Index: firmware/App/Controllers/Switches.c
===================================================================
diff -u -r076d41f2a507a2f1e5ceb929100bd025cee3b840 -r37a9fd8f15e413db5337371a7d1a1cb65567af7c
--- firmware/App/Controllers/Switches.c	(.../Switches.c)	(revision 076d41f2a507a2f1e5ceb929100bd025cee3b840)
+++ firmware/App/Controllers/Switches.c	(.../Switches.c)	(revision 37a9fd8f15e413db5337371a7d1a1cb65567af7c)
@@ -1,3 +1,19 @@
+/**************************************************************************
+*
+* Copyright (c) 2021-2022 Diality Inc. - All Rights Reserved.
+*
+* THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+* WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+*
+* @file    Switches.c
+*
+* @author  (last)      Darren Cox
+* @date    (last)      10-Mar-2022
+*
+* @author  (original)  Dara Navaei
+* @date    (original)  25-Jul-2021
+*
+***************************************************************************/
 
 #include "FPGA.h"
 #include "Switches.h"
@@ -14,6 +30,7 @@
 
 #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 FPGA status check interval.
+#define DATA_PUBLISH_COUNTER_START_COUNT 4                                                      ///< Data publish counter start count.
 
 /// Switch status structure
 typedef struct
@@ -45,7 +62,7 @@
 {
     U08 i;
 
-    switchesDataPublicationCounter = 0;
+    switchesDataPublicationCounter = DATA_PUBLISH_COUNTER_START_COUNT;
 
     // Initialize all the switches
     for ( i = 0; i < NUM_OF_DOORS_AND_SWITCHES; i++ )
@@ -68,24 +85,23 @@
 void execSwitches( void )
 {
     U08 i;
+    U16 currentSwitchStatus;
 
-    U16 currentSwitchStatus = 0;
-
     for ( i = 0; i < NUM_OF_DOORS_AND_SWITCHES; i++ )
     {
         // Get the current switch status
         switch ( i )
         {
             case FRONT_DOOR:
-                currentSwitchStatus = getFPGAFrontDoorStatus();
+                currentSwitchStatus = ( 0 == getFPGAFrontDoorStatus() ? STATE_OPEN : STATE_CLOSED );
                 break;
 
             case PUMP_TRACK_SWITCH:
-                currentSwitchStatus = getFPGAPumpTrackSwitchStatus();
+                currentSwitchStatus = ( 0 == getFPGAPumpTrackSwitchStatus() ? STATE_OPEN : STATE_CLOSED );
                 break;
 
             default:
-                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_HD_INVALID_SWITCH_ID, i )
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_HD_INVALID_SWITCH_ID, i )
                 break;
         }
 
@@ -103,7 +119,7 @@
                 switchesStatus[ i ].debounceStartTime = 0;
                 // If the bit is 0, the door switch is open, because it is normally open switch
                 // TODO investigate the polarity of the pump track switch once it tied to the cartridge latch
-                switchesStatus[ i ].status.data       = ( 0 == currentSwitchStatus ? STATE_OPEN : STATE_CLOSED );
+                switchesStatus[ i ].status.data       = currentSwitchStatus;
             }
         }
         else
@@ -112,6 +128,17 @@
         }
     }
 
+    // Clear active Alarms
+    if ( STATE_CLOSED == getSwitchStatus( FRONT_DOOR ) )
+    {
+        clearAlarmCondition( ALARM_ID_CARTRIDGE_DOOR_OPENED );
+    }
+
+    if ( STATE_CLOSED == getSwitchStatus( PUMP_TRACK_SWITCH ) )
+    {
+        clearAlarmCondition( ALARM_ID_PUMP_TRACK_LATCH_OPENED );
+    }
+
     publishSwitchesData();
 }
 
@@ -138,7 +165,7 @@
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_HD_INVALID_SWITCH_ID, (U32)switchId )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_HD_INVALID_SWITCH_ID, (U32)switchId )
     }
 
     return (OPN_CLS_STATE_T)status;
@@ -161,11 +188,11 @@
         SWITCHES_DATA_T data;
 
         data.frontDoor      = (U32)getSwitchStatus( FRONT_DOOR );
-        data.cartrdigeLatch = (U32)getSwitchStatus( PUMP_TRACK_SWITCH );
+        data.pumpTrackSwitch = (U32)getSwitchStatus( PUMP_TRACK_SWITCH );
 
         switchesDataPublicationCounter = 0;
 
-        broadcastSwitchesData( &data );
+        broadcastData( MSG_ID_HD_SWITCHES_DATA, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&data, sizeof( SWITCHES_DATA_T ) );
     }
 }