Index: firmware/App/Controllers/Switches.c
===================================================================
diff -u -rc2fe204db1b8926994b5eee78afa1b516c97d02c -rb7c30522ec6cde3ca515f36a053a1fff4e14159c
--- firmware/App/Controllers/Switches.c	(.../Switches.c)	(revision c2fe204db1b8926994b5eee78afa1b516c97d02c)
+++ firmware/App/Controllers/Switches.c	(.../Switches.c)	(revision b7c30522ec6cde3ca515f36a053a1fff4e14159c)
@@ -4,6 +4,7 @@
 #include "Switches.h"
 #include "SystemCommMessages.h"
 #include "TaskGeneral.h"
+#include "Timers.h"
 
 /**
  *  @addtogroup Switches
@@ -12,17 +13,21 @@
 
 // ********** private definitions **********
 
-#define SWITCHES_DATA_PUB_INTERVAL                ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )                      ///< Interval (ms/task time) at which the switches data is published on the CAN bus.
-#define SWITCHES_FPGA_STATUS_CHECK_INTERVAL       ( MS_PER_SECOND / ( 5 * TASK_GENERAL_INTERVAL ) )              ///< Switches FPGA status check interval.
+#define SWITCHES_DATA_PUB_INTERVAL      ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )               ///< Interval (ms/task time) at which the switches data is published on the CAN bus.
+#define SWITCHES_DEBOUNCE_TIME_MS       ( MS_PER_SECOND / 4 )                                   ///< Switches debounce time in milliseconds.
 
+typedef struct
+{
+    OVERRIDE_U32_T status;                                                                      ///< Switch status.
+    U32 debounceStartTime;                                                                      ///< Debounce start time.
+} SWITCH_STATUS_T;
+
 // ********** private data **********
 
-static U32 switchesDataPublicationCounter;                                                                       ///< Switches data publication counter.
+static U32 switchesDataPublicationCounter;                                                      ///< Switches data publication counter.
 static OVERRIDE_U32_T switchesDataPublishInterval = { SWITCHES_DATA_PUB_INTERVAL,
-                                                      SWITCHES_DATA_PUB_INTERVAL,
-                                                      0, 0 };                                                    ///< Interval (in ms) at which to publish switches data to CAN bus.
-static OVERRIDE_U32_T switchStatus[ NUM_OF_DOORS_AND_CAPS ];                                                     ///< Switches status array.
-static U32 switchesFPGAStatusCheckCounter;                                                                       ///< Switches FPGA status check counter.
+                                                      SWITCHES_DATA_PUB_INTERVAL, 0, 0 };       ///< Interval (in ms) at which to publish switches data to CAN bus.
+static SWITCH_STATUS_T switchesStatus[ NUM_OF_DOORS_AND_CAPS ];                                 ///< Switches status array.
 
 // ********** private function prototypes **********
 
@@ -41,12 +46,15 @@
     U08 i;
 
     switchesDataPublicationCounter = 0;
-    switchesFPGAStatusCheckCounter = 0;
 
     // Initialize all the switches
     for ( i = 0; i < NUM_OF_DOORS_AND_CAPS; i++ )
     {
-        switchStatus[ i ].data = (U32)STATE_CLOSED;
+        switchesStatus[ i ].status.data       = (U32)STATE_CLOSED;
+        switchesStatus[ i ].status.ovData     = (U32)STATE_CLOSED;
+        switchesStatus[ i ].status.ovInitData = (U32)STATE_CLOSED;
+        switchesStatus[ i ].status.override   = OVERRIDE_RESET;
+        switchesStatus[ i ].debounceStartTime = 0;
     }
 }
 
@@ -59,13 +67,51 @@
  *************************************************************************/
 void execSwitches( void )
 {
-    if ( ++switchesFPGAStatusCheckCounter > SWITCHES_FPGA_STATUS_CHECK_INTERVAL )
+    U08 i;
+
+    U08 currentSwitchStatus = 0;
+
+    for ( i = 0; i < NUM_OF_DOORS_AND_CAPS; i++ )
     {
-        switchStatus[ CONCENTRATE_CAP ].data = (U32)( getFPGAGFluidDoorStatus() != 0 ? STATE_CLOSED : STATE_OPEN );
-        switchStatus[ DIALYSATE_CAP ].data   = (U32)( getFPGADialysateCapStatus() != 0 ? STATE_CLOSED : STATE_OPEN );
-        switchStatus[ FLUID_DOOR ].data      = (U32)( getFPGAConcentrateCapStatus() != 0 ? STATE_CLOSED : STATE_OPEN );
+        // Get the current switch status
+        switch ( i )
+        {
+            case CONCENTRATE_CAP:
+                currentSwitchStatus = getFPGAConcentrateCapStatus();
+                break;
 
-        switchesFPGAStatusCheckCounter = 0;
+            case DIALYSATE_CAP:
+                currentSwitchStatus = getFPGADialysateCapStatus();
+                break;
+
+            case FLUID_DOOR:
+                currentSwitchStatus = getFPGAGFluidDoorStatus();
+                break;
+
+            default:
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_DG_INVALID_SWITCH_ID, i )
+                break;
+        }
+
+        // Check if the current switch status is not the same as the recorded data
+        if ( currentSwitchStatus != switchesStatus[ i ].status.data )
+        {
+            // If the debounce time is 0, start the timer
+            if ( 0 == switchesStatus[ i ].debounceStartTime )
+            {
+                switchesStatus[ i ].debounceStartTime = getMSTimerCount();
+            }
+            // If the debounce time has been elapsed, update the switch status to the new status
+            else if ( TRUE == didTimeout( switchesStatus[ i ].debounceStartTime, SWITCHES_DEBOUNCE_TIME_MS ) )
+            {
+                switchesStatus[ i ].debounceStartTime = 0;
+                switchesStatus[ i ].status.data       = currentSwitchStatus;
+            }
+        }
+        else
+        {
+            switchesStatus[ i ].debounceStartTime = 0;
+        }
     }
 
     publishSwitchesData();
@@ -85,13 +131,13 @@
 
     if ( switchId < NUM_OF_DOORS_AND_CAPS )
     {
-        if ( OVERRIDE_KEY == switchStatus[ switchId ].override )
+        if ( OVERRIDE_KEY == switchesStatus[ switchId ].status.override )
         {
-            status = switchStatus[ switchId ].ovData;
+            status = switchesStatus[ switchId ].status.ovData;
         }
         else
         {
-            status = switchStatus[ switchId ].data;
+            status = switchesStatus[ switchId ].status.data;
         }
     }
     else
@@ -220,15 +266,14 @@
         if ( isTestingActivated() )
         {
             result = TRUE;
-            switchStatus[ switchId ].ovData     = status;
-            switchStatus[ switchId ].override   = OVERRIDE_KEY;
+            switchesStatus[ switchId ].status.ovData   = status;
+            switchesStatus[ switchId ].status.override = OVERRIDE_KEY;
         }
     }
 
     return result;
 }
 
-
 /*********************************************************************//**
  * @brief
  * The testResetSwitchesStatusOverride function resets the override
@@ -247,8 +292,8 @@
         if ( isTestingActivated() )
         {
             result = TRUE;
-            switchStatus[ switchId ].override = OVERRIDE_RESET;
-            switchStatus[ switchId ].ovData   = switchStatus[ switchId ].ovInitData;
+            switchesStatus[ switchId ].status.override = OVERRIDE_RESET;
+            switchesStatus[ switchId ].status.ovData   = switchesStatus[ switchId ].status.ovInitData;
         }
     }