Index: Accel.c
===================================================================
diff -u -re6b38d1e5fbb5eab5cf62e850890632ebcfeb1a7 -r9a59cef171550b5a9cb4f3028520c5d3f9d0c4c0
--- Accel.c	(.../Accel.c)	(revision e6b38d1e5fbb5eab5cf62e850890632ebcfeb1a7)
+++ Accel.c	(.../Accel.c)	(revision 9a59cef171550b5a9cb4f3028520c5d3f9d0c4c0)
@@ -16,6 +16,8 @@
 
 #ifndef _VECTORCAST_
     #include <math.h>
+#else
+    #define _VC_OVERRIDE_MATH_
 #endif
 
 #include "Accel.h"
@@ -63,7 +65,7 @@
 
 static ACCEL_STATE_T accelState = ACCELEROMETER_START_STATE;                        ///< current state of accelerometer monitor state machine
 static U32 accelDataPublicationTimerCounter = 0;                                    ///< used to schedule accelerometer data publication to CAN bus
-static S32 accelCalOffsets[ NUM_OF_ACCEL_AXES ] = { 0, 0, 0 };                      ///< accelerometer calibration offsets.
+static F32 accelCalOffsets[ NUM_OF_ACCEL_AXES ] = { 0, 0, 0 };                      ///< accelerometer calibration offsets.
 
 static OVERRIDE_U32_T accelDataPublishInterval = { ACCEL_DATA_PUB_INTERVAL, ACCEL_DATA_PUB_INTERVAL, 0, 0 }; ///< interval (in ms/task interval) at which to publish accelerometer data to CAN bus.
 static OVERRIDE_F32_T accelAxes[ NUM_OF_ACCEL_AXES ];                               ///< Measured accelerometer axis readings (calibrated, converted to gravities).
@@ -203,22 +205,14 @@
 #endif
     }
 
-    // apply calibration (axis offsets)
-    x += accelCalOffsets[ ACCEL_AXIS_X ];
-    y += accelCalOffsets[ ACCEL_AXIS_Y ];
-    z += accelCalOffsets[ ACCEL_AXIS_Z ];
-    xm += accelCalOffsets[ ACCEL_AXIS_X ];
-    ym += accelCalOffsets[ ACCEL_AXIS_Y ];
-    zm += accelCalOffsets[ ACCEL_AXIS_Z ];
+    // convert to gravities and apply calibration (axis offsets)
+    accelAxes[ ACCEL_AXIS_X ].data = (F32)x * G_PER_LSB + accelCalOffsets[ ACCEL_AXIS_X ];
+    accelAxes[ ACCEL_AXIS_Y ].data = (F32)y * G_PER_LSB + accelCalOffsets[ ACCEL_AXIS_Y ];
+    accelAxes[ ACCEL_AXIS_Z ].data = (F32)z * G_PER_LSB + accelCalOffsets[ ACCEL_AXIS_Z ];
+    accelMaxs[ ACCEL_AXIS_X ].data = (F32)xm * G_PER_LSB + accelCalOffsets[ ACCEL_AXIS_X ];
+    accelMaxs[ ACCEL_AXIS_Y ].data = (F32)ym * G_PER_LSB + accelCalOffsets[ ACCEL_AXIS_Y ];
+    accelMaxs[ ACCEL_AXIS_Z ].data = (F32)zm * G_PER_LSB + accelCalOffsets[ ACCEL_AXIS_Z ];
 
-    // convert to gravities
-    accelAxes[ ACCEL_AXIS_X ].data = (F32)x * G_PER_LSB;
-    accelAxes[ ACCEL_AXIS_Y ].data = (F32)y * G_PER_LSB;
-    accelAxes[ ACCEL_AXIS_Z ].data = (F32)z * G_PER_LSB;
-    accelMaxs[ ACCEL_AXIS_X ].data = (F32)xm * G_PER_LSB;
-    accelMaxs[ ACCEL_AXIS_Y ].data = (F32)ym * G_PER_LSB;
-    accelMaxs[ ACCEL_AXIS_Z ].data = (F32)zm * G_PER_LSB;
-
     // filter readings to get a stable vector for tilt
     filterAccelReadings();
 
@@ -608,7 +602,7 @@
  * @param offsetZ : offset calibration factor for Z axis
  * @return TRUE if calibration factors successfully set/stored, FALSE if not
  *************************************************************************/
-BOOL setAccelCalibration( S32 offsetX, S32 offsetY, S32 offsetZ )
+BOOL setAccelCalibration( F32 offsetX, F32 offsetY, F32 offsetZ )
 {
     BOOL result = FALSE;
 
@@ -644,7 +638,7 @@
  * @param offsetZ : value to populate with Z axis offset calibration factor
  * @return none
  *************************************************************************/
-void getAccelCalibration( S32 *offsetX, S32 *offsetY, S32 *offsetZ )
+void getAccelCalibration( F32 *offsetX, F32 *offsetY, F32 *offsetZ )
 {
     *offsetX = accelCalOffsets[ ACCEL_AXIS_X ];
     *offsetY = accelCalOffsets[ ACCEL_AXIS_Y ];