Index: Accel.c
===================================================================
diff -u -rb4e91eb8049e94b0937e341880a90327113fce56 -r569a9f44c93e6489f1dc1a62a7937e100ea344c2
--- Accel.c	(.../Accel.c)	(revision b4e91eb8049e94b0937e341880a90327113fce56)
+++ Accel.c	(.../Accel.c)	(revision 569a9f44c93e6489f1dc1a62a7937e100ea344c2)
@@ -37,7 +37,7 @@
 #define MAX_ACCEL_VECTOR_LENGTH_ERROR           ( 0.1 )                                     ///< POST test looks at vector length at presumably stable moment - should be 1 +/- 0.1
 #define MAX_TILT_ANGLE                          ( 7.0 )                                     ///< maximum tilt of system before alarm.
 #define MAX_TILT_PERSISTENCE                    ( 2 * MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) ///< maximum time (in task intervals) that a tilt in excess of limit can persist before alarm
-#define MAX_SHOCK_ACCELERATION                  ( 10.0 )                                    ///< maximum shock (acceleration) measured on any axis before alarm.
+#define MAX_SHOCK_ACCELERATION                  ( 2.0 )                                     ///< maximum shock (acceleration) measured on any axis before alarm.
 
 /// Enumeration of accelerometer monitor states.
 typedef enum Accelerometer_States
@@ -178,14 +178,22 @@
     {
         if ( ++accelNoNewSampleTimerCounter > NO_NEW_ACCEL_SAMPLES_TIMEOUT )
         {
-            // TODO - accelerometer fault
+#ifdef _DG_
+            SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_ACCELEROMETER_FAILURE, 0 )
+#else
+            SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_ACCELEROMETER_FAILURE, 0 )
+#endif
         }
     }
 
     // check error status
     if ( accelFPGAFaultReg != 0 )
     {
-        // TODO - accelerometer fault
+#ifdef _DG_
+            SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_ACCELEROMETER_FAILURE, 1 )
+#else
+            SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_ACCELEROMETER_FAILURE, 1 )
+#endif
     }
 
     // apply calibration (axis offsets)
@@ -432,11 +440,26 @@
         // excessive tilt must persist before triggering alarm
         if ( ++accelTiltErrorTimerCounter > MAX_TILT_PERSISTENCE )
         {
-            // TODO - tilt 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 ( accelTiltErrorTimerCounter > 0 )
+        {
+            accelTiltErrorTimerCounter--;
+        }
         else
         {
-            accelTiltErrorTimerCounter = 0;
+#ifdef _DG_
+            clearAlarm( ALARM_ID_DG_EXCESSIVE_TILT );
+#else
+            clearAlarm( ALARM_ID_HD_EXCESSIVE_TILT );
+#endif
         }
     }
 }
@@ -451,16 +474,22 @@
  *************************************************************************/
 static void checkForShockError( void )
 {
-    F32 maxX = getMaxAccelAxis( ACCEL_AXIS_X );
-    F32 maxY = getMaxAccelAxis( ACCEL_AXIS_X );
-    F32 maxZ = getMaxAccelAxis( ACCEL_AXIS_X ) - 1.0;  // when system level, expect Z axis to be at 1 g normally
+    F32 maxX = FABS(getMaxAccelAxis( ACCEL_AXIS_X ));
+    F32 maxY = FABS(getMaxAccelAxis( ACCEL_AXIS_X ));
+    F32 maxZ = FABS(getMaxAccelAxis( ACCEL_AXIS_X ) - 1.0);  // when system level, expect Z axis to be at 1 g normally
+    F32 maxAll = MAX(maxX, maxY);
 
+    // determine largest acceleration
+    maxAll = MAX(maxAll, maxZ);
+
     // has system just experienced an excessive shock?
-    if ( ( FABS( maxX ) > MAX_SHOCK_ACCELERATION ) ||
-         ( FABS( maxY ) > MAX_SHOCK_ACCELERATION ) ||
-         ( FABS( maxZ ) > MAX_SHOCK_ACCELERATION ) )
+    if ( maxAll > MAX_SHOCK_ACCELERATION )
     {
-        // TODO - shock alarm
+#ifdef _DG_
+        SET_ALARM_WITH_1_F32_DATA( ALARM_ID_DG_SHOCK, maxAll )
+#else
+        SET_ALARM_WITH_1_F32_DATA( ALARM_ID_HD_SHOCK, maxAll )
+#endif
     }
 }
 
@@ -492,9 +521,14 @@
                     accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_IN_PROGRESS;
                 }
                 else
-                {
+                {   // shouldn't get here - should have failed NV-Data POST prior
                     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
                 }
             }
             break;
@@ -510,6 +544,11 @@
                 else
                 {
                     result = SELF_TEST_STATUS_FAILED;
+#ifdef _DG_
+                    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 )
+#endif
                 }
                 accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_COMPLETE;
             }