Index: Accel.c
===================================================================
diff -u -r8fe83d389f46bd5381c1d1f78eb8b39178672e01 -r46a80c6b5bddd2f4c438a5c4d1b3bb53a717944f
--- Accel.c	(.../Accel.c)	(revision 8fe83d389f46bd5381c1d1f78eb8b39178672e01)
+++ Accel.c	(.../Accel.c)	(revision 46a80c6b5bddd2f4c438a5c4d1b3bb53a717944f)
@@ -49,6 +49,9 @@
 #define MAX_TILT_G                              ( 1.0F )                                          ///< Maximum tilt (in g).
 #define MAX_TILT_ANGLE_DEG                      ( 90.0F )                                         ///< Maximum tilt angle (in degrees).
 #define DATA_PUBLISH_COUNTER_START_COUNT        30                                                ///< Data publish counter start count.
+// POST test
+#define ACCEL_POST_TEST_COUNT                   5                                                 ///< Number of times to repeat POST test
+#define ACCEL_POST_TEST_FAIL_MAX                3                                                 ///< Maximum number of times POST test may fail (<= ACCEl_POST_TEST_COUNT)
 
 /// Enumeration of accelerometer monitor states.
 typedef enum Accelerometer_States
@@ -88,6 +91,8 @@
 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 ACCELEROMETER_SELF_TEST_STATE_T accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_START;  ///< current accelerometer self-test state.
+static U08 postTestCounter = 0;                                                                   ///< POST test repeat counter
+static U08 postFailCounter = 0;                                                                   ///< POST test fail counter
 
 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.
@@ -594,14 +599,17 @@
 /*********************************************************************//**
  * @brief
  * The execAccelTest function executes the state machine for the
- * accelerometer self-test.
+ * accelerometer power on self-test (POST). Verifies Accelerometer
+ * reading is within tolerance. 5 Repeats on 50ms interval with
+ * maximum of 3 fails is intended to mitigate a false fail from
+ * moving or bumping the machine during test.
  * @details Inputs: accelSelfTestState, accelCalOffsets
  * @details Outputs: accelSelfTestState, accelCalOffsets, Alarm is
  * self-test failed
  * @return the current state of the accelerometer self-test.
  *************************************************************************/
 SELF_TEST_STATUS_T execAccelTest( void )
-{
+{
     SELF_TEST_STATUS_T result = SELF_TEST_STATUS_IN_PROGRESS;
 
     switch ( accelSelfTestState )
@@ -619,6 +627,8 @@
            {
                accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_IN_PROGRESS;
            }
+           postTestCounter = 0;
+           postFailCounter = 0;
        }
            break;
 
@@ -628,21 +638,38 @@
                                              getMeasuredAccelAxis( ACCEL_AXIS_Y ),
                                              getMeasuredAccelAxis( ACCEL_AXIS_Z ) );
 
-           if ( fabs( NOMINAL_ACCEL_VECTOR_LENGTH - vectorLen ) < MAX_ACCEL_VECTOR_LENGTH_ERROR )
+           if ( fabs( NOMINAL_ACCEL_VECTOR_LENGTH - vectorLen ) >= MAX_ACCEL_VECTOR_LENGTH_ERROR )
            {
-               result = SELF_TEST_STATUS_PASSED;
-           }
-           else
-           {
-               result = SELF_TEST_STATUS_FAILED;
+               // count the failures
+               postFailCounter++;
+               if ( postFailCounter >= ACCEL_POST_TEST_FAIL_MAX )
+               {
+                   result = SELF_TEST_STATUS_FAILED;
+                   // Already failed, no need to repeat test
+                   postTestCounter = ACCEL_POST_TEST_COUNT;
 #ifdef _DG_
-               SET_ALARM_WITH_1_F32_DATA( ALARM_ID_DG_ACCELEROMETER_SELF_TEST_FAILURE, vectorLen )
+                   SET_ALARM_WITH_1_F32_DATA( ALARM_ID_DG_ACCELEROMETER_SELF_TEST_FAILURE, vectorLen )
 #else
-               SET_ALARM_WITH_1_F32_DATA( ALARM_ID_HD_ACCELEROMETER_SELF_TEST_FAILURE, vectorLen )
+                   SET_ALARM_WITH_1_F32_DATA( ALARM_ID_HD_ACCELEROMETER_SELF_TEST_FAILURE, vectorLen )
 #endif
+               }
            }
 
-           accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_COMPLETE;
+           if ( postTestCounter < ACCEL_POST_TEST_COUNT )
+           {
+               // Repeat the test
+               postTestCounter++;
+               result = SELF_TEST_STATUS_IN_PROGRESS;
+           }
+           else
+           {
+               // Test complete, return Pass / Fail.
+               if ( SELF_TEST_STATUS_FAILED != result )
+               {
+                   result = SELF_TEST_STATUS_PASSED;
+               }
+               accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_COMPLETE;
+           }
        }
            break;
 
@@ -655,7 +682,7 @@
            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_ACCEL_INVALID_SELF_TEST_STATE, accelSelfTestState )
 #endif
            break;
-   }
+    }
 
    return result;
 }