diff --git a/Core/Application/INIT_Initialization.c b/Core/Application/INIT_Initialization.c
index d354d7c..8730097 100644
--- a/Core/Application/INIT_Initialization.c
+++ b/Core/Application/INIT_Initialization.c
@@ -153,27 +153,40 @@ BOOL INIT_boCreateTask( VOID )
 //-------------------------------------------------------------------------------------------------
 PRIVATE VOID vTask( PVOID arg )
 {
-  UNUSED( arg );
+	UNUSED( arg );
 
-  BOOL boOK         = TRUE;
-  
-  boOK &= ERRH_boInitializeModule();
-  boOK &= USFL_boInitializeModule();
-  boOK &= VARH_boInitializeModule();
+	BOOL boOK         = TRUE;
 
-  boOK &= DIPO_boInitializeModule();
-  boOK &= ANPI_boInitializeModule();
+	uint32_t reset_flags = RCC->CSR;
+
+	boOK &= ERRH_boInitializeModule();
+	boOK &= USFL_boInitializeModule();
+	boOK &= VARH_boInitializeModule();
+
+	if (reset_flags & RCC_CSR_IWDGRSTF) {
+	  // This was IWDG
+	  ERRH_vSetError(HARDFAULT_ERROR_MASK | HARDFAULT_ERROR_IWDG);
+	}else if (reset_flags & RCC_CSR_SFTRSTF) {
+	  // Software reset (NVIC_SystemReset or by debugger)
+	  ERRH_vSetError(HARDFAULT_ERROR_MASK | HARDFAULT_ERROR_SWRST);
+	}
+
+	boOK &= DIPO_boInitializeModule();
+	boOK &= ANPI_boInitializeModule();
 	boOK &= ANPO_boInitializeModule();
-  boOK &= SPID_boInitializeModule();
-  boOK &= ADCD_boInitializeModule();
+	boOK &= SPID_boInitializeModule();
+	boOK &= ADCD_boInitializeModule();
 	boOK &= TEMP_boInitializeModule();
 	boOK &= CAND_boInitializeModule();
 
-  boOK &= PECO_boInitializeModule();
-  boOK &= MAIN_boInitializeModule();
+	boOK &= PECO_boInitializeModule();
+	boOK &= MAIN_boInitializeModule();
+
+
 
   if( !boOK ){
     osKernelLock(); // lock kernel to prevent task switch
+    PECO_Enable( FALSE );
     while( 1 ){ // Toggle Error LED fast
       DIPO_vToggleOutput( DIPO_eLED );
       DELAY_MS( 100 );
diff --git a/Core/Application/MAIN_MainApplication.c b/Core/Application/MAIN_MainApplication.c
index 3566fe0..7c078c1 100644
--- a/Core/Application/MAIN_MainApplication.c
+++ b/Core/Application/MAIN_MainApplication.c
@@ -43,6 +43,8 @@
 #include "../Drivers/ANPI_AnalogPortsIn.h"
 #include "../Drivers/ANPO_AnalogPortsOut.h"
 
+#include "../Drivers/ERRH_ErrorHandler.h"
+
 // Toolbox
 #include "../Toolbox/UTIL_Utility.h"
 
@@ -57,7 +59,7 @@
 //=================================================================================================
 
 /* Software Version */
-#define SW_VERSION                  			7
+#define SW_VERSION                  			8
 
 #define MSG_QUEUE_SIZE							8
 
@@ -206,14 +208,14 @@ BOOL MAIN_boInitializeModule( VOID )
    
   boOK &= ( ( m_pstEventID = osEventFlagsNew( &stEventAttribute ) ) == NULL ) ? FALSE : TRUE; 
   boOK &= ( ( m_pstThreadID = osThreadNew( vTask, NULL, &stTaskAttribute ) ) == NULL ) ? FALSE : TRUE;
-	boOK &= ( ( m_pstCANRxMsgQueueID = osMessageQueueNew( MSG_QUEUE_SIZE, sizeof( CAND_Message ), &stCANRxMsgQueueAttribute ) ) == NULL ) ? FALSE : TRUE;
+  boOK &= ( ( m_pstCANRxMsgQueueID = osMessageQueueNew( MSG_QUEUE_SIZE, sizeof( CAND_Message ), &stCANRxMsgQueueAttribute ) ) == NULL ) ? FALSE : TRUE;
   boOK &= ( m_pstUpdateTimer = osTimerNew( vEventCallback, osTimerPeriodic, (PVOID)EVENT_TIMER_UPDATE, &stTimerAttribute ) ) == NULL ? FALSE : TRUE;
   boOK &= ( m_pstWatchdogTimer = osTimerNew( vEventCallback, osTimerPeriodic, (PVOID)EVENT_WATCHDOG, &stWatchdogTimerAttribute ) ) == NULL ? FALSE : TRUE;
   
   boOK &= (osTimerStart( m_pstUpdateTimer, 1000 ) == osOK ) ? TRUE : FALSE;
   boOK &= (osTimerStart( m_pstWatchdogTimer, WATCHDOG ) == osOK ) ? TRUE : FALSE;
 	
-	CAND_vSetRxCallback( vMsgRxCallback );
+  CAND_vSetRxCallback( vMsgRxCallback );
   
   return( boOK );
 }
@@ -244,77 +246,81 @@ PRIVATE VOID vTask( PVOID arg )
 		if( u32Flags & EVENT_NEW_MESSAGE ) { // New message from CAN
 
 			CAND_Message stMessage;
-      osMessageQueueGet( m_pstCANRxMsgQueueID, &stMessage, NULL, 0 ); // get message from queue
+			osMessageQueueGet( m_pstCANRxMsgQueueID, &stMessage, NULL, 0 ); // get message from queue
 
-      U8 u8Register = stMessage.au8Data[0];
-      U8 u8Type = stMessage.u8Type;
+			  U8 u8Register = stMessage.au8Data[0];
+			  U8 u8Type = stMessage.u8Type;
 
-      if( u8Type == MESSAGE_TYPE_READ ){ // Message type read
+			  if( u8Type == MESSAGE_TYPE_READ ){ // Message type read
 
-        if( u8Register >= VARH_eNumberOfVariables ){ // check register
-          // send register not found
-          au8Buffer[0] = 0xFF; 
-          CAND_boSendMessage( au8Buffer, 1, stMessage.boIsPrivate, stMessage.u8Type );
-        } else {
-          VARH_UVariable uVariable = VARH_uGetVariableData(u8Register); // get data
-          au8Buffer[0] = u8Register;
-          UTIL_vMemCopy(&uVariable, &au8Buffer[1], 4); // copy data in buffer
+				if( u8Register >= VARH_eNumberOfVariables ){ // check register
+					// send register not found
+					ERRH_vSetError(MAIN_ERROR_MASK | MAIN_ERROR_REG_NOT_FOUND);
 
-          CAND_boSendMessage( au8Buffer, 5, stMessage.boIsPrivate, stMessage.u8Type );
-        }
-        
-      } else if( u8Type == MESSAGE_TYPE_WRITE ){ // Message type write
-        VARH_UVariable uData;
-        UTIL_vMemCopy(&stMessage.au8Data[1], &uData, 4);
+					au8Buffer[0] = 0xFF;
+					CAND_boSendMessage( au8Buffer, 1, stMessage.boIsPrivate, stMessage.u8Type );
+				} else {
+					VARH_UVariable uVariable = VARH_uGetVariableData(u8Register); // get data
+					au8Buffer[0] = u8Register;
+					UTIL_vMemCopy(&uVariable, &au8Buffer[1], 4); // copy data in buffer
 
-        VARH_vSetVariableData(u8Register, uData);
-      } else if( u8Type == MESSAGE_TYPE_COMMAND ){ // Message type command
+					CAND_boSendMessage( au8Buffer, 5, stMessage.boIsPrivate, stMessage.u8Type );
+				}
 
-        switch (u8Register)
-        {
-        case COMMAND_ON:
-          PECO_Enable( TRUE );
-          break;
-        case COMMAND_OFF:
-          PECO_Enable( FALSE );
-          break;
-        case COMMAND_WATCHDOG:
-          osTimerStart( m_pstWatchdogTimer, WATCHDOG );
-          break;
-        case COMMAND_CLEAR_ERROR:
-          VARH_vSetVariableDataFromSystemU32( VARH_eError, 0x00000000 );
-          break;
-        case COMMAND_REBOOT:
-          PECO_Enable( FALSE );
-          HAL_NVIC_SystemReset();
-          break;
-        case COMMAND_GET_SW_VERSION:
-          au8Buffer[0] = COMMAND_GET_SW_VERSION; 
-          au8Buffer[1] = SW_VERSION; 
-          CAND_boSendMessage( au8Buffer, 2, stMessage.boIsPrivate, stMessage.u8Type );
-          break;
-        case COMMAND_SAVE_VARIABLES:
-          VARH_vSaveVariablestoFlash();
-          // @TODO Error handling Flash Save
-          break;
-        case COMMAND_LOAD_VARIABLES:
-          VARH_vLoadVariablesfromFlash();
-          break;
-        default:
-          break;
-        }
-      }
-    }
+			  } else if( u8Type == MESSAGE_TYPE_WRITE ){ // Message type write
+				VARH_UVariable uData;
+				UTIL_vMemCopy(&stMessage.au8Data[1], &uData, 4);
+
+				VARH_vSetVariableData(u8Register, uData);
+			  } else if( u8Type == MESSAGE_TYPE_COMMAND ){ // Message type command
+
+				switch (u8Register)
+				{
+				case COMMAND_ON:
+				  PECO_Enable( TRUE );
+				  break;
+				case COMMAND_OFF:
+				  PECO_Enable( FALSE );
+				  break;
+				case COMMAND_WATCHDOG:
+				  osTimerStart( m_pstWatchdogTimer, WATCHDOG );
+				  break;
+				case COMMAND_CLEAR_ERROR:
+				  ERRH_vClearError();
+				  break;
+				case COMMAND_REBOOT:
+				  PECO_Enable( FALSE );
+				  HAL_NVIC_SystemReset();
+				  break;
+				case COMMAND_GET_SW_VERSION:
+				  au8Buffer[0] = COMMAND_GET_SW_VERSION;
+				  au8Buffer[1] = SW_VERSION;
+				  CAND_boSendMessage( au8Buffer, 2, stMessage.boIsPrivate, stMessage.u8Type );
+				  break;
+				case COMMAND_SAVE_VARIABLES:
+				  if(!VARH_vSaveVariablestoFlash()){
+					  ERRH_vSetError(MAIN_ERROR_MASK | MAIN_ERROR_SAVE_FLASH);
+				  }
+				  break;
+				case COMMAND_LOAD_VARIABLES:
+				  VARH_vLoadVariablesfromFlash();
+				  break;
+				default:
+					ERRH_vSetError(MAIN_ERROR_MASK | MAIN_ERROR_CMD_NOT_FOUND);
+				  break;
+				}
+			  }
+			}
 
 		if( u32Flags & EVENT_TIMER_UPDATE )
-    {
+		{
 			DIPO_vToggleOutput( DIPO_eLED );
 		}
 
-    if( u32Flags & EVENT_WATCHDOG )
-    {
+		if( u32Flags & EVENT_WATCHDOG )
+    	{
 			PECO_Enable( FALSE );
-      // TODO: WATCHDOG: what else?
+//			ERRH_vSetError(MAIN_ERROR_MASK | MAIN_ERROR_WATCHDOG);
 		}
         
   }
@@ -339,7 +345,7 @@ PRIVATE VOID vEventCallback( PVOID pvData )
 //-------------------------------------------------------------------------------------------------
 PRIVATE VOID vMsgRxCallback( CAND_Message stMessage )
 {
-  osMessageQueuePut( m_pstCANRxMsgQueueID, &stMessage, 0, 0 );
+	osMessageQueuePut( m_pstCANRxMsgQueueID, &stMessage, 0, 0 );
 	osEventFlagsSet( m_pstEventID, EVENT_NEW_MESSAGE );
 }
 
diff --git a/Core/Application/PECO_PeltierController.c b/Core/Application/PECO_PeltierController.c
index 78e18e5..14e998a 100644
--- a/Core/Application/PECO_PeltierController.c
+++ b/Core/Application/PECO_PeltierController.c
@@ -33,6 +33,8 @@
 // Application
 #include "../Application/VARH_VariableHandler.h"
 
+#include "ERRH_ErrorHandler.h"
+
 // Driver
 #include "ANPO_AnalogPortsOut.h"
 #include "DIPO_DigitalPorts.h"
@@ -56,7 +58,7 @@
 
 #define EVENT_FLAGS_ALL (EVENT_TIMER_UPDATE)
 
-#define MAX_POWER_PELTIER 100
+#define MAX_POWER_PELTIER 110 // safety for pid regulations
 
 //=================================================================================================
 // Section:       MACROS
@@ -234,9 +236,9 @@ VOID vTask(PVOID arg)
           FLOAT power = VARH_flGetVariableData(VARH_ePeltier_P);
           if(power > MAX_POWER_PELTIER){
         	  PECO_Enable(FALSE);
+        	  ERRH_vSetError(PELTIER_ERROR_MASK | PELTIER_ERROR_MAX_POWER);
           }
 
-
           // PID Regelung
 
           FLOAT Kp = VARH_flGetVariableData(VARH_ePID_kp);
@@ -285,11 +287,11 @@ VOID vTask(PVOID arg)
           d_prev = D;
           i_prev = I;
 
-          boSetPeltierVoltage(Uout); // set the output
+          if(!boSetPeltierVoltage(Uout)) ERRH_vSetError(PELTIER_ERROR_MASK | PELTIER_ERROR_SETVOLTAGE_PID); // set the output
         }
         else if (VARH_u32GetVariableData(VARH_eMode) == PECO_eConst_Voltage)
         {
-          boSetPeltierVoltage(VARH_flGetVariableData(VARH_eControlVoltage)); // set the output
+          if(!boSetPeltierVoltage(VARH_flGetVariableData(VARH_eControlVoltage))) ERRH_vSetError(PELTIER_ERROR_MASK | PELTIER_ERROR_SETVOLTAGE); // set the output
 
           // reset PID Vars
           error_prev = 0;
diff --git a/Core/Application/VARH_VariableHandler.c b/Core/Application/VARH_VariableHandler.c
index d1720ba..2462af6 100644
--- a/Core/Application/VARH_VariableHandler.c
+++ b/Core/Application/VARH_VariableHandler.c
@@ -32,6 +32,8 @@
 
 #include "USFL_UserFlash.h"
 
+#include "ERRH_ErrorHandler.h"
+
 // Toolbox
 #include "../Toolbox/UTIL_Utility.h"
 
@@ -153,7 +155,7 @@ BOOL VARH_boInitializeModule( VOID )
 {
   BOOL boOK = TRUE;
 
-	boOK &= ( ( m_pstMutexID = osMutexNew( &m_stMutexAttr ) ) == NULL ) ? FALSE : TRUE;
+  boOK &= ( ( m_pstMutexID = osMutexNew( &m_stMutexAttr ) ) == NULL ) ? FALSE : TRUE;
 	
   VARH_vSetAllVariablesToInitData();
   
@@ -172,11 +174,14 @@ VOID VARH_vSetVariableData( U8 u8Variable, VARH_UVariable uData )
 	// check parameters
   if( m_astVarInfo[u8Variable].u8Flags & VARH_FLAGINFO_READONLY )
   {
-    return;
+	  ERRH_vSetError(VARH_ERROR_MASK | VARH_ERROR_READONLY);
+	  return;
   }
 
 	osMutexAcquire( m_pstMutexID, osWaitForever );                                        // aquire mutex
-  if( boCheckRange( u8Variable, uData ) ) { m_auVariable[u8Variable].uData = uData; }   // store new value
+  if( boCheckRange( u8Variable, uData ) ) {
+	  m_auVariable[u8Variable].uData = uData; // store new value
+  } else ERRH_vSetError(VARH_ERROR_MASK | VARH_ERROR_OUTOFRANGE);
   osMutexRelease( m_pstMutexID );                   															      // release mutex
 }
 
@@ -231,6 +236,7 @@ VOID VARH_vSetVariableDataFromSystem( U8 u8Variable, VARH_UVariable uData )
   if( !boCheckRange( u8Variable, uData ) ) 
   { 
     m_auVariable[u8Variable].u8Flags |= VARH_FLAG_OUTOFRANGE;                           // check the value
+    ERRH_vSetError(VARH_ERROR_MASK | VARH_ERROR_OUTOFRANGE_INT);
   }
   m_auVariable[u8Variable].uData = uData;                                               // store new value
   osMutexRelease( m_pstMutexID );                   															      // release mutex
@@ -401,6 +407,7 @@ VOID VARH_vLoadVariablesfromFlash( VOID )
     }
   }
   if( !boOK ){
+	  ERRH_vSetError(VARH_ERROR_MASK | VARH_ERROR_LOAD_FLASH);
     for( U8 u8Var = 0; u8Var < VARH_eNumberOfVariables; u8Var++ )
     {
       if( (m_astVarInfo[u8Var].u8Flags & VARH_FLAGINFO_FLASH) == VARH_FLAGINFO_FLASH ){
diff --git a/Core/Drivers/ADCD_AdcDriver.c b/Core/Drivers/ADCD_AdcDriver.c
index c99a9e7..f932af8 100644
--- a/Core/Drivers/ADCD_AdcDriver.c
+++ b/Core/Drivers/ADCD_AdcDriver.c
@@ -204,9 +204,6 @@ BOOL ADCD_boInitializeModule( VOID )
 	boOK &= boWriteReg( REG_CONFIG, (U16) CONFIG | CONFIG_FAULTSTATCLEAR, FALSE );
 	DIPO_vResetOutput( DIPO_eCS_Water );
 
-	/** @todo read back configuration */
-
-
 	osMutexRelease( m_pstMutexID );
   
   	return( boOK );
diff --git a/Core/Drivers/ANPI_AnalogPortsIn.c b/Core/Drivers/ANPI_AnalogPortsIn.c
index d6318af..ee0693e 100644
--- a/Core/Drivers/ANPI_AnalogPortsIn.c
+++ b/Core/Drivers/ANPI_AnalogPortsIn.c
@@ -36,6 +36,8 @@
 // Drivers
 #include "PECO_PeltierController.h"
 
+#include "ERRH_ErrorHandler.h"
+
 // Toolbox
 #include "../Toolbox/UTIL_Utility.h"
 
@@ -316,30 +318,12 @@ void HAL_ADC_ConvHalfCpltCallback( ADC_HandleTypeDef* hadc )
 //-------------------------------------------------------------------------------------------------
 void HAL_ADC_ErrorCallback( ADC_HandleTypeDef* hadc )
 {
-  // TODO: Error Handling
-  if( hadc->ErrorCode == HAL_ADC_ERROR_NONE )
-  {
+  if( hadc->ErrorCode == HAL_ADC_ERROR_NONE ){
+	  ERRH_vSetError(AI_DMA_ERROR_MASK | hadc->DMA_Handle->ErrorCode);
+  } else {
+	  ERRH_vSetError(AI_ERROR_MASK | hadc->ErrorCode);
+  }
     
-  }
   
-  if( hadc->ErrorCode == HAL_ADC_ERROR_INTERNAL )
-  {
-    
-  }
 
-  if( hadc->ErrorCode == HAL_ADC_ERROR_OVR )
-  {
-
-  }
-  
-  if( hadc->ErrorCode == HAL_ADC_ERROR_DMA )
-  {
-
-  }
-  
-  if( hadc->DMA_Handle->ErrorCode & HAL_DMA_ERROR_TE )
-  {
-
-  } 
-  
 }
diff --git a/Core/Drivers/CAND_CanDriver.c b/Core/Drivers/CAND_CanDriver.c
index 8793c7f..8c175d0 100644
--- a/Core/Drivers/CAND_CanDriver.c
+++ b/Core/Drivers/CAND_CanDriver.c
@@ -38,6 +38,8 @@
 // Driver
 #include "DIPO_DigitalPorts.h"
 
+#include "ERRH_ErrorHandler.h"
+
 // include STM32 drivers
 #include "stm32l4xx_hal.h"
 
@@ -258,8 +260,8 @@ void HAL_CAN_RxFifo0MsgPendingCallback( CAN_HandleTypeDef *hcan ){
 // Returns:       None
 //-------------------------------------------------------------------------------------------------
 void HAL_CAN_ErrorCallback( CAN_HandleTypeDef *hcan ){
-	// U32 u32Error = hcan->ErrorCode;
-	/** TODO: Can Error Handling */
+	U32 u32Error = hcan->ErrorCode;
+	ERRH_vSetError(CAN_ERROR_MASK | u32Error);
 }
 
 
diff --git a/Core/Drivers/ERRH_ErrorHandler.c b/Core/Drivers/ERRH_ErrorHandler.c
index 4a4da63..9f7be86 100644
--- a/Core/Drivers/ERRH_ErrorHandler.c
+++ b/Core/Drivers/ERRH_ErrorHandler.c
@@ -31,6 +31,7 @@
 //=================================================================================================
 
 #include "ERRH_ErrorHandler.h"
+#include "VARH_VariableHandler.h"
 
 // Toolbox
 #include "../Toolbox/UTIL_Utility.h"
@@ -106,12 +107,30 @@ BOOL ERRH_boInitializeModule( VOID )
 {
   BOOL boOK = TRUE;
 
-
+  // nothing to do yet in init
 
   return( boOK );
 }
 
 
+VOID ERRH_vClearError( VOID )
+{
+  VARH_vSetVariableDataFromSystemU32( VARH_eError, NO_ERROR );
+}
+
+
+VOID ERRH_vSetError( U32 u32Error )
+{
+  VARH_vSetVariableDataFromSystemU32( VARH_eError, u32Error );
+}
+
+U32 ERRH_u32GetError( VOID )
+{
+  return( VARH_u32GetVariableData( VARH_eError ) );
+}
+
+
+
 
 
 
diff --git a/Core/Drivers/ERRH_ErrorHandler.h b/Core/Drivers/ERRH_ErrorHandler.h
index 9c5f8cc..9c759e5 100644
--- a/Core/Drivers/ERRH_ErrorHandler.h
+++ b/Core/Drivers/ERRH_ErrorHandler.h
@@ -48,30 +48,124 @@ extern "C" {
 
 // CAN Errors
 
+#define CAN_ERROR_MASK 0x01000000
+
+// #define HAL_CAN_ERROR_NONE            (0x00000000U)  /*!< No error                                             */
+// #define HAL_CAN_ERROR_EWG             (0x00000001U)  /*!< Protocol Error Warning                               */
+// #define HAL_CAN_ERROR_EPV             (0x00000002U)  /*!< Error Passive                                        */
+// #define HAL_CAN_ERROR_BOF             (0x00000004U)  /*!< Bus-off error                                        */
+// #define HAL_CAN_ERROR_STF             (0x00000008U)  /*!< Stuff error                                          */
+// #define HAL_CAN_ERROR_FOR             (0x00000010U)  /*!< Form error                                           */
+// #define HAL_CAN_ERROR_ACK             (0x00000020U)  /*!< Acknowledgment error                                 */
+// #define HAL_CAN_ERROR_BR              (0x00000040U)  /*!< Bit recessive error                                  */
+// #define HAL_CAN_ERROR_BD              (0x00000080U)  /*!< Bit dominant error                                   */
+// #define HAL_CAN_ERROR_CRC             (0x00000100U)  /*!< CRC error                                            */
+// #define HAL_CAN_ERROR_RX_FOV0         (0x00000200U)  /*!< Rx FIFO0 overrun error                               */
+// #define HAL_CAN_ERROR_RX_FOV1         (0x00000400U)  /*!< Rx FIFO1 overrun error                               */
+// #define HAL_CAN_ERROR_TX_ALST0        (0x00000800U)  /*!< TxMailbox 0 transmit failure due to arbitration lost */
+// #define HAL_CAN_ERROR_TX_TERR0        (0x00001000U)  /*!< TxMailbox 0 transmit failure due to transmit error   */
+// #define HAL_CAN_ERROR_TX_ALST1        (0x00002000U)  /*!< TxMailbox 1 transmit failure due to arbitration lost */
+// #define HAL_CAN_ERROR_TX_TERR1        (0x00004000U)  /*!< TxMailbox 1 transmit failure due to transmit error   */
+// #define HAL_CAN_ERROR_TX_ALST2        (0x00008000U)  /*!< TxMailbox 2 transmit failure due to arbitration lost */
+// #define HAL_CAN_ERROR_TX_TERR2        (0x00010000U)  /*!< TxMailbox 2 transmit failure due to transmit error   */
+// #define HAL_CAN_ERROR_TIMEOUT         (0x00020000U)  /*!< Timeout error                                        */
+// #define HAL_CAN_ERROR_NOT_INITIALIZED (0x00040000U)  /*!< Peripheral not initialized                           */
+// #define HAL_CAN_ERROR_NOT_READY       (0x00080000U)  /*!< Peripheral not ready                                 */
+// #define HAL_CAN_ERROR_NOT_STARTED     (0x00100000U)  /*!< Peripheral not started                               */
+// #define HAL_CAN_ERROR_PARAM           (0x00200000U)  /*!< Parameter error                                      */
+// #define HAL_CAN_ERROR_INTERNAL        (0x00800000U)  /*!< Internal error                                       */
+
 
 // SPI Errors
 
+#define SPI_ERROR_MASK 0x02000000
 
-// ADC Errors
-
+// #define HAL_SPI_ERROR_NONE              (0x00000000U)   /*!< No error                               */
+// #define HAL_SPI_ERROR_MODF              (0x00000001U)   /*!< MODF error                             */
+// #define HAL_SPI_ERROR_CRC               (0x00000002U)   /*!< CRC error                              */
+// #define HAL_SPI_ERROR_OVR               (0x00000004U)   /*!< OVR error                              */
+// #define HAL_SPI_ERROR_FRE               (0x00000008U)   /*!< FRE error                              */
+// #define HAL_SPI_ERROR_DMA               (0x00000010U)   /*!< DMA transfer error                     */
+// #define HAL_SPI_ERROR_FLAG              (0x00000020U)   /*!< Error on RXNE/TXE/BSY/FTLVL/FRLVL Flag */
+// #define HAL_SPI_ERROR_ABORT             (0x00000040U)   /*!< Error during SPI Abort procedure       */
 
 // Analog In Errors
 
+#define AI_ERROR_MASK 0x03000000
+
+// #define HAL_ADC_ERROR_NONE              (0x00U)   /*!< No error                                    */
+// #define HAL_ADC_ERROR_INTERNAL          (0x01U)   /*!< ADC peripheral internal error (problem of clocking,
+//                                                        enable/disable, erroneous state, ...)       */
+// #define HAL_ADC_ERROR_OVR               (0x02U)   /*!< Overrun error                               */
+// #define HAL_ADC_ERROR_DMA               (0x04U)   /*!< DMA transfer error                          */
+// #define HAL_ADC_ERROR_JQOVF             (0x08U)   /*!< Injected context queue overflow error       */
+
+#define AI_DMA_ERROR_MASK 0x04000000
+
+// #define HAL_DMA_ERROR_NONE                 0x00000000U    /*!< No error                                */
+// #define HAL_DMA_ERROR_TE                   0x00000001U    /*!< Transfer error                          */
+// #define HAL_DMA_ERROR_NO_XFER              0x00000004U    /*!< Abort requested with no Xfer ongoing    */
+// #define HAL_DMA_ERROR_TIMEOUT              0x00000020U    /*!< Timeout error                           */
+// #define HAL_DMA_ERROR_NOT_SUPPORTED        0x00000100U    /*!< Not supported mode                      */
+// #define HAL_DMA_ERROR_SYNC                 0x00000200U    /*!< DMAMUX sync overrun  error              */
+// #define HAL_DMA_ERROR_REQGEN               0x00000400U    /*!< DMAMUX request generator overrun  error */
 
 // Temperature Errors
 
+#define TEMP_ERROR_MASK 0x05000000
 
-// Userflash Errors
+#define TEMP_ERROR_SENSORM_MASK     0x00100000
+#define TEMP_ERROR_SENSORW_MASK     0x00200000
+
+#define TEMP_ERROR_SPI_FAILURE      0x00010000
+#define TEMP_ERROR_GENERAL_FAILURE  0x00020000
+#define TEMP_ERROR_SENSOR_FAILURE   0x00040000
+
+// #define ADCD_FAULT_HIGHTHRESH 			0x80
+// #define ADCD_FAULT_LOWTHRESH 			0x40
+// #define ADCD_FAULT_REFINLOW 			    0x20
+// #define ADCD_FAULT_REFINHIGH 			0x10
+// #define ADCD_FAULT_RTDINLOW 			    0x08
+// #define ADCD_FAULT_OVUV 				    0x04
+
+// Variable Handler Errors
+
+#define VARH_ERROR_MASK 0x06000000
+
+#define VARH_ERROR_INVALID_VARIABLE 0x00000001      
+#define VARH_ERROR_INVALID_DATA     0x00000002
+#define VARH_ERROR_READONLY         0x00000004
+#define VARH_ERROR_OUTOFRANGE       0x00000008
+#define VARH_ERROR_OUTOFRANGE_INT   0x00000010
+#define VARH_ERROR_LOAD_FLASH       0x00000020      // Error while loading from flash -> sets all variables to default
 
 
 // Peltier Controller Errors
 
+#define PELTIER_ERROR_MASK 0x07000000
+
+#define PELTIER_ERROR_SETVOLTAGE        0x00000001
+#define PELTIER_ERROR_SETVOLTAGE_PID    0x00000002
+#define PELTIER_ERROR_MAX_POWER         0x00000004
+
 
 // Main Application Errors
 
+#define MAIN_ERROR_MASK 0x08000000
+
+#define MAIN_ERROR_REG_NOT_FOUND            0x00000001
+#define MAIN_ERROR_CMD_NOT_FOUND            0x00000002
+#define MAIN_ERROR_SAVE_FLASH               0x00000004
+#define MAIN_ERROR_WATCHDOG                 0x00000008  // not implemented
 
 // HardFault Errors
 
+#define HARDFAULT_ERROR_MASK 0x09000000
+
+#define HARDFAULT_ERROR_IWDG    0x00000001
+#define HARDFAULT_ERROR_SWRST   0x00000002  // Software Reset (if any hardfault occurs or user requests it via command)
+
+
 //=================================================================================================
 // Section:       MACROS
 // Description:   Definition of global macros (visible by all modules).
@@ -115,6 +209,9 @@ extern "C" {
 //=================================================================================================
 
 BOOL ERRH_boInitializeModule( VOID );
+VOID ERRH_vSetError( U32 u32Error );
+U32 ERRH_u32GetError( VOID );
+VOID ERRH_vClearError( VOID );
 
 #ifdef __cplusplus
 }
diff --git a/Core/Drivers/SPID_SpiDriver.c b/Core/Drivers/SPID_SpiDriver.c
index 96c946f..e455c6b 100644
--- a/Core/Drivers/SPID_SpiDriver.c
+++ b/Core/Drivers/SPID_SpiDriver.c
@@ -41,6 +41,8 @@
 // Drivers
 #include "DIPO_DigitalPorts.h"
 
+#include "ERRH_ErrorHandler.h"
+
 // include STM32 drivers
 #include "stm32l4xx_hal.h"
 
@@ -173,14 +175,6 @@ BOOL SPID_boSend( SPID_StHandle* pstHandle )
   BOOL boOK;
   U32 u32Flags  = 0;
   
-  #if defined(PDEF_FUNCTION_PARAMETER_CHECK_ENABLED) && PDEF_FUNCTION_PARAMETER_CHECK_ENABLED == TRUE
-  if( pstHandle == NULL || pstHandle->enSPI >= SPID_eNumberOfSPIs  )
-  {
-    ELOG_ADD_LOG( ELOG_eInvalidFunctionParameter );
-    return( FALSE );
-  }
-  #endif
-
   osMutexAcquire( m_astSPI[pstHandle->enSPI].pstMutexID, osWaitForever );
  
   // clear all flags
@@ -214,14 +208,6 @@ BOOL SPID_boSendReceive( SPID_StHandle* pstHandle )
 {
   BOOL boOK;
   U32 u32Flags  = 0;
-  
-  #if defined(PDEF_FUNCTION_PARAMETER_CHECK_ENABLED) && PDEF_FUNCTION_PARAMETER_CHECK_ENABLED == TRUE
-  if( pstHandle == NULL || pstHandle->enSPI >= SPID_eNumberOfSPIs  )
-  {
-    ELOG_ADD_LOG( ELOG_eInvalidFunctionParameter );
-    return( FALSE );
-  }
-  #endif
 
   osMutexAcquire( m_astSPI[pstHandle->enSPI].pstMutexID, osWaitForever );
   
@@ -257,13 +243,6 @@ BOOL SPID_boSendReceive( SPID_StHandle* pstHandle )
 //-------------------------------------------------------------------------------------------------
 VOID HAL_SPI_TxRxCpltCallback( SPI_HandleTypeDef *hspi )
 {
-  #if defined(PDEF_FUNCTION_PARAMETER_CHECK_ENABLED) && PDEF_FUNCTION_PARAMETER_CHECK_ENABLED == TRUE
-  if( hspi == NULL )
-  {
-    ELOG_ADD_LOG( ELOG_eInvalidFunctionParameter );
-    return;
-  }
-  #endif
   
   SPID_EnSPIs enSPI = enGetSPI( hspi );
   osEventFlagsSet( m_pstEventID, m_astSPI[enSPI].u32SPICompleteFlag );
@@ -277,13 +256,6 @@ VOID HAL_SPI_TxRxCpltCallback( SPI_HandleTypeDef *hspi )
 //-------------------------------------------------------------------------------------------------
 VOID HAL_SPI_TxCpltCallback( SPI_HandleTypeDef *hspi )
 {
-  #if defined(PDEF_FUNCTION_PARAMETER_CHECK_ENABLED) && PDEF_FUNCTION_PARAMETER_CHECK_ENABLED == TRUE
-  if( hspi == NULL )
-  {
-    ELOG_ADD_LOG( ELOG_eInvalidFunctionParameter );
-    return;
-  }
-  #endif
   
   SPID_EnSPIs enSPI = enGetSPI( hspi );
   osEventFlagsSet( m_pstEventID, m_astSPI[enSPI].u32SPICompleteFlag );
@@ -297,13 +269,6 @@ VOID HAL_SPI_TxCpltCallback( SPI_HandleTypeDef *hspi )
 //-------------------------------------------------------------------------------------------------
 VOID HAL_SPI_RxCpltCallback( SPI_HandleTypeDef *hspi )
 {
-  #if defined(PDEF_FUNCTION_PARAMETER_CHECK_ENABLED) && PDEF_FUNCTION_PARAMETER_CHECK_ENABLED == TRUE
-  if( hspi == NULL )
-  {
-    ELOG_ADD_LOG( ELOG_eInvalidFunctionParameter );
-    return;
-  }
-  #endif
   
   SPID_EnSPIs enSPI = enGetSPI( hspi );
   osEventFlagsSet( m_pstEventID, m_astSPI[enSPI].u32SPICompleteFlag );
@@ -317,31 +282,7 @@ VOID HAL_SPI_RxCpltCallback( SPI_HandleTypeDef *hspi )
 //-------------------------------------------------------------------------------------------------
 VOID HAL_SPI_ErrorCallback( SPI_HandleTypeDef *hspi )
 {
-  #if defined(PDEF_FUNCTION_PARAMETER_CHECK_ENABLED) && PDEF_FUNCTION_PARAMETER_CHECK_ENABLED == TRUE
-  if( hspi == NULL )
-  {
-    ELOG_ADD_LOG( ELOG_eInvalidFunctionParameter );
-    return;
-  }
-  #endif
-  
-  // check rx overrun error
-  if( hspi->ErrorCode & HAL_SPI_ERROR_OVR )
-  {
-    //ELOG_ADD_LOG( ELOG_eSPIOverrunError );
-  }
-  
-  // check rx dma transfer error
-  if( hspi->hdmarx->ErrorCode & HAL_DMA_ERROR_TE )
-  {
-    //ELOG_ADD_LOG( ELOG_eDMAHTransferError );
-  } 
-   
-  // check tx dma transfer error
-  if( hspi->hdmatx->ErrorCode & HAL_DMA_ERROR_TE )
-  {
-    //ELOG_ADD_LOG( ELOG_eDMAHTransferError );
-  } 
+  ERRH_vSetError(SPI_ERROR_MASK | hspi->ErrorCode);
   
   SPID_EnSPIs enSPI = enGetSPI( hspi );
   osEventFlagsSet( m_pstEventID, m_astSPI[enSPI].u32SPIErrorFlag );    
@@ -355,13 +296,6 @@ VOID HAL_SPI_ErrorCallback( SPI_HandleTypeDef *hspi )
 //-------------------------------------------------------------------------------------------------
 PRIVATE SPID_EnSPIs enGetSPI( SPI_HandleTypeDef* pstSPI )
 {
-  #if defined(PDEF_FUNCTION_PARAMETER_CHECK_ENABLED) && PDEF_FUNCTION_PARAMETER_CHECK_ENABLED == TRUE
-  if( pstSPI == NULL )
-  {
-    ELOG_ADD_LOG( ELOG_eInvalidFunctionParameter );
-    ASRT_ASSERT( FALSE );
-  }
-  #endif
   
   for( U8 u8Cnt = 0; u8Cnt < SPID_eNumberOfSPIs; u8Cnt++ )
   {
diff --git a/Core/Drivers/TEMP_Temperature.c b/Core/Drivers/TEMP_Temperature.c
index c8c4c44..7fb7089 100644
--- a/Core/Drivers/TEMP_Temperature.c
+++ b/Core/Drivers/TEMP_Temperature.c
@@ -36,6 +36,8 @@
 // Toolbox
 #include "../Toolbox/UTIL_Utility.h"
 
+#include "ERRH_ErrorHandler.h"
+
 // Drivers
 #include "ADCD_AdcDriver.h"
 
@@ -161,11 +163,13 @@ PRIVATE VOID vTask( PVOID arg )
       flTempData[ADCD_eWater] = flConvertADCData( u16ADC_data );
     } else {
         if( (u8error & ADCD_STATUS_DATA_ERROR) == ADCD_STATUS_DATA_ERROR ){
-
+        	BOOL boFatal = TRUE;
         	if( (u8error & ADCD_FAULT_HIGHTHRESH) == ADCD_FAULT_HIGHTHRESH ){
         		flTempData[ADCD_eWater] = 4200.0f;
+        		boFatal &= FALSE;
         	}else if( (u8error & ADCD_FAULT_LOWTHRESH) == ADCD_FAULT_LOWTHRESH ){
         		flTempData[ADCD_eWater] = -273.16f;
+        		boFatal &= FALSE;
         	}else if( (u8error & ADCD_FAULT_REFINLOW) == ADCD_FAULT_REFINLOW ){
         		flTempData[ADCD_eWater] = -273.16f;
         	}else if( (u8error & ADCD_FAULT_REFINHIGH) == ADCD_FAULT_REFINHIGH ){
@@ -178,19 +182,21 @@ PRIVATE VOID vTask( PVOID arg )
         		flTempData[ADCD_eWater] = -273.16f;
         	}
 
+        	if(boFatal) ERRH_vSetError(TEMP_ERROR_MASK | TEMP_ERROR_SENSORW_MASK | TEMP_ERROR_SENSOR_FAILURE | u8error);
+
 
           /** @todo call error handler temp data */
         } else if( (u8error & ADCD_SPI_FAILURE) == ADCD_SPI_FAILURE ){
 
         	flTempData[ADCD_eWater] = -273.16f;
 
-          /** @todo call error handler onchip spi failure */
+        	ERRH_vSetError(TEMP_ERROR_MASK | TEMP_ERROR_SENSORW_MASK | TEMP_ERROR_SPI_FAILURE);
         } else {
         	flTempData[ADCD_eWater] = -273.16f;
+
+        	ERRH_vSetError(TEMP_ERROR_MASK | TEMP_ERROR_SENSORW_MASK | TEMP_ERROR_GENERAL_FAILURE);
         }
 
-
-
         u8error = 0;
         boOK = TRUE;
       }
@@ -203,11 +209,13 @@ PRIVATE VOID vTask( PVOID arg )
       flTempData[ADCD_eModule] = flConvertADCData( u16ADC_data );
     } else {
       if( (u8error & ADCD_STATUS_DATA_ERROR) == ADCD_STATUS_DATA_ERROR ){
-
+    	  BOOL boFatal = TRUE;
     	  if( (u8error & ADCD_FAULT_HIGHTHRESH) == ADCD_FAULT_HIGHTHRESH ){
     		  flTempData[ADCD_eModule] = 4200.0f;
+    		  boFatal &= FALSE;
     	  }else if( (u8error & ADCD_FAULT_LOWTHRESH) == ADCD_FAULT_LOWTHRESH ){
     		  flTempData[ADCD_eModule] = -273.16f;
+    		  boFatal &= FALSE;
     	  }else if( (u8error & ADCD_FAULT_REFINLOW) == ADCD_FAULT_REFINLOW ){
     		  flTempData[ADCD_eModule] = -273.16f;
     	  }else if( (u8error & ADCD_FAULT_REFINHIGH) == ADCD_FAULT_REFINHIGH ){
@@ -219,16 +227,18 @@ PRIVATE VOID vTask( PVOID arg )
     	  } else {
     		  flTempData[ADCD_eModule] = -273.16f;
     	  }
-        
 
-        /** @todo call error handler temp data */
+    	  if(boFatal) ERRH_vSetError(TEMP_ERROR_MASK | TEMP_ERROR_SENSORM_MASK | TEMP_ERROR_SENSOR_FAILURE | u8error);
+        
       } else if( (u8error & ADCD_SPI_FAILURE) == ADCD_SPI_FAILURE ){
         
     	  flTempData[ADCD_eModule] = -273.16f;
 
-        /** @todo call error handler onchip spi failure */
+    	  ERRH_vSetError(TEMP_ERROR_MASK | TEMP_ERROR_SENSORM_MASK | TEMP_ERROR_SPI_FAILURE);
+
       } else {
     	  flTempData[ADCD_eModule] = -273.16f;
+    	  ERRH_vSetError(TEMP_ERROR_MASK | TEMP_ERROR_SENSORM_MASK | TEMP_ERROR_GENERAL_FAILURE);
       }
 
 
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 98a1680..283c2ac 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -30,6 +30,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "../Application/INIT_Initialization.h"
+#include "../Application/PECO_PeltierController.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -692,6 +693,9 @@ void Error_Handler(void)
 {
   /* USER CODE BEGIN Error_Handler_Debug */
 
+	PECO_Enable( FALSE );
+	HAL_NVIC_SystemReset();
+
 
   /* User can add his own implementation to report the HAL error return state */
   __disable_irq();
diff --git a/Core/Src/stm32l4xx_it.c b/Core/Src/stm32l4xx_it.c
index 66c265e..3f12fd5 100644
--- a/Core/Src/stm32l4xx_it.c
+++ b/Core/Src/stm32l4xx_it.c
@@ -25,6 +25,7 @@
 #include "task.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "../Application/PECO_PeltierController.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -77,6 +78,8 @@ extern SPI_HandleTypeDef hspi1;
 void NMI_Handler(void)
 {
   /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
+	PECO_Enable( FALSE );
+	HAL_NVIC_SystemReset();
 
   /* USER CODE END NonMaskableInt_IRQn 0 */
   /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
@@ -93,6 +96,9 @@ void HardFault_Handler(void)
 {
   /* USER CODE BEGIN HardFault_IRQn 0 */
 
+	PECO_Enable( FALSE );
+	HAL_NVIC_SystemReset();
+
   /* USER CODE END HardFault_IRQn 0 */
   while (1)
   {
@@ -108,6 +114,9 @@ void MemManage_Handler(void)
 {
   /* USER CODE BEGIN MemoryManagement_IRQn 0 */
 
+	PECO_Enable( FALSE );
+	HAL_NVIC_SystemReset();
+
   /* USER CODE END MemoryManagement_IRQn 0 */
   while (1)
   {
@@ -123,6 +132,9 @@ void BusFault_Handler(void)
 {
   /* USER CODE BEGIN BusFault_IRQn 0 */
 
+	PECO_Enable( FALSE );
+	HAL_NVIC_SystemReset();
+
   /* USER CODE END BusFault_IRQn 0 */
   while (1)
   {
@@ -138,6 +150,9 @@ void UsageFault_Handler(void)
 {
   /* USER CODE BEGIN UsageFault_IRQn 0 */
 
+	PECO_Enable( FALSE );
+	HAL_NVIC_SystemReset();
+
   /* USER CODE END UsageFault_IRQn 0 */
   while (1)
   {
diff --git a/tecware_v08.srec b/tecware_v08.srec
new file mode 100644
index 0000000..ab0fe35
--- /dev/null
+++ b/tecware_v08.srec
@@ -0,0 +1,2749 @@
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+S3150800280000000120E5C90008815200088F5200081F
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