Index: Accel.c
===================================================================
diff -u -rf7c61d2d14b40cfbbd2fa8e0968a1f972a39e4e0 -r0f1d0c443daee3e30ae823711e85f3410bbf49fe
--- Accel.c	(.../Accel.c)	(revision f7c61d2d14b40cfbbd2fa8e0968a1f972a39e4e0)
+++ Accel.c	(.../Accel.c)	(revision 0f1d0c443daee3e30ae823711e85f3410bbf49fe)
@@ -1,19 +1,19 @@
-/**************************************************************************
-*
-* Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
-*
-* THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
-* WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
-*
-* @file Accel.c
-*
-* @author (last) Sean Nash
-* @date (last) 19-Aug-2020
-*
-* @author (original) Sean Nash
-* @date (original) 29-Jul-2020
-*
-***************************************************************************/
+/**************************************************************************
+*
+* Copyright (c) 2019-2021 Diality Inc. - All Rights Reserved.
+*
+* THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+* WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+*
+* @file Accel.c
+*
+* @author (last) Sean Nash
+* @date (last) 16-Nov-2020
+*
+* @author (original) Sean Nash
+* @date (original) 29-Jul-2020
+*
+***************************************************************************/
 
 #include <math.h>
 
@@ -39,7 +39,7 @@
 #define MAX_TILT_ANGLE                          ( 7.0 )                                         ///< Maximum tilt of system before alarm
 #define MIN_TILT_ANGLE_TO_CLEAR_ALARM           ( 5.0 )                                         ///< Minimum tilt of system before alarm is cleared
 #define MAX_TILT_PERSISTENCE                    ( 1 * 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                  ( 2.0 )                                         ///< Maximum shock (acceleration) measured on any axis before alarm
+#define MAX_SHOCK_ACCELERATION                  ( 4.0 )                                         ///< Maximum shock (acceleration) measured on any axis before alarm
 #define MAX_TILT_G                              ( 1.0 )                                         ///< Maximum tilt (in g)
 #define MAX_TILT_ANGLE_DEG                      ( 90.0 )                                        ///< Maximum tilt angle (in degrees)
 
@@ -96,9 +96,8 @@
 /*********************************************************************//**
  * @brief
  * The initAccel function initializes the Accel module.
- * @details
- * Inputs: none
- * Outputs: Accel module initialized
+ * @details Inputs: none
+ * @details Outputs: Accel module initialized
  * @return none
  *************************************************************************/
 void initAccel( void )
@@ -125,9 +124,8 @@
 /*********************************************************************//**
  * @brief
  * The execAccel function executes the accelerometer monitor state machine.
- * @details
- * Inputs: accelState
- * Outputs: accelState, alarm if software fault happened
+ * @details Inputs: accelState
+ * @details Outputs: accelState, alarm if software fault happened
  * @return none
  *************************************************************************/
 void execAccel( void )
@@ -159,10 +157,9 @@
  * @brief
  * The handleAccelMonitorState function handles the accelerometer monitor
  * state of the accelerometer monitor state machine.
- * @details
- * Inputs: accelNoNewSampleTimerCounter, accelFPGASampleCtr, accelAxes,
+ * @details Inputs: accelNoNewSampleTimerCounter, accelFPGASampleCtr, accelAxes,
  * accelFPGAFaultReg, accelCalOffsets
- * Outputs: accelNoNewSampleTimerCounter, accelFPGASampleCtr, accelAxes
+ * @details Outputs: accelNoNewSampleTimerCounter, accelFPGASampleCtr, accelAxes
  * alarm if accelerometer failed
  * @return next state
  *************************************************************************/
@@ -211,9 +208,9 @@
     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 ];
-    xMax = (F32)xm * G_PER_LSB;
-    yMax = (F32)ym * G_PER_LSB;
-    zMax = (F32)zm * G_PER_LSB;
+    xMax = fabs( (F32)xm * G_PER_LSB );
+    yMax = fabs( (F32)ym * G_PER_LSB );
+    zMax = fabs( (F32)zm * G_PER_LSB );
     if ( xMax > accelMaxs[ ACCEL_AXIS_X ].data )
     {
         accelMaxs[ ACCEL_AXIS_X ].data = xMax;
@@ -241,9 +238,8 @@
  * @brief
  * The getPublishAccelDataInterval function gets the accelerometer vector
  * data publication interval.
- * @details
- * Inputs: accelDataPublishInterval
- * Outputs: none
+ * @details Inputs: accelDataPublishInterval
+ * @details Outputs: none
  * @return the current accelerometer vector data publication interval
  * (in priority task periods).
  *************************************************************************/
@@ -263,9 +259,8 @@
  * @brief
  * The getMeasuredAccelAxis function gets the current magnitude for
  * the given accelerometer axis.
- * @details
- * Inputs: accelAxes
- * Outputs: alarm if software fault happened
+ * @details Inputs: accelAxes
+ * @details Outputs: alarm if software fault happened
  * @param  axis the axis to measure the acceleration from
  * @return the current magnitude for the given accelerometer axis (in g).
  *************************************************************************/
@@ -300,9 +295,8 @@
  * @brief
  * The getMaxAccelAxis function gets the current max magnitude for the given
  * accelerometer axis.
- * @details
- * Inputs: accelMaxs
- * Outputs: alarm software fault if happened
+ * @details Inputs: accelMaxs
+ * @details Outputs: alarm software fault if happened
  * @param axis the axis to get the max acceleration
  * @return the current maximum magnitude for the given accelerometer axis (in g).
  *************************************************************************/
@@ -337,9 +331,8 @@
  * @brief
  * The publishAccelData function publishes accelerometer data at the set
  * interval.
- * @details
- * Inputs: accelAvgVector, accelTilt, accelAxes, accelDataPublicationTimerCounter
- * Outputs: accelAxes, accelDataPublicationTimerCounter
+ * @details Inputs: accelAvgVector, accelTilt, accelAxes, accelDataPublicationTimerCounter
+ * @details Outputs: accelAxes, accelDataPublicationTimerCounter
  * @return none
  *************************************************************************/
 static void publishAccelData( void )
@@ -371,10 +364,9 @@
  * @brief
  * The resetAccelMovingAverage function re-initializes the accelerometer
  * moving average sample buffer.
- * @details
- * Inputs: accelReadingsTotal, accelAvgVector, accelReadings, accelReadingsIdx,
+ * @details Inputs: accelReadingsTotal, accelAvgVector, accelReadings, accelReadingsIdx,
  * accelReadingsCount
- * Outputs: accelReadingsTotal, accelAvgVector, accelReadings, accelReadingsIdx,
+ * @details Outputs: accelReadingsTotal, accelAvgVector, accelReadings, accelReadingsIdx,
  * accelReadingsCount
  * @return none
  *************************************************************************/
@@ -399,10 +391,9 @@
 /*********************************************************************//**
  * @brief
  * The filterAccelReadings function adds a new axis samples to the filter.
- * @details
- * Inputs: accelReadingsCount, accelReadingsTotal, accelReadings,
+ * @details Inputs: accelReadingsCount, accelReadingsTotal, accelReadings,
  * accelReadings, accelReadingsCount
- * Outputs: accelReadingsCount, accelReadingsTotal, accelReadings,
+ * @details Outputs: accelReadingsCount, accelReadingsTotal, accelReadings,
  * accelReadings, accelReadingsCount
  * @return none
  *************************************************************************/
@@ -449,9 +440,8 @@
  * @brief
  * The calcVectorLength function calculates the length of a vector with
  * given vector axis magnitudes.
- * @details
- * Inputs: none
- * Outputs: none
+ * @details Inputs: none
+ * @details Outputs: none
  * @param x X axis magnitude of vector
  * @param y Y axis magnitude of vector
  * @param z Z axis magnitude of vector
@@ -467,9 +457,8 @@
 /*********************************************************************//**
  * @brief
  * The checkForTiltError function checks for a tilt error.
- * @details
- * Inputs: accelTilt, accelTiltErrorTimerCounter
- * Outputs: accelTiltErrorTimerCounter, alarm if persistent excessive
+ * @details Inputs: accelTilt, accelTiltErrorTimerCounter
+ * @details Outputs: accelTiltErrorTimerCounter, alarm if persistent excessive
  * tilt detected
  * @return none
  *************************************************************************/
@@ -509,9 +498,8 @@
 /*********************************************************************//**
  * @brief
  * The checkForShockError function checks for a shock error.
- * @details
- * Inputs: none
- * Outputs: alarm if excessive shock detected
+ * @details Inputs: none
+ * @details Outputs: alarm if excessive shock detected
  * @return none
  *************************************************************************/
 static void checkForShockError( void )
@@ -541,9 +529,9 @@
     if ( maxAll > MAX_SHOCK_ACCELERATION )
     {
 #ifdef _DG_
-        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_SHOCK, (F32)maxAxis, maxAll )
+        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_SHOCK, (F32)maxAxis, getMaxAccelAxis( maxAxis ) )
 #else
-        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_SHOCK, (F32)maxAxis, maxAll )
+        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_SHOCK, (F32)maxAxis, getMaxAccelAxis( maxAxis ) )
 #endif
     }
 }
@@ -552,9 +540,8 @@
  * @brief
  * The execAccelTest function executes the state machine for the
  * accelerometer self-test.
- * @details
- * Inputs: accelSelfTestState, accelCalOffsets
- * Outputs: accelSelfTestState, accelCalOffsets, Alarm is self-test failed
+ * @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 )
@@ -633,9 +620,8 @@
  * @brief
  * The setAccelCalibration function sets the accelerometer calibration
  * factors and has them stored in non-volatile memory.
- * @details
- * Inputs: accelCalOffsets
- * Outputs: accelCalOffsets
+ * @details Inputs: accelCalOffsets
+ * @details Outputs: accelCalOffsets
  * @param offsetX offset calibration factor for X axis
  * @param offsetY offset calibration factor for Y axis
  * @param offsetZ offset calibration factor for Z axis
@@ -669,9 +655,8 @@
  * @brief
  * The getAccelCalibration function retrieves the current accelerometer
  * calibration factors.
- * @details
- * Inputs: accelCalOffsets
- * Outputs: none
+ * @details Inputs: accelCalOffsets
+ * @details Outputs: none
  * @param offsetX value to populate with X axis offset calibration factor
  * @param offsetY value to populate with Y axis offset calibration factor
  * @param offsetZ value to populate with Z axis offset calibration factor
@@ -688,9 +673,8 @@
  * @brief
  * The testSetAccelDataPublishIntervalOverride function overrides the
  * accelerometer data publish interval.
- * @details
- * Inputs: accelDataPublishInterval
- * Outputs: accelDataPublishInterval
+ * @details Inputs: accelDataPublishInterval
+ * @details Outputs: accelDataPublishInterval
  * @param value override accelerometer data publish interval with (in ms)
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
@@ -714,9 +698,8 @@
  * @brief
  * The testResetAccelDataPublishIntervalOverride function resets the
  * override of the accelerometer data publish interval.
- * @details
- * Inputs: accelDataPublishInterval
- * Outputs: accelDataPublishInterval
+ * @details Inputs: accelDataPublishInterval
+ * @details Outputs: accelDataPublishInterval
  * @return TRUE if override reset successful, FALSE if not
  *************************************************************************/
 BOOL testResetAccelDataPublishIntervalOverride( void )
@@ -737,8 +720,8 @@
  * @brief
  * The testSetAccelAxisOverride function overrides the value of the
  * specified accelerometer axis with a given value.
- * Inputs: accelAxes
- * Outputs: accelAxes
+ * @details Inputs: accelAxes
+ * @details Outputs: accelAxes
  * @param axis ID of sensor axis to override for
  * @param value override value for the given axis
  * @return TRUE if override successful, FALSE if not
@@ -764,9 +747,8 @@
  * @brief
  * The testResetAccelAxisOverride function resets the override of the
  * specified accelerometer axis.
- * @details
- * Inputs: accelAxes
- * Outputs: accelAxes
+ * @details Inputs: accelAxes
+ * @details Outputs: accelAxes
  * @param axis ID of accelerometer axis to reset override for
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
@@ -791,8 +773,8 @@
  * @brief
  * The testSetAccelMaxOverride function overrides the max. value of the
  * specified accelerometer axis with a given value.
- * Inputs: accelMaxs
- * Outputs: accelMaxs
+ * @details Inputs: accelMaxs
+ * @details Outputs: accelMaxs
  * @param axis ID of sensor axis to override for
  * @param value override value for the given axis maximum
  * @return TRUE if override successful, FALSE if not
@@ -818,9 +800,8 @@
  * @brief
  * The testResetAccelMaxOverride function resets the override of the
  * specified accelerometer axis maximum.
- * @details
- * Inputs: accelMaxs
- * Outputs: accelMaxs
+ * @details Inputs: accelMaxs
+ * @details Outputs: accelMaxs
  * @param axis ID of accelerometer axis to reset override for
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/