Index: Accel.c
===================================================================
diff -u -r7d23c3c3515455637435d1fda0dbdb4a0fd625d7 -r591bfd91217cd896707e9e68000a2c86fecd1cad
--- Accel.c	(.../Accel.c)	(revision 7d23c3c3515455637435d1fda0dbdb4a0fd625d7)
+++ Accel.c	(.../Accel.c)	(revision 591bfd91217cd896707e9e68000a2c86fecd1cad)
@@ -84,11 +84,11 @@
 static U32 accelReadingsCount = 0;                                                  ///< number of samples in flow rolling average buffer
 static F32 accelAvgVector[ NUM_OF_ACCEL_AXES ];                                     ///< Filtered accelerometer vector for tilt
 static F32 accelTilt[ NUM_OF_ACCEL_AXES ];                                          ///< Axis angles for tilt determination (filtered and converted to degrees)
-static U32 accelTiltErrorTimerCounter = 0;                                          ///< used for persistence requirement on tilt error
+static U32 accelTiltErrorTimerCounter = 0;                                          ///< used for persistence requirement on tilt error
 
 static BOOL tiltErrorDetected;                                                      ///< Flag indicates a tilt error has been detected and tilt must now come below alarm clear threshold to clear alarm.
-static BOOL shockErrorDetected;                                                     ///< Flag indicates a shock error has been detected and g-force must now come below alarm clear threshold to clear alarm.
-
+static BOOL shockErrorDetected;                                                     ///< Flag indicates a shock error has been detected and g-force must now come below alarm clear threshold to clear alarm.
+
 static ACCELEROMETER_SELF_TEST_STATE_T accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_START;  ///< current accelerometer self-test state
 
 // ********** private function prototypes **********
@@ -126,8 +126,8 @@
         accelMaxs[ axis ].ovData = 0.0;
         accelMaxs[ axis ].ovInitData = 0.0;
         accelMaxs[ axis ].override = OVERRIDE_RESET;
-    }
-
+    }
+
     tiltErrorDetected = FALSE;
     shockErrorDetected = FALSE;
 }
@@ -187,6 +187,27 @@
     getFPGAAccelMaxes( &xm, &ym, &zm );
     getFPGAAccelStatus( &cnt, &accelFPGAFaultReg );
 
+    // Check if a new calibration is available
+    if ( TRUE == isNewCalibrationRecordAvailable() )
+    {
+#ifdef _HD_
+        HD_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getHDAccelerometerSensorCalibrationRecord();
+#endif
+#ifdef _DG_
+        DG_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getDGAccelerometerSensorCalibrationRecord();
+#endif
+
+        if ( cal.calibrationTime == 0 )
+        {
+            // TODO - accel calibration invalid fault
+        }
+
+        // Update accelerometer calibration factors
+        accelCalOffsets[ ACCEL_AXIS_X ] = cal.accelXOffset;
+        accelCalOffsets[ ACCEL_AXIS_X ] = cal.accelYOffset;
+        accelCalOffsets[ ACCEL_AXIS_X ] = cal.accelZOffset;
+    }
+
     // check fresh sample
     if ( cnt != accelFPGASampleCtr )
     {
@@ -483,8 +504,8 @@
     {
         // excessive tilt must persist before triggering alarm
         if ( ++accelTiltErrorTimerCounter > MAX_TILT_PERSISTENCE )
-        {
-            tiltErrorDetected = TRUE;
+        {
+            tiltErrorDetected = TRUE;
 #ifdef _DG_
             SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_EXCESSIVE_TILT, x, y )
 #else
@@ -500,10 +521,18 @@
             SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_EXCESSIVE_TILT, x, y )
 #endif
     }
+    else if ( ( TRUE == tiltErrorDetected ) && ( ( fabs( x ) > MAX_TILT_ANGLE_TO_CLEAR_ALARM ) || ( fabs( y ) > MAX_TILT_ANGLE_TO_CLEAR_ALARM ) ) )
+    {
+#ifdef _DG_
+            SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_EXCESSIVE_TILT, x, y )
+#else
+            SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_EXCESSIVE_TILT, x, y )
+#endif
+    }
     else if ( ( fabs( x ) <= MAX_TILT_ANGLE_TO_CLEAR_ALARM ) && ( fabs( y ) <= MAX_TILT_ANGLE_TO_CLEAR_ALARM ) )
     {
-        accelTiltErrorTimerCounter = 0;
-        tiltErrorDetected = FALSE;
+        accelTiltErrorTimerCounter = 0;
+        tiltErrorDetected = FALSE;
 #ifdef _DG_
         clearAlarmCondition( ALARM_ID_DG_EXCESSIVE_TILT );
 #else
@@ -548,8 +577,8 @@
 
     // has system just experienced an excessive shock?
     if ( maxAll > MAX_SHOCK_ACCELERATION )
-    {
-        shockErrorDetected = TRUE;
+    {
+        shockErrorDetected = TRUE;
 #ifdef _DG_
         SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_SHOCK, (F32)maxAxis, getMaxAccelAxis( maxAxis ) )
 #else
@@ -587,35 +616,48 @@
 {
     SELF_TEST_STATUS_T result = SELF_TEST_STATUS_IN_PROGRESS;
 
-#ifdef _HD_
-    HD_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getHDAccelerometerSensorCalibrationRecord();
-#endif
-#ifdef _DG_
-    DG_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getDGAccelerometerSensorCalibrationRecord();
-#endif
-
     switch ( accelSelfTestState )
     {
         case ACCELEROMETER_SELF_TEST_STATE_START:
-
-            accelCalOffsets[ ACCEL_AXIS_X ] = cal.accelXOffset;
-            accelCalOffsets[ ACCEL_AXIS_Y ] = cal.accelYOffset;
-            accelCalOffsets[ ACCEL_AXIS_Z ] = cal.accelZOffset;
-            accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_IN_PROGRESS;
-
-            result = SELF_TEST_STATUS_FAILED;
-            accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_COMPLETE;
-#ifdef _DG_
-            SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_ACCELEROMETER_SELF_TEST_FAILURE, 0 )
-#else
-            SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_ACCELEROMETER_SELF_TEST_FAILURE, 0 )
-#endif
+        {
+#ifdef _HD_
+            HD_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getHDAccelerometerSensorCalibrationRecord();
+#endif
+#ifdef _DG_
+            DG_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getDGAccelerometerSensorCalibrationRecord();
+#endif
+
+            accelCalOffsets[ ACCEL_AXIS_X ] = cal.accelXOffset;
+            accelCalOffsets[ ACCEL_AXIS_Y ] = cal.accelYOffset;
+            accelCalOffsets[ ACCEL_AXIS_Z ] = cal.accelZOffset;
+
+            // Ensure calibration has been done for accelerometer
+#ifndef DISABLE_CAL_CHECK
+            if ( cal.calibrationTime == 0 )
+#else
+            if ( FALSE )
+#endif
+            {
+                result = SELF_TEST_STATUS_FAILED;
+                accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_COMPLETE;
+#ifdef _DG_
+                SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_ACCELEROMETER_SELF_TEST_FAILURE, 0 )  // TODO - use invalid cal fault instead.
+#else
+                SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_ACCELEROMETER_SELF_TEST_FAILURE, 0 )
+#endif
+            }
+            else
+            {
+                accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_IN_PROGRESS;
+            }
+        }
             break;
 
         case ACCELEROMETER_SELF_TEST_STATE_IN_PROGRESS:
             {
                 F32 vectorLen = calcVectorLength( accelAxes[ ACCEL_AXIS_X ].data, accelAxes[ ACCEL_AXIS_Y ].data, accelAxes[ ACCEL_AXIS_Z ].data );
 
+#ifndef SKIP_POST
                 if ( fabs(NOMINAL_ACCEL_VECTOR_LENGTH - vectorLen) < MAX_ACCEL_VECTOR_LENGTH_ERROR )
                 {
                     result = SELF_TEST_STATUS_PASSED;
@@ -628,7 +670,10 @@
 #else
                     SET_ALARM_WITH_1_F32_DATA( ALARM_ID_HD_ACCELEROMETER_SELF_TEST_FAILURE, vectorLen )
 #endif
-                }
+                }
+#else
+                result = SELF_TEST_STATUS_PASSED;
+#endif
                 accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_COMPLETE;
             }
             break;