V_CTRL_Pin);
-            break;
-        case SW_TV:
-            status = PHAL_readGPIO(TV_CTRL_GPIO_Port, TV_CTRL_Pin);
-            break;
-        case SW_FAN_5V:
-            status = PHAL_readGPIO(FAN_5V_CTRL_GPIO_Port, FAN_5V_CTRL_Pin);
-            break;
-        case SW_DLFR:
-            status = PHAL_readGPIO(DLFR_CTRL_GPIO_Port, DLFR_CTRL_Pin);
-            break;
-        case SW_DLBK:
-            status = PHAL_readGPIO(DLBK_CTRL_GPIO_Port, DLBK_CTRL_Pin);
-            break;
-        default:
-            status = 1; // Non-controllable switches are always on
-    }
-
-    return status;
-}
-
-void autoSwitchPeriodic() {
-    updateMux();
-    updateCurrent();
-    updateVoltage();
-}
-
-void checkSwitchFaults() {
-    // Get status of all switches
-    uint8_t dash_faulted   = !PHAL_readGPIO(DASH_NFLT_GPIO_Port, DASH_NFLT_Pin);
-    uint8_t abox_faulted   = !PHAL_readGPIO(ABOX_NFLT_GPIO_Port, ABOX_NFLT_Pin);
-    uint8_t main_faulted   = !PHAL_readGPIO(MAIN_NFLT_GPIO_Port, MAIN_NFLT_Pin);
-    uint8_t vcrit_faulted  = !PHAL_readGPIO(CRIT_5V_NFLT_GPIO_Port, CRIT_5V_NFLT_Pin);
-    uint8_t vnc_faulted    = !PHAL_readGPIO(TV_NFLT_GPIO_Port, TV_NFLT_Pin);
-    uint8_t dlfr_faulted   = !PHAL_readGPIO(DLFR_NFLT_GPIO_Port, DLFR_NFLT_Pin);
-    uint8_t dlbk_faulted   = !PHAL_readGPIO(DLBK_NFLT_GPIO_Port, DLBK_NFLT_Pin);
-    uint8_t bullet_faulted = !PHAL_readGPIO(BLT_NFLT_GPIO_Port, BLT_NFLT_Pin);
-    uint8_t fan5v_faulted  = !PHAL_readGPIO(FAN_5V_NFLT_GPIO_Port, FAN_5V_NFLT_Pin);
-    (void) fan5v_faulted; // not used for now
-
-    static uint8_t fault_num = 0;
-    // Set fault - this is too much for our 1ms window, so send each fault separately
-    switch (fault_num++) {
-        case 0:
-            update_fault(FAULT_ID_DASH_RAIL, dash_faulted);
-            LED_control(
-                LED_DASH,
-                is_latched(FAULT_ID_DASH_RAIL) ? LED_BLINK : LED_OFF
-            );
-            break;
-        case 1:
-            update_fault(FAULT_ID_ABOX_RAIL, abox_faulted);
-            LED_control(
-                LED_ABOX,
-                is_latched(FAULT_ID_ABOX_RAIL) ? LED_BLINK : LED_OFF
-            );
-            break;
-        case 2:
-            update_fault(FAULT_ID_MAIN_RAIL, main_faulted);
-            LED_control(
-                LED_MAIN,
-                is_latched(FAULT_ID_MAIN_RAIL) ? LED_BLINK : LED_OFF
-            );
-            break;
-        case 3:
-            update_fault(FAULT_ID_V_CRIT, vcrit_faulted);
-            LED_control(
-                LED_5V_CRIT,
-                is_latched(FAULT_ID_V_CRIT) ? LED_BLINK : LED_OFF
-            );
-            break;
-        case 4:
-            update_fault(FAULT_ID_V_NONCRIT, vnc_faulted);
-            LED_control(
-                LED_TV,
-                is_latched(FAULT_ID_V_NONCRIT) ? LED_BLINK : LED_OFF
-            );
-            break;
-        case 5:
-            update_fault(FAULT_ID_FRONT_DRIVELINE_RAIL, dlfr_faulted);
-            LED_control(
-                LED_DLFR,
-                is_latched(FAULT_ID_FRONT_DRIVELINE_RAIL) ? LED_BLINK : LED_OFF
-            );
-            break;
-        case 6:
-            update_fault(FAULT_ID_REAR_DRIVELINE_RAIL, dlbk_faulted);
-            LED_control(
-                LED_DLBK,
-                is_latched(FAULT_ID_REAR_DRIVELINE_RAIL) ? LED_BLINK : LED_OFF
-            );
-            break;
-        case 7:
-            update_fault(FAULT_ID_BULLET_RAIL, bullet_faulted);
-            LED_control(
-                LED_BLT,
-                is_latched(FAULT_ID_BULLET_RAIL) ? LED_BLINK : LED_OFF
-            );
-            fault_num = 0;
-            break;
-    }
-}
diff --git a/source/pdu/auto_switch/auto_switch.h b/source/pdu/auto_switch/auto_switch.h
deleted file mode 100644
index aca76d1f6..000000000
--- a/source/pdu/auto_switch/auto_switch.h
+++ /dev/null
@@ -1,133 +0,0 @@
-/**
- * @file auto_switch.h
- * @author Gavin Zyonse (gzyonse@purdue.edu)
- * @brief
- * @version 1.0
- * @date 2023-11-09
- *
- * @copyright Copyright (c) 2023
- *
- */
-#ifndef _AUTO_SWITCH_H_
-#define _AUTO_SWITCH_H_
-
-#include <source/pdu/main.h>
-#include <stdbool.h>
-#include <stdint.h>
-
-// Static variables
-#define SHUNT_R 10000000
-#define ADC_MAX 4095
-
-// Voltage sense resistors
-#define LV_24V_R1  47000 // Ohms
-#define LV_24V_R2  3400
-#define LV_5V_R1   4300
-#define LV_5V_R2   3400
-#define LV_3V3_R1  4300
-#define LV_3V3_R2  10000
-#define AMK_24V_R1 124300
-#define AMK_24V_R2 10000
-
-// HP Current sense resistors
-#define HP_CS_R1 180 // Ohms
-#define HP_CS_R2 330 // Ohms
-#define HP_CS_R3 500 // Ohms
-
-// Upstream Current sense
-#define HP_CS_R_SENSE 0.002 // Ohms
-#define CS_GAIN       100
-
-// Enumeration
-typedef enum {
-    // High power switches
-    SW_PUMP_1,
-    SW_PUMP_2,
-    SW_SDC,
-    SW_HXFAN,
-    // High power switches (mux-sensed)
-    SW_FAN_1,
-    SW_FAN_2,
-    SW_FAN_3,
-    SW_FAN_4,
-    SW_AMK1,
-    SW_AMK2,
-
-    // Low power switches
-    SW_DASH,
-    SW_ABOX,
-    SW_MAIN,
-    SW_DLFR,
-    SW_DLBK,
-
-    // Not actually switches
-    CS_24V,
-    CS_5V,
-
-    // Number of switches with CS signals (used for array bounds)
-    // If switch has a current sense circuit, PLACE IT ABOVE THIS COMMENT
-    CS_SWITCH_COUNT,
-
-    // Low power switches (no CS)
-    SW_BLT,
-    // 5V switches (no CS)
-    SW_CRIT_5V,
-    SW_TV,
-    SW_DAQ,
-    SW_FAN_5V
-} switches_t;
-
-// Structures
-typedef struct {
-    uint16_t in_24v;
-    uint16_t out_5v;
-    uint16_t out_3v3;
-} voltage_t; // Voltage in mV
-
-typedef struct {
-    uint16_t current[CS_SWITCH_COUNT]; // Current in mA
-    voltage_t voltage;
-} auto_switches_t;
-
-extern auto_switches_t auto_switches;
-
-// Function declarations
-/**
- * @brief Enable or disable a switch
- *
- * @param auto_switch_enum Switch to enable or disable
- * @param state 1 to enable, 0 to disable
-*/
-void setSwitch(switches_t auto_switch_enum, bool state);
-
-/**
- * @brief Check if a switch is enabled
- *
- * @param auto_switch_enum Switch to check
- * @return 1 if enabled, 0 if disabled
-*/
-bool getSwitchStatus(switches_t auto_switch_enum);
-
-/**
- * @brief Combined function that calls updateVoltage()
- *        and updateCurrent()
- *
- *        Voltage on each rail is stored at:
- *        auto_switches.voltage.in_24v
- *        auto_switches.voltage.out_5v
- *        auto_switches.voltage.out_3v3
- *
- *        Current through each switch is stored at:
- *        auto_switches.current[auto_switch_enum]
-*/
-void autoSwitchPeriodic();
-
-/**
- * @brief Checks the status of various auto switches to ensure rails are ok. Sets fault and activates blink indicator if not..
- *
- */
-void checkSwitchFaults();
-
-uint16_t getMuxReading(uint8_t channel);
-
-#endif
diff --git a/source/pdu/cooling/cooling.c b/source/pdu/cooling/cooling.c
index cb3d9da01..3d943fd22 100644
--- a/source/pdu/cooling/cooling.c
+++ b/source/pdu/cooling/cooling.c
@@ -1,226 +1,99 @@
-/**
- * @file cooling.c
- * @author Nicolas Vera (nverapae@purdue.edu)
- * @brief
- * @version 0.1
- * @date 2024-2-29
- *
- * @copyright Copyright (c) 2024
- *
- */
 #include "cooling.h"
 
-#include "auto_switch.h"
-#include "common/bangbang/bangbang.h"
+#include "can_library/generated/PDU.h"
+#include "cooling_bangbang.h"
 #include "fan_control.h"
-#include "led.h"
-
-volatile cooling_request_t cr;
-static void calculate_cooling_periodic();
-
-static void set_pump1_on();
-static void set_pump1_off();
-static void set_fan1_on();
-static void set_fan1_off();
-static void set_pump2_on();
-static void set_pump2_off();
-static void set_fan2_on();
-static void set_fan2_off();
-
-static bool batt_fan_autospeed;
-static bool motor_fan_autospeed;
-
-INIT_BANG_BANG(batt_pump_controller,
-               BATT_PUMP_ON_TEMP_C,
-               BATT_PUMP_OFF_TEMP_C,
-               set_pump1_on,
-               set_pump1_off,
-               BANGBANG_MIN_SWITCH_MS)
-
-INIT_BANG_BANG(batt_fan_controller,
-               BATT_FAN_ON_TEMP_C,
-               BATT_FAN_OFF_TEMP_C,
-               set_fan1_on,
-               set_fan1_off,
-               BANGBANG_MIN_SWITCH_MS)
-
-INIT_BANG_BANG(motor_pump_controller,
-               MOTOR_PUMP_ON_TEMP_C,
-               MOTOR_PUMP_OFF_TEMP_C,
-               set_pump2_on,
-               set_pump2_off,
-               BANGBANG_MIN_SWITCH_MS)
-
-INIT_BANG_BANG(motor_fan_controller,
-               MOTOR_FAN_ON_TEMP_C,
-               MOTOR_FAN_OFF_TEMP_C,
-               set_fan2_on,
-               set_fan2_off,
-               BANGBANG_MIN_SWITCH_MS)
-
-void coolingInit() {
-    cr.fan1_speed       = 10;
-    cr.fan2_speed       = 10;
-    cr.fan3_speed       = 10;
-    cr.fan4_speed       = 10;
-    cr.fan1_status      = true;
-    cr.fan2_status      = true;
-    cr.fan3_status      = true;
-    cr.fan4_status      = true;
-    cr.pump1_status     = true;
-    cr.pump2_status     = true;
-    cr.hxfan_status     = true;
-    batt_fan_autospeed  = false;
-    motor_fan_autospeed = false;
-}
+#include "state.h"
+#include "switches.h"
 
-void update_cooling_periodic() {
-    // Update switch statuses based off values in cr struct
-    calculate_cooling_periodic();
-
-    setSwitch(SW_FAN_1, cr.fan1_status);
-    setSwitch(SW_FAN_2, cr.fan2_status);
-    setSwitch(SW_FAN_3, cr.fan3_status);
-    setSwitch(SW_FAN_4, cr.fan4_status);
-    setSwitch(SW_PUMP_1, cr.pump1_status);
-    setSwitch(SW_PUMP_2, cr.pump2_status);
-    setSwitch(SW_HXFAN, cr.hxfan_status);
-
-    // Set fan speeds based off of fan speeds in cr struct
-    if (cr.fan1_status)
-        setFan1Speed(cr.fan1_speed);
-    else
-        setFan1Speed(0);
-    if (cr.fan2_status)
-        setFan2Speed(cr.fan2_speed);
-    else
-        setFan2Speed(0);
-    if (cr.fan3_status)
-        setFan3Speed(cr.fan3_speed);
-    else
-        setFan3Speed(0);
-    if (cr.fan4_status)
-        setFan4Speed(cr.fan4_speed);
-    else
-        setFan4Speed(0);
-
-    CAN_SEND_coolant_out(cr.fan1_speed,
-                         cr.fan2_speed,
-                         cr.pump2_status,
-                         cr.hxfan_status,
-                         cr.pump1_status);
-}
+typedef enum {
+    COOLING_STATE_AUTO   = 0,
+    COOLING_STATE_MANUAL = 1,
+} cooling_state_t;
+
+static cooling_state_t cooling_state      = COOLING_STATE_AUTO;
+static cooling_state_t next_cooling_state = COOLING_STATE_AUTO;
+
+static inline void auto_periodic(void) {
+    g_pdu_state.cooling_command.fan1_enabled = true;
+    if (g_pdu_state.cooling_command.batt_fan_autospeed_enabled) {
+        g_pdu_state.cooling_command.fan1_percent = 100;
+    }
+
+    g_pdu_state.cooling_command.fan2_enabled = true;
+    if (g_pdu_state.cooling_command.motor_fan_autospeed_enabled) {
+        g_pdu_state.cooling_command.fan2_percent = 100;
+    }
+
+    g_pdu_state.cooling_command.fan3_enabled = g_pdu_state.cooling_command.fan1_enabled;
+    g_pdu_state.cooling_command.fan3_percent = g_pdu_state.cooling_command.fan1_percent;
+    g_pdu_state.cooling_command.fan4_enabled = g_pdu_state.cooling_command.fan2_enabled;
+    g_pdu_state.cooling_command.fan4_percent = g_pdu_state.cooling_command.fan2_percent;
 
-static void calculate_cooling_periodic() {
-    // GPS not stale implies GPS fix
-    // bool not_moving = !can_data.gps_speed.stale && can_data.gps_speed.gps_speed <= GPS_SPEED_MOVING;
-    // bool not_moving = true; // TODO temp until we have GPS data
-    
-
-    // uint32_t now_ms = OS_TICKS;
-
-    // PUMP1: Battery pumps
-    // Enable if above 30C
-    // TODO handle stale
-    // if (can_data.max_cell_temp.stale) {
-    //     batt_pump_controller.last_switch_ms = now_ms;
-    //     set_pump1_off();
-    // } else {
-    //     bangbang_update(&batt_pump_controller, can_data.max_cell_temp.max_temp / 10.0f, now_ms);
-    // }
-
-    // // FAN1: Battery fans
-    // // Enable battery fans only when car stopped since there is little airflow
-    // if (can_data.max_cell_temp.stale || !not_moving) {
-    //     batt_fan_controller.last_switch_ms = now_ms;
-    //     set_fan1_off();
-    // } else {
-    //     bangbang_update(&batt_fan_controller, can_data.max_cell_temp.max_temp / 10.0f, now_ms);
-    // }
-
-    // PUMP2: Motor pumps
-    // Enable motor pumps if above 60C
-    // if (can_data.motor_temps.stale) {
-    //     motor_pump_controller.last_switch_ms = now_ms;
-    //     set_pump2_off();
-    // } else {
-    //     float motor_temp = (float)MAX(can_data.motor_temps.front_right,
-    //                                   can_data.motor_temps.front_left);
-    //     bangbang_update(&motor_pump_controller, motor_temp, now_ms);
-    // }
-
-    // // FAN2: Motor fans
-    // // Enable motor fans if (above 100C) || (car stopped && temp > 60)
-    // if (can_data.motor_temps.stale) {
-    //     motor_fan_controller.last_switch_ms = now_ms;
-    //     set_fan2_off();
-    // } else {
-    //     float motor_temp = (float)MAX(can_data.motor_temps.front_left,
-    //                                   can_data.motor_temps.front_right);
-    //     if (not_moving) {
-    //         bangbang_update(&motor_fan_controller, motor_temp, now_ms);
-    //     } else if (motor_temp < MOTOR_COOLING_ENABLE_TEMP) {
-    //         motor_fan_controller.last_switch_ms = now_ms;
-    //         set_fan2_off();
-    //     } else {
-    //         bangbang_update(&motor_fan_controller, motor_temp, now_ms);
-    //     }
-    // }
-
-    // todo cooling
-
-    set_fan1_on();
-    set_fan2_on();
-    // todo: turn this on when pumps are harnessed
-    // set_pump1_on();
-    // set_pump2_on();
-
-    cr.fan3_status = cr.fan1_status;
-    cr.fan3_speed  = cr.fan1_speed;
-    cr.fan4_status = cr.fan2_status;
-    cr.fan4_speed  = cr.fan2_speed;
+    cooling_bangbang_update(&g_pdu_state.cooling_command);
 }
 
-static void set_pump1_on() {
-    cr.pump1_status = true;
+static inline void manual_periodic(void) {
+    // Dashboard manual commands are not wired yet, so fall back to AUTO behavior.
+    auto_periodic();
 }
 
-static void set_pump1_off() {
-    cr.pump1_status = false;
+static inline void set_switches(void) {
+    switches_set_state(SW_FAN_1, g_pdu_state.cooling_command.fan1_enabled);
+    switches_set_state(SW_FAN_2, g_pdu_state.cooling_command.fan2_enabled);
+    switches_set_state(SW_FAN_3, g_pdu_state.cooling_command.fan3_enabled);
+    switches_set_state(SW_FAN_4, g_pdu_state.cooling_command.fan4_enabled);
+    switches_set_state(SW_PUMP_1, g_pdu_state.cooling_command.pump1_enabled);
+    switches_set_state(SW_PUMP_2, g_pdu_state.cooling_command.pump2_enabled);
+    switches_set_state(SW_HXFAN, g_pdu_state.cooling_command.hxfan_enabled);
 }
 
-static void set_fan1_on() {
-    cr.fan1_status = true;
-    if (batt_fan_autospeed) {
-        cr.fan1_speed = 100;
-    }
+static inline void set_fans(void) {
+    setFan1Speed(g_pdu_state.cooling_command.fan1_enabled ? g_pdu_state.cooling_command.fan1_percent : 0);
+    setFan2Speed(g_pdu_state.cooling_command.fan2_enabled ? g_pdu_state.cooling_command.fan2_percent : 0);
+    setFan3Speed(g_pdu_state.cooling_command.fan3_enabled ? g_pdu_state.cooling_command.fan3_percent : 0);
+    setFan4Speed(g_pdu_state.cooling_command.fan4_enabled ? g_pdu_state.cooling_command.fan4_percent : 0);
 }
 
-static void set_fan1_off() {
-    cr.fan1_status = false;
-    if (batt_fan_autospeed) {
-        cr.fan1_speed = 0;
+static inline void cooling_fsm_periodic(void) {
+    next_cooling_state = cooling_state;
+
+    switch (cooling_state) {
+        case COOLING_STATE_AUTO:
+            auto_periodic();
+            break;
+
+        case COOLING_STATE_MANUAL:
+            manual_periodic();
+            break;
+
+        default:
+            next_cooling_state = COOLING_STATE_AUTO;
+            break;
     }
-}
 
-static void set_pump2_on() {
-    cr.pump2_status = true;
+    cooling_state = next_cooling_state;
 }
 
-static void set_pump2_off() {
-    cr.pump2_status = false;
+static inline void cooling_send_outputs(void) {
+    CAN_SEND_coolant_out(
+        g_pdu_state.cooling_command.fan1_percent,
+        g_pdu_state.cooling_command.fan2_percent,
+        g_pdu_state.cooling_command.pump2_enabled,
+        g_pdu_state.cooling_command.hxfan_enabled,
+        g_pdu_state.cooling_command.pump1_enabled
+    );
 }
 
-static void set_fan2_on() {
-    cr.fan2_status = true;
-    if (motor_fan_autospeed) {
-        cr.fan2_speed = 100;
-    }
+void cooling_init(void) {
+    cooling_state      = COOLING_STATE_AUTO;
+    next_cooling_state = COOLING_STATE_AUTO;
+    cooling_bangbang_init();
 }
 
-static void set_fan2_off() {
-    cr.fan2_status = false;
-    if (motor_fan_autospeed) {
-        cr.fan2_speed = 0;
-    }
+void cooling_periodic(void) {
+    cooling_fsm_periodic();
+    set_switches();
+    set_fans();
+    cooling_send_outputs();
 }
diff --git a/source/pdu/cooling/cooling.h b/source/pdu/cooling/cooling.h
index 07b8d5ac2..2b3990db2 100644
--- a/source/pdu/cooling/cooling.h
+++ b/source/pdu/cooling/cooling.h
@@ -1,74 +1,7 @@
-/**
- * @file cooling.h
- * @author Nicolas Vera (nverapae@purdue.edu)
- * @brief
- * @version 0.1
- * @date 2024-2-29
- *
- * @copyright Copyright (c) 2024
- *
- */
-#ifndef _COOLING_H_
-#define _COOLING_H_
+#ifndef COOLING_H
+#define COOLING_H
 
-#include "can_library/generated/PDU.h"
+void cooling_init(void);
+void cooling_periodic(void);
 
-#define GPS_SPEED_MOVING          2 // TODO determine
-#define MOTOR_COOLING_ENABLE_TEMP 60
-#define MOTOR_COOLING_MAX_TEMP    100
-#define BATT_COOLING_ENABLE_TEMP  30
-
-#define BATT_PUMP_ON_TEMP_C  BATT_COOLING_ENABLE_TEMP
-#define BATT_PUMP_OFF_TEMP_C (BATT_COOLING_ENABLE_TEMP - 2)
-#define BATT_FAN_ON_TEMP_C   BATT_COOLING_ENABLE_TEMP
-#define BATT_FAN_OFF_TEMP_C  (BATT_COOLING_ENABLE_TEMP - 2)
-
-#define MOTOR_PUMP_ON_TEMP_C  MOTOR_COOLING_ENABLE_TEMP
-#define MOTOR_PUMP_OFF_TEMP_C (MOTOR_COOLING_ENABLE_TEMP - 5)
-
-#define MOTOR_FAN_ON_TEMP_C  MOTOR_COOLING_MAX_TEMP
-#define MOTOR_FAN_OFF_TEMP_C (MOTOR_COOLING_MAX_TEMP - 5)
-
-#define MOTOR_FAN_STOP_ON_TEMP_C  MOTOR_COOLING_ENABLE_TEMP
-#define MOTOR_FAN_STOP_OFF_TEMP_C (MOTOR_COOLING_ENABLE_TEMP - 5)
-
-#define BANGBANG_MIN_SWITCH_MS 1000
-
-typedef struct {
-    uint16_t fan1_speed; // value from 0-100
-    uint16_t fan2_speed; // value from 0-100
-    uint16_t fan3_speed; // value from 0-100
-    uint16_t fan4_speed; // value from 0-100
-    bool pump1_status;
-    bool pump2_status;
-    bool fan1_status;
-    bool fan2_status;
-    bool fan3_status;
-    bool fan4_status;
-    bool hxfan_status;
-} cooling_request_t;
-
-/**
- * @brief Initializes cooling_request struct values to 0
- *
- * @param
- * @return
- */
-void coolingInit();
-
-/**
- * @brief Periodic function that sets switches and fan speeds based off of values in the cooling_request struct
- *
- * @param
- * @return
- */
-void update_cooling_periodic();
-
-/**
- * @brief Callback function for cooling_driver_request message sent from dashboard, updates values in cooling_request struct based off signal values
- *
- * @param *msg_data_a CAN msg data
- * @return
- */
-void cooling_driver_request_CALLBACK(void);
-#endif
+#endif // COOLING_H
diff --git a/source/pdu/cooling/cooling_bangbang.c b/source/pdu/cooling/cooling_bangbang.c
new file mode 100644
index 000000000..8a9c74f78
--- /dev/null
+++ b/source/pdu/cooling/cooling_bangbang.c
@@ -0,0 +1,130 @@
+#include "cooling_bangbang.h"
+
+#if COOLING_ENABLE_BANGBANG
+
+#include "common/bangbang/bangbang.h"
+#include "can_library/generated/PDU.h"
+
+static constexpr float MOTOR_PUMP_ON_TEMP_C = 60.0f;
+static constexpr float MOTOR_PUMP_OFF_TEMP_C = 55.0f;
+static constexpr float MOTOR_FAN_ON_TEMP_C = 100.0f;
+static constexpr float MOTOR_FAN_OFF_TEMP_C = 95.0f;
+static constexpr float MOTOR_FAN_STOP_ON_TEMP_C = 60.0f;
+static constexpr uint32_t BANGBANG_MIN_SWITCH_MS = 1000;
+
+static pdu_cooling_command_t *g_active_command;
+
+static void set_pump2_on(void) {
+    g_active_command->pump2_enabled = true;
+}
+
+static void set_pump2_off(void) {
+    g_active_command->pump2_enabled = false;
+}
+
+static void set_fan2_on(void) {
+    g_active_command->fan2_enabled = true;
+    g_active_command->fan2_percent = 100;
+}
+
+static void set_fan2_off(void) {
+    g_active_command->fan2_enabled = false;
+    g_active_command->fan2_percent = 0;
+}
+
+INIT_BANG_BANG(
+    motor_pump_controller,
+    MOTOR_PUMP_ON_TEMP_C,
+    MOTOR_PUMP_OFF_TEMP_C,
+    set_pump2_on,
+    set_pump2_off,
+    BANGBANG_MIN_SWITCH_MS
+)
+
+INIT_BANG_BANG(
+    motor_fan_controller,
+    MOTOR_FAN_ON_TEMP_C,
+    MOTOR_FAN_OFF_TEMP_C,
+    set_fan2_on,
+    set_fan2_off,
+    BANGBANG_MIN_SWITCH_MS
+)
+
+static float cooling_hottest_motor_temp_c(void) {
+    float hottest = can_data.motor_temps.front_left;
+
+    if (can_data.motor_temps.front_right > hottest) {
+        hottest = can_data.motor_temps.front_right;
+    }
+
+    if (can_data.motor_temps.rear_left > hottest) {
+        hottest = can_data.motor_temps.rear_left;
+    }
+
+    if (can_data.motor_temps.rear_right > hottest) {
+        hottest = can_data.motor_temps.rear_right;
+    }
+
+    return hottest;
+}
+
+static bool cooling_not_moving(void) {
+    if (can_data.main_hb.is_stale()) {
+        return true;
+    }
+
+    return can_data.main_hb.car_state != CAR_STATE_READY2DRIVE;
+}
+
+bool cooling_bangbang_is_enabled(void) {
+    return true;
+}
+
+void cooling_bangbang_init(void) {
+    motor_pump_controller.is_on = false;
+    motor_fan_controller.is_on = false;
+    motor_pump_controller.last_switch_ms = 0;
+    motor_fan_controller.last_switch_ms = 0;
+}
+
+void cooling_bangbang_update(pdu_cooling_command_t *cooling_command) {
+    if (cooling_command == nullptr) {
+        return;
+    }
+
+    g_active_command = cooling_command;
+
+    if (can_data.motor_temps.is_stale()) {
+        return;
+    }
+
+    float motor_temp_c = cooling_hottest_motor_temp_c();
+    uint32_t now_ms = OS_TICKS;
+
+    bangbang_update(&motor_pump_controller, motor_temp_c, now_ms);
+
+    bool not_moving = cooling_not_moving();
+    if (not_moving) {
+        bangbang_update(&motor_fan_controller, motor_temp_c, now_ms);
+    } else if (motor_temp_c < MOTOR_FAN_STOP_ON_TEMP_C) {
+        motor_fan_controller.last_switch_ms = now_ms;
+        set_fan2_off();
+    } else {
+        bangbang_update(&motor_fan_controller, motor_temp_c, now_ms);
+    }
+}
+
+#else
+
+bool cooling_bangbang_is_enabled(void) {
+    return false;
+}
+
+void cooling_bangbang_init(void) {
+}
+
+void cooling_bangbang_update(pdu_cooling_command_t *cooling_command) {
+    (void)cooling_command;
+}
+
+#endif
diff --git a/source/pdu/cooling/cooling_bangbang.h b/source/pdu/cooling/cooling_bangbang.h
new file mode 100644
index 000000000..43384215f
--- /dev/null
+++ b/source/pdu/cooling/cooling_bangbang.h
@@ -0,0 +1,16 @@
+#ifndef COOLING_BANGBANG_H
+#define COOLING_BANGBANG_H
+
+#include <stdbool.h>
+
+#include "state.h"
+
+#ifndef COOLING_ENABLE_BANGBANG
+#define COOLING_ENABLE_BANGBANG 0
+#endif
+
+bool cooling_bangbang_is_enabled(void);
+void cooling_bangbang_init(void);
+void cooling_bangbang_update(pdu_cooling_command_t *cooling_command);
+
+#endif // COOLING_BANGBANG_H
diff --git a/source/pdu/fan_control/fan_control.c b/source/pdu/cooling/fan_control/fan_control.c
similarity index 100%
rename from source/pdu/fan_control/fan_control.c
rename to source/pdu/cooling/fan_control/fan_control.c
diff --git a/source/pdu/fan_control/fan_control.h b/source/pdu/cooling/fan_control/fan_control.h
similarity index 100%
rename from source/pdu/fan_control/fan_control.h
rename to source/pdu/cooling/fan_control/fan_control.h
diff --git a/source/pdu/faults/faults.c b/source/pdu/faults/faults.c
new file mode 100644
index 000000000..6119782a6
--- /dev/null
+++ b/source/pdu/faults/faults.c
@@ -0,0 +1,44 @@
+#include "faults.h"
+
+#include "can_library/faults_common.h"
+#include "led.h"
+#include "main.h"
+#include "state.h"
+
+#include "common/phal/gpio.h"
+
+typedef struct {
+    fault_id_t fault_id;
+    GPIO_TypeDef *nflt_port;
+    uint8_t nflt_pin;
+    int led_id;
+} pdu_rail_fault_map_t;
+
+static const pdu_rail_fault_map_t PDU_RAIL_FAULT_MAP[] = {
+    {.fault_id = FAULT_ID_DASH_RAIL, .nflt_port = DASH_NFLT_GPIO_Port, .nflt_pin = DASH_NFLT_Pin, .led_id = LED_DASH},
+    {.fault_id = FAULT_ID_ABOX_RAIL, .nflt_port = ABOX_NFLT_GPIO_Port, .nflt_pin = ABOX_NFLT_Pin, .led_id = LED_ABOX},
+    {.fault_id = FAULT_ID_MAIN_RAIL, .nflt_port = MAIN_NFLT_GPIO_Port, .nflt_pin = MAIN_NFLT_Pin, .led_id = LED_MAIN},
+    {.fault_id = FAULT_ID_V_CRIT, .nflt_port = CRIT_5V_NFLT_GPIO_Port, .nflt_pin = CRIT_5V_NFLT_Pin, .led_id = LED_5V_CRIT},
+    {.fault_id = FAULT_ID_V_NONCRIT, .nflt_port = TV_NFLT_GPIO_Port, .nflt_pin = TV_NFLT_Pin, .led_id = LED_TV},
+    {.fault_id = FAULT_ID_FRONT_DRIVELINE_RAIL, .nflt_port = DLFR_NFLT_GPIO_Port, .nflt_pin = DLFR_NFLT_Pin, .led_id = LED_DLFR},
+    {.fault_id = FAULT_ID_REAR_DRIVELINE_RAIL, .nflt_port = DLBK_NFLT_GPIO_Port, .nflt_pin = DLBK_NFLT_Pin, .led_id = LED_DLBK},
+    {.fault_id = FAULT_ID_BULLET_RAIL, .nflt_port = BLT_NFLT_GPIO_Port, .nflt_pin = BLT_NFLT_Pin, .led_id = LED_BLT},
+};
+
+void faults_init(void) {
+    g_pdu_state.next_rail_fault_index = 0;
+}
+
+void faults_periodic(void) {
+    const uint8_t index = g_pdu_state.next_rail_fault_index;
+    const pdu_rail_fault_map_t *fault = &PDU_RAIL_FAULT_MAP[index];
+
+    const bool is_faulted = !PHAL_readGPIO(fault->nflt_port, fault->nflt_pin);
+    update_fault(fault->fault_id, is_faulted);
+    LED_control(fault->led_id, is_latched(fault->fault_id) ? LED_BLINK : LED_OFF);
+
+    g_pdu_state.next_rail_fault_index = index + 1U;
+    if (g_pdu_state.next_rail_fault_index >= (sizeof(PDU_RAIL_FAULT_MAP) / sizeof(PDU_RAIL_FAULT_MAP[0]))) {
+        g_pdu_state.next_rail_fault_index = 0;
+    }
+}
diff --git a/source/pdu/faults/faults.h b/source/pdu/faults/faults.h
new file mode 100644
index 000000000..9a705622e
--- /dev/null
+++ b/source/pdu/faults/faults.h
@@ -0,0 +1,7 @@
+#ifndef FAULTS_H
+#define FAULTS_H
+
+void faults_init(void);
+void faults_periodic(void);
+
+#endif // FAULTS_H
diff --git a/source/pdu/main.c b/source/pdu/main.c
index 03c06934c..104a33b8a 100644
--- a/source/pdu/main.c
+++ b/source/pdu/main.c
@@ -7,27 +7,28 @@
  * @author Irving Wang (irvingw@purdue.edu)
  */
 
-/* System Includes */
+#include "main.h"
+
+#include "can_library/generated/PDU.h"
 #include "can_library/faults_common.h"
-#include "common/common_defs/common_defs.h"
 #include "common/freertos/freertos.h"
+#include "common/heartbeat/heartbeat.h"
 #include "common/phal/adc.h"
 #include "common/phal/can.h"
 #include "common/phal/dma.h"
 #include "common/phal/gpio.h"
 #include "common/phal/rcc.h"
-#include "common/heartbeat/heartbeat.h"
 #include "common/utils/countof.h"
 #include "common/watchdog/watchdog.h"
 
-/* Module Includes */
-#include "auto_switch.h"
-#include "can_library/generated/PDU.h"
 #include "cooling.h"
 #include "fan_control.h"
+#include "faults.h"
 #include "flow_rate.h"
 #include "led.h"
-#include "main.h"
+#include "state.h"
+#include "switches.h"
+#include "telemetry.h"
 
 GPIOInitConfig_t gpio_config[] = {
     // Status Indicators
@@ -233,71 +234,37 @@ extern uint32_t PLLClockRateHz;
 
 void HardFault_Handler();
 
-/* Task functions */
-void send_iv_readings();
-void send_flowrates();
+static void heartbeat_led_sweep(void) {
+    static int led_index = 0;
+    static bool decrement = false;
 
-void sparkle_leds() {
-    static int led_number;
-        static bool led_decrement = false;
-    if (led_number < MAX_NUM_LED && !led_decrement) {
-        led_number++;
-        LED_control(led_number, LED_ON);
-    } else if (led_number >= MAX_NUM_LED && !led_decrement) {
-        led_decrement = true;
+    if (!decrement) {
+        LED_control(led_index, LED_ON);
+        led_index++;
+        if (led_index >= MAX_NUM_LED) {
+            led_index = MAX_NUM_LED - 1;
+            decrement = true;
+        }
     } else {
-        led_number--;
-        LED_control(led_number, LED_OFF);
+        LED_control(led_index, LED_OFF);
+        if (led_index == 0) {
+            decrement = false;
+        } else {
+            led_index--;
+        }
     }
 }
 
-void send_flowrates() {
-    CAN_SEND_flowrates(getFlowRate1(), getFlowRate2());
-}
-
-void send_iv_readings() {
-    // Set LV Batt faults
-    // set_fault(FAULT_ID_PDU_LV_BATT_FIFTY, auto_switches.voltage.in_24v);
-    update_fault(FAULT_ID_LV_GETTING_LOW, auto_switches.voltage.in_24v);
-    update_fault(FAULT_ID_LV_CRITICAL_LOW, auto_switches.voltage.in_24v);
-    // Send CAN messages containing voltage and current data
-    CAN_SEND_v_rails(auto_switches.voltage.in_24v,
-                     auto_switches.voltage.out_5v,
-                     auto_switches.voltage.out_3v3,
-                     0); // amk_24v removed: mux ch4/5 are current sense, not voltage
-    CAN_SEND_rail_currents(auto_switches.current[CS_24V], auto_switches.current[CS_5V]);
-    CAN_SEND_pump_and_fan_current(auto_switches.current[SW_PUMP_1],
-                                  auto_switches.current[SW_PUMP_2],
-                                  auto_switches.current[SW_FAN_1],
-                                  auto_switches.current[SW_FAN_2]);
-    CAN_SEND_fan_current2(auto_switches.current[SW_FAN_3], auto_switches.current[SW_FAN_4]);
-    CAN_SEND_other_currents(auto_switches.current[SW_SDC],
-                            auto_switches.current[SW_HXFAN],
-                            auto_switches.current[SW_DASH],
-                            auto_switches.current[SW_ABOX],
-                            auto_switches.current[SW_MAIN]);
-
-    // DS8626 Rev 10 pg 139
-    // Reference voltage is 3.3
-    // 12 bit adc max is 4095
-    // Voltage at 25 degrees c is 0.76
-    // Average slope is 2.5mV per degree c
-    float vsense = (adc_readings.internal_therm / (float)4095) * 3.3f;
-    float temp   = ((vsense - 0.76f) / 0.0025f) + 25.0f;
-    CAN_SEND_pdu_temps((uint16_t)temp);
-}
-
 // Thread Defines
 DEFINE_CAN_TASKS();
-DEFINE_TASK(autoSwitchPeriodic, 15, osPriorityNormal, STACK_512);
-DEFINE_TASK(update_cooling_periodic, 100, osPriorityNormal, STACK_1024);
+DEFINE_TASK(switches_periodic, 15, osPriorityNormal, STACK_512);
+DEFINE_TASK(cooling_periodic, 100, osPriorityNormal, STACK_1024);
 DEFINE_TASK(LED_periodic, 500, osPriorityLow, STACK_512);
-// DEFINE_TASK(send_iv_readings, 500, osPriorityLow, STACK_1024); // ! wtf this is causing a crash
-DEFINE_TASK(checkSwitchFaults, 100, osPriorityLow, STACK_512);
-DEFINE_TASK(send_flowrates, 200, osPriorityLow, STACK_256);
+DEFINE_TASK(faults_periodic, 100, osPriorityLow, STACK_512);
 DEFINE_TASK(fault_library_periodic, 100, osPriorityLow, STACK_1024);
+DEFINE_TASK(telemetry_10hz, 100, osPriorityLow, STACK_1024);
 DEFINE_WATCHDOG_TASK();
-DEFINE_HEARTBEAT_TASK(sparkle_leds);
+DEFINE_HEARTBEAT_TASK(heartbeat_led_sweep);
 
 int main() {
     // Hardware Initialization
@@ -327,34 +294,25 @@ int main() {
     }
     PHAL_writeGPIO(LED_CTRL_BLANK_GPIO_Port, LED_CTRL_BLANK_Pin, 1);
 
+    state_init_defaults();
+    switches_init();
+    faults_init();
+
     fanControlInit();
-    coolingInit();
+    cooling_init();
     flowRateInit();
 
-    // Initialize default 'ON' rails
-    setSwitch(SW_SDC, 1);
-    setSwitch(SW_DAQ, 1);
-    setSwitch(SW_TV, 1);
-    setSwitch(SW_MAIN, 1);
-    setSwitch(SW_ABOX, 1);
-    setSwitch(SW_DASH, 1);
-    setSwitch(SW_CRIT_5V, 1);
-    setSwitch(SW_BLT, 1);
-    setSwitch(SW_HXFAN, 1);
-    setSwitch(SW_DLBK, 1);
-    setSwitch(SW_PUMP_1, 1);
-    setSwitch(SW_PUMP_2, 1);
+    switches_enable_default_rails();
 
     osKernelInitialize();
 
     START_CAN_TASKS();
-    START_TASK(autoSwitchPeriodic);
-    START_TASK(update_cooling_periodic);
+    START_TASK(switches_periodic);
+    START_TASK(cooling_periodic);
     START_TASK(LED_periodic);
-    // START_TASK(send_iv_readings);
-    START_TASK(checkSwitchFaults);
-    START_TASK(send_flowrates);
+    START_TASK(faults_periodic);
     START_TASK(fault_library_periodic);
+    START_TASK(telemetry_10hz);
     START_WATCHDOG_TASK();
     START_HEARTBEAT_TASK();
 
@@ -371,4 +329,4 @@ void HardFault_Handler() {
     while (1) {
         __asm__("NOP"); // spin
     }
-}
\ No newline at end of file
+}
diff --git a/source/pdu/state/state.c b/source/pdu/state/state.c
new file mode 100644
index 000000000..8380a1f13
--- /dev/null
+++ b/source/pdu/state/state.c
@@ -0,0 +1,23 @@
+#include "state.h"
+
+#include <string.h>
+
+pdu_state_t g_pdu_state;
+
+void state_init_defaults(void) {
+    memset(&g_pdu_state, 0, sizeof(g_pdu_state));
+
+    g_pdu_state.next_mux_channel               = 0;
+    g_pdu_state.next_rail_fault_index          = 0;
+    g_pdu_state.cooling_command.fan1_percent   = 10;
+    g_pdu_state.cooling_command.fan2_percent   = 10;
+    g_pdu_state.cooling_command.fan3_percent   = 10;
+    g_pdu_state.cooling_command.fan4_percent   = 10;
+    g_pdu_state.cooling_command.fan1_enabled   = true;
+    g_pdu_state.cooling_command.fan2_enabled   = true;
+    g_pdu_state.cooling_command.fan3_enabled   = true;
+    g_pdu_state.cooling_command.fan4_enabled   = true;
+    g_pdu_state.cooling_command.pump1_enabled  = true;
+    g_pdu_state.cooling_command.pump2_enabled  = true;
+    g_pdu_state.cooling_command.hxfan_enabled  = true;
+}
diff --git a/source/pdu/state/state.h b/source/pdu/state/state.h
new file mode 100644
index 000000000..959357bac
--- /dev/null
+++ b/source/pdu/state/state.h
@@ -0,0 +1,44 @@
+#ifndef STATE_H
+#define STATE_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "switches.h"
+
+typedef struct {
+    uint8_t fan1_percent;
+    uint8_t fan2_percent;
+    uint8_t fan3_percent;
+    uint8_t fan4_percent;
+    bool fan1_enabled;
+    bool fan2_enabled;
+    bool fan3_enabled;
+    bool fan4_enabled;
+    bool pump1_enabled;
+    bool pump2_enabled;
+    bool hxfan_enabled;
+    bool batt_fan_autospeed_enabled;
+    bool motor_fan_autospeed_enabled;
+} pdu_cooling_command_t;
+
+typedef struct {
+    uint16_t in_24v_mv;
+    uint16_t out_5v_mv;
+    uint16_t out_3v3_mv;
+} pdu_rail_voltage_mv_t;
+
+typedef struct {
+    pdu_rail_voltage_mv_t rail_voltage_mv;
+    uint16_t switch_current_ma[CS_SWITCH_COUNT];
+    uint16_t mux_adc_counts[6];
+    uint8_t next_mux_channel;
+    uint8_t next_rail_fault_index;
+    pdu_cooling_command_t cooling_command;
+} pdu_state_t;
+
+extern pdu_state_t g_pdu_state;
+
+void state_init_defaults(void);
+
+#endif // STATE_H
diff --git a/source/pdu/switches/switches.c b/source/pdu/switches/switches.c
new file mode 100644
index 000000000..887258398
--- /dev/null
+++ b/source/pdu/switches/switches.c
@@ -0,0 +1,199 @@
+#include "switches.h"
+
+#include <string.h>
+
+#include "led.h"
+#include "main.h"
+#include "state.h"
+
+#include "common/phal/gpio.h"
+
+static constexpr uint16_t ADC_MAX_COUNTS = 4095;
+
+static constexpr int LV_24V_R1 = 47000;
+static constexpr int LV_24V_R2 = 3400;
+static constexpr int LV_5V_R1 = 4300;
+static constexpr int LV_5V_R2 = 3400;
+static constexpr int LV_3V3_R1 = 4300;
+static constexpr int LV_3V3_R2 = 10000;
+
+static constexpr int HP_CS_R1 = 180;
+static constexpr int HP_CS_R2 = 330;
+static constexpr int HP_CS_R3 = 500;
+
+static constexpr float HP_CS_R_SENSE = 0.002f;
+static constexpr uint16_t CS_GAIN = 100;
+
+typedef struct {
+    switches_t switch_id;
+    GPIO_TypeDef *ctrl_port;
+    uint8_t ctrl_pin;
+    bool has_ctrl_output;
+    int8_t led_id;
+} pdu_switch_output_t;
+
+static constexpr int8_t LED_NONE = -1;
+
+static const pdu_switch_output_t PDU_SWITCH_OUTPUTS[] = {
+    {.switch_id = SW_PUMP_1, .ctrl_port = PUMP_1_CTRL_GPIO_Port, .ctrl_pin = PUMP_1_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_PUMP_1},
+    {.switch_id = SW_PUMP_2, .ctrl_port = PUMP_2_CTRL_GPIO_Port, .ctrl_pin = PUMP_2_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_PUMP_2},
+    {.switch_id = SW_SDC, .ctrl_port = nullptr, .ctrl_pin = 0, .has_ctrl_output = false, .led_id = LED_SDC},
+    {.switch_id = SW_HXFAN, .ctrl_port = HXFAN_CTRL_GPIO_Port, .ctrl_pin = HXFAN_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_HXFAN},
+    {.switch_id = SW_FAN_1, .ctrl_port = FAN_1_CTRL_GPIO_Port, .ctrl_pin = FAN_1_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_NONE},
+    {.switch_id = SW_FAN_2, .ctrl_port = FAN_2_CTRL_GPIO_Port, .ctrl_pin = FAN_2_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_NONE},
+    {.switch_id = SW_FAN_3, .ctrl_port = FAN_3_CTRL_GPIO_Port, .ctrl_pin = FAN_3_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_NONE},
+    {.switch_id = SW_FAN_4, .ctrl_port = FAN_4_CTRL_GPIO_Port, .ctrl_pin = FAN_4_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_NONE},
+    {.switch_id = SW_AMK1, .ctrl_port = nullptr, .ctrl_pin = 0, .has_ctrl_output = false, .led_id = LED_NONE},
+    {.switch_id = SW_AMK2, .ctrl_port = nullptr, .ctrl_pin = 0, .has_ctrl_output = false, .led_id = LED_NONE},
+    {.switch_id = SW_DASH, .ctrl_port = nullptr, .ctrl_pin = 0, .has_ctrl_output = false, .led_id = LED_DASH},
+    {.switch_id = SW_ABOX, .ctrl_port = nullptr, .ctrl_pin = 0, .has_ctrl_output = false, .led_id = LED_ABOX},
+    {.switch_id = SW_MAIN, .ctrl_port = nullptr, .ctrl_pin = 0, .has_ctrl_output = false, .led_id = LED_MAIN},
+    {.switch_id = SW_DLFR, .ctrl_port = DLFR_CTRL_GPIO_Port, .ctrl_pin = DLFR_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_DLFR},
+    {.switch_id = SW_DLBK, .ctrl_port = DLBK_CTRL_GPIO_Port, .ctrl_pin = DLBK_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_DLBK},
+    {.switch_id = SW_BLT, .ctrl_port = BLT_CTRL_GPIO_Port, .ctrl_pin = BLT_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_BLT},
+    {.switch_id = SW_CRIT_5V, .ctrl_port = CRIT_5V_CTRL_GPIO_Port, .ctrl_pin = CRIT_5V_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_5V_CRIT},
+    {.switch_id = SW_TV, .ctrl_port = TV_CTRL_GPIO_Port, .ctrl_pin = TV_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_TV},
+    {.switch_id = SW_DAQ, .ctrl_port = nullptr, .ctrl_pin = 0, .has_ctrl_output = false, .led_id = LED_DAQ},
+    {.switch_id = SW_FAN_5V, .ctrl_port = FAN_5V_CTRL_GPIO_Port, .ctrl_pin = FAN_5V_CTRL_Pin, .has_ctrl_output = true, .led_id = LED_5V_FAN},
+};
+
+static const pdu_switch_output_t *switches_get_output(switches_t switch_id) {
+    for (uint32_t i = 0; i < (sizeof(PDU_SWITCH_OUTPUTS) / sizeof(PDU_SWITCH_OUTPUTS[0])); i++) {
+        if (PDU_SWITCH_OUTPUTS[i].switch_id == switch_id) {
+            return &PDU_SWITCH_OUTPUTS[i];
+        }
+    }
+
+    return nullptr;
+}
+
+static uint16_t switches_convert_high_power_current_ma(uint16_t adc_counts) {
+    adc_counts = adc_counts * ADC_REF_mV / ADC_MAX_COUNTS;
+    adc_counts = adc_counts * (HP_CS_R1 + HP_CS_R2) / HP_CS_R2;
+    adc_counts = adc_counts * HP_CS_R3 / (HP_CS_R1 + HP_CS_R2);
+    return adc_counts;
+}
+
+static uint16_t switches_convert_low_power_current_ma(uint16_t adc_counts) {
+    adc_counts = adc_counts * ADC_REF_mV / ADC_MAX_COUNTS;
+    return adc_counts;
+}
+
+static uint16_t switches_convert_voltage_mv(uint16_t adc_counts, int r1_ohm, int r2_ohm) {
+    adc_counts = adc_counts * (r1_ohm + r2_ohm) / r2_ohm;
+    adc_counts = adc_counts * ADC_REF_mV / ADC_MAX_COUNTS;
+    return adc_counts;
+}
+
+static void switches_select_mux_channel(uint8_t channel) {
+    PHAL_writeGPIO(MUX_CTRL_A_GPIO_Port, MUX_CTRL_A_Pin, (channel & 0x01U) != 0U);
+    PHAL_writeGPIO(MUX_CTRL_B_GPIO_Port, MUX_CTRL_B_Pin, (channel & 0x02U) != 0U);
+    PHAL_writeGPIO(MUX_CTRL_C_GPIO_Port, MUX_CTRL_C_Pin, (channel & 0x04U) != 0U);
+}
+
+static void switches_update_mux_measurements(void) {
+    const uint8_t sampled_channel = g_pdu_state.next_mux_channel;
+
+    g_pdu_state.mux_adc_counts[sampled_channel] = adc_readings.mux_out;
+    g_pdu_state.next_mux_channel                = (uint8_t)((sampled_channel + 1U) % 6U);
+
+    switches_select_mux_channel(g_pdu_state.next_mux_channel);
+}
+
+static void switches_update_currents(void) {
+    g_pdu_state.switch_current_ma[SW_PUMP_1] = switches_convert_high_power_current_ma(adc_readings.pump_1_imon);
+    g_pdu_state.switch_current_ma[SW_PUMP_2] = switches_convert_high_power_current_ma(adc_readings.pump_2_imon);
+    g_pdu_state.switch_current_ma[SW_SDC]    = switches_convert_high_power_current_ma(adc_readings.sdc_imon);
+    g_pdu_state.switch_current_ma[SW_HXFAN]  = switches_convert_high_power_current_ma(adc_readings.hxfan_imon);
+
+    g_pdu_state.switch_current_ma[SW_FAN_1] = switches_convert_high_power_current_ma(g_pdu_state.mux_adc_counts[0]);
+    g_pdu_state.switch_current_ma[SW_FAN_2] = switches_convert_high_power_current_ma(g_pdu_state.mux_adc_counts[1]);
+    g_pdu_state.switch_current_ma[SW_FAN_3] = switches_convert_high_power_current_ma(g_pdu_state.mux_adc_counts[2]);
+    g_pdu_state.switch_current_ma[SW_FAN_4] = switches_convert_high_power_current_ma(g_pdu_state.mux_adc_counts[3]);
+    g_pdu_state.switch_current_ma[SW_AMK1]  = switches_convert_high_power_current_ma(g_pdu_state.mux_adc_counts[4]);
+    g_pdu_state.switch_current_ma[SW_AMK2]  = switches_convert_high_power_current_ma(g_pdu_state.mux_adc_counts[5]);
+
+    g_pdu_state.switch_current_ma[SW_DASH] = switches_convert_low_power_current_ma(adc_readings.dash_cs);
+    g_pdu_state.switch_current_ma[SW_ABOX] = switches_convert_low_power_current_ma(adc_readings.abox_cs);
+    g_pdu_state.switch_current_ma[SW_MAIN] = switches_convert_low_power_current_ma(adc_readings.main_cs);
+    g_pdu_state.switch_current_ma[SW_DLFR] = switches_convert_low_power_current_ma(adc_readings.dlfr_cs);
+    g_pdu_state.switch_current_ma[SW_DLBK] = switches_convert_low_power_current_ma(adc_readings.dlbk_cs);
+
+    uint16_t current_mv = adc_readings.v24_cs;
+    current_mv = current_mv * ADC_REF_mV / ADC_MAX_COUNTS;
+    current_mv = (uint16_t)(current_mv / HP_CS_R_SENSE / CS_GAIN);
+    g_pdu_state.switch_current_ma[CS_24V] = current_mv;
+
+    current_mv = adc_readings.v5_cs;
+    current_mv = current_mv * ADC_REF_mV / ADC_MAX_COUNTS;
+    g_pdu_state.switch_current_ma[CS_5V] = current_mv;
+}
+
+static void switches_update_voltages(void) {
+    g_pdu_state.rail_voltage_mv.in_24v_mv  = switches_convert_voltage_mv(adc_readings.v24_vs, LV_24V_R1, LV_24V_R2);
+    g_pdu_state.rail_voltage_mv.out_5v_mv  = switches_convert_voltage_mv(adc_readings.v5_vs, LV_5V_R1, LV_5V_R2);
+    g_pdu_state.rail_voltage_mv.out_3v3_mv = switches_convert_voltage_mv(adc_readings.v3v3_vs, LV_3V3_R1, LV_3V3_R2);
+}
+
+void switches_init(void) {
+    g_pdu_state.next_mux_channel = 0;
+    memset(g_pdu_state.mux_adc_counts, 0, sizeof(g_pdu_state.mux_adc_counts));
+    switches_select_mux_channel(g_pdu_state.next_mux_channel);
+}
+
+void switches_periodic(void) {
+    switches_update_mux_measurements();
+    switches_update_currents();
+    switches_update_voltages();
+}
+
+void switches_set_state(switches_t switch_id, bool enabled) {
+    if (switch_id == CS_24V || switch_id == CS_5V || switch_id == CS_SWITCH_COUNT) {
+        return;
+    }
+
+    const pdu_switch_output_t *output = switches_get_output(switch_id);
+    if (output == nullptr) {
+        return;
+    }
+
+    if (output->has_ctrl_output) {
+        PHAL_writeGPIO(output->ctrl_port, output->ctrl_pin, enabled);
+    }
+
+    if (output->led_id != LED_NONE) {
+        LED_control(output->led_id, enabled ? LED_ON : LED_OFF);
+    }
+}
+
+bool switches_is_enabled(switches_t switch_id) {
+    const pdu_switch_output_t *output = switches_get_output(switch_id);
+    if (output == nullptr || !output->has_ctrl_output) {
+        return true;
+    }
+
+    return PHAL_readGPIO(output->ctrl_port, output->ctrl_pin);
+}
+
+uint16_t switches_get_mux_adc_counts(uint8_t channel) {
+    if (channel >= 6U) {
+        return 0;
+    }
+
+    return g_pdu_state.mux_adc_counts[channel];
+}
+
+void switches_enable_default_rails(void) {
+    switches_set_state(SW_SDC, true);
+    switches_set_state(SW_DAQ, true);
+    switches_set_state(SW_TV, true);
+    switches_set_state(SW_MAIN, true);
+    switches_set_state(SW_ABOX, true);
+    switches_set_state(SW_DASH, true);
+    switches_set_state(SW_CRIT_5V, true);
+    switches_set_state(SW_BLT, true);
+    switches_set_state(SW_HXFAN, true);
+    switches_set_state(SW_DLBK, true);
+    switches_set_state(SW_PUMP_1, true);
+    switches_set_state(SW_PUMP_2, true);
+}
diff --git a/source/pdu/switches/switches.h b/source/pdu/switches/switches.h
new file mode 100644
index 000000000..cf34bc531
--- /dev/null
+++ b/source/pdu/switches/switches.h
@@ -0,0 +1,50 @@
+#ifndef SWITCHES_H
+#define SWITCHES_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+typedef enum {
+    // High power switches
+    SW_PUMP_1 = 0,
+    SW_PUMP_2 = 1,
+    SW_SDC = 2,
+    SW_HXFAN = 3,
+
+    // High power switches (mux-sensed)
+    SW_FAN_1 = 4,
+    SW_FAN_2 = 5,
+    SW_FAN_3 = 6,
+    SW_FAN_4 = 7,
+    SW_AMK1 = 8,
+    SW_AMK2 = 9,
+
+    // Low power switches
+    SW_DASH = 10,
+    SW_ABOX = 11,
+    SW_MAIN = 12,
+    SW_DLFR = 13,
+    SW_DLBK = 14,
+
+    // Not switch outputs
+    CS_24V = 15,
+    CS_5V = 16,
+    CS_SWITCH_COUNT = 17,
+
+    // Low power switches (no current-sense)
+    SW_BLT = 18,
+    // 5V switches (no current-sense)
+    SW_CRIT_5V = 19,
+    SW_TV = 20,
+    SW_DAQ = 21,
+    SW_FAN_5V = 22
+} switches_t;
+
+void switches_init(void);
+void switches_periodic(void);
+void switches_enable_default_rails(void);
+void switches_set_state(switches_t switch_id, bool enabled);
+bool switches_is_enabled(switches_t switch_id);
+uint16_t switches_get_mux_adc_counts(uint8_t channel);
+
+#endif // SWITCHES_H
diff --git a/source/pdu/telemetry/telemetry.c b/source/pdu/telemetry/telemetry.c
new file mode 100644
index 000000000..85ad3ddaa
--- /dev/null
+++ b/source/pdu/telemetry/telemetry.c
@@ -0,0 +1,72 @@
+#include "telemetry.h"
+
+#include "can_library/faults_common.h"
+#include "can_library/generated/PDU.h"
+#include "can_library/generated/VCAN.h"
+#include "flow_rate.h"
+#include "main.h"
+#include "source/a_box/telemetry/telemetry.h"
+#include "state.h"
+#include "switches.h"
+
+static uint16_t telemetry_internal_temp_c(uint16_t internal_therm_adc_counts) {
+    float vsense = (internal_therm_adc_counts / (float)4095) * 3.3f;
+    float temp_c = ((vsense - 0.76f) / 0.0025f) + 25.0f;
+    if (temp_c <= 0.0f) {
+        return 0;
+    }
+
+    if (temp_c >= 65535.0f) {
+        return 65535;
+    }
+
+    return (uint16_t)temp_c;
+}
+
+/**
+ * @brief Reports telemetry data at 10 Hz rate
+ * Includes: Rail Voltages and Currents, Flow Rates
+ */
+static_assert(V_RAILS_PERIOD_MS == TELEMETRY_10HZ_PERIOD_MS);
+static_assert(OTHER_CURRENTS_PERIOD_MS == TELEMETRY_10HZ_PERIOD_MS);
+static_assert(PUMP_AND_FAN_CURRENT_PERIOD_MS == TELEMETRY_10HZ_PERIOD_MS);
+static_assert(V_RAILS_PERIOD_MS == TELEMETRY_10HZ_PERIOD_MS);
+static_assert(FAN_CURRENT2_PERIOD_MS == TELEMETRY_10HZ_PERIOD_MS);
+static_assert(FLOWRATES_PERIOD_MS == TELEMETRY_10HZ_PERIOD_MS);
+static_assert(RAIL_CURRENTS_PERIOD_MS == TELEMETRY_10HZ_PERIOD_MS);
+static_assert(PDU_TEMPS_PERIOD_MS == TELEMETRY_10HZ_PERIOD_MS);
+
+void telemetry_10hz(void) {
+    update_fault(FAULT_ID_LV_GETTING_LOW, g_pdu_state.rail_voltage_mv.in_24v_mv);
+    update_fault(FAULT_ID_LV_CRITICAL_LOW, g_pdu_state.rail_voltage_mv.in_24v_mv);
+
+    CAN_SEND_v_rails(
+        g_pdu_state.rail_voltage_mv.in_24v_mv,
+        g_pdu_state.rail_voltage_mv.out_5v_mv,
+        g_pdu_state.rail_voltage_mv.out_3v3_mv,
+        0
+    );
+
+    CAN_SEND_rail_currents(g_pdu_state.switch_current_ma[CS_24V], g_pdu_state.switch_current_ma[CS_5V]);
+
+    CAN_SEND_pump_and_fan_current(
+        g_pdu_state.switch_current_ma[SW_PUMP_1],
+        g_pdu_state.switch_current_ma[SW_PUMP_2],
+        g_pdu_state.switch_current_ma[SW_FAN_1],
+        g_pdu_state.switch_current_ma[SW_FAN_2]
+    );
+
+    CAN_SEND_fan_current2(g_pdu_state.switch_current_ma[SW_FAN_3], g_pdu_state.switch_current_ma[SW_FAN_4]);
+
+    CAN_SEND_other_currents(
+        g_pdu_state.switch_current_ma[SW_SDC],
+        g_pdu_state.switch_current_ma[SW_HXFAN],
+        g_pdu_state.switch_current_ma[SW_DASH],
+        g_pdu_state.switch_current_ma[SW_ABOX],
+        g_pdu_state.switch_current_ma[SW_MAIN]
+    );
+
+    CAN_SEND_pdu_temps(telemetry_internal_temp_c(adc_readings.internal_therm));
+
+    CAN_SEND_flowrates(getFlowRate1(), getFlowRate2());
+}
diff --git a/source/pdu/telemetry/telemetry.h b/source/pdu/telemetry/telemetry.h
new file mode 100644
index 000000000..b86827a88
--- /dev/null
+++ b/source/pdu/telemetry/telemetry.h
@@ -0,0 +1,9 @@
+#ifndef TELEMETRY_H
+#define TELEMETRY_H
+
+#include <stdint.h>
+
+static constexpr uint32_t TELEMETRY_10HZ_PERIOD_MS = 100;
+void telemetry_10hz(void);
+
+#endif // TELEMETRY_H