Index: firmware/App/Controllers/Switches.c
===================================================================
diff -u -r7da76d7131d824ab15f58857eeeedcf128e57391 -r2e56d2d983becc4b15bd296d583e046e061a5719
--- firmware/App/Controllers/Switches.c	(.../Switches.c)	(revision 7da76d7131d824ab15f58857eeeedcf128e57391)
+++ firmware/App/Controllers/Switches.c	(.../Switches.c)	(revision 2e56d2d983becc4b15bd296d583e046e061a5719)
@@ -3,6 +3,7 @@
 #include "Switches.h"
 #include "SystemCommMessages.h"
 #include "TaskGeneral.h"
+#include "Timers.h"
 
 /**
  *  @addtogroup Switches
@@ -11,17 +12,22 @@
 
 // ********** 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 FPGA status check interval.
 
+/// Switch status structure
+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 **********
 
@@ -40,32 +46,68 @@
     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;
-        switchStatus[ i ].ovData     = (U32)STATE_CLOSED;
-        switchStatus[ i ].ovInitData = (U32)STATE_CLOSED;
-        switchStatus[ i ].override   = OVERRIDE_RESET;
+        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;
     }
 }
 
 /*********************************************************************//**
  * @brief
  * The execSwitches function executes the switches executive.
- * @details Inputs: switchesFPGAStatusCheckCounter
- * @details Outputs: switchStatus, switchesFPGAStatusCheckCounter
+ * @details Inputs: switchesStatus
+ * @details Outputs: switchStatus
  * @return none
  *************************************************************************/
 void execSwitches( void )
 {
-    if ( ++switchesFPGAStatusCheckCounter > SWITCHES_FPGA_STATUS_CHECK_INTERVAL )
+    U08 i;
+
+    U16 currentSwitchStatus = 0;
+
+    for ( i = 0; i < NUM_OF_DOORS_AND_CAPS; i++ )
     {
-        switchStatus[ FRONT_DOOR ].data = (U32)( getFPGAFrontDoorStatus() != 0 ? STATE_CLOSED : STATE_OPEN );
+        // Get the current switch status
+        switch ( i )
+        {
+            case FRONT_DOOR:
+                currentSwitchStatus = getFPGAFrontDoorStatus();
+                break;
 
-        switchesFPGAStatusCheckCounter = 0;
+            case CARTRDIGE_LATCH:
+                currentSwitchStatus = getFPGACartridgeLatchStatus();
+                break;
+
+            default:
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_HD_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 +127,13 @@
 
     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
@@ -118,7 +160,8 @@
     {
         SWITCHES_DATA_T data;
 
-        data.frontDoor = (U32)getSwitchStatus( FRONT_DOOR );
+        data.frontDoor      = (U32)getSwitchStatus( FRONT_DOOR );
+        data.cartrdigeLatch = (U32)getSwitchStatus( CARTRDIGE_LATCH );
 
         switchesDataPublicationCounter = 0;
 
@@ -218,8 +261,8 @@
         if ( isTestingActivated() )
         {
             result = TRUE;
-            switchStatus[ switchId ].ovData   = status;
-            switchStatus[ switchId ].override = OVERRIDE_KEY;
+            switchesStatus[ switchId ].status.ovData   = status;
+            switchesStatus[ switchId ].status.override = OVERRIDE_KEY;
         }
     }
 
@@ -244,8 +287,8 @@
         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;
         }
     }