Index: Accel.c
===================================================================
diff -u -r14434061a23aa02218e1f3c6cc3024123e79b153 -r9226df9ba2c91f938cac0e6d798bd7bd25a02c0d
--- Accel.c	(.../Accel.c)	(revision 14434061a23aa02218e1f3c6cc3024123e79b153)
+++ Accel.c	(.../Accel.c)	(revision 9226df9ba2c91f938cac0e6d798bd7bd25a02c0d)
@@ -363,18 +363,24 @@
 {
     // publish accelerometer data on interval
     if ( ++accelDataPublicationTimerCounter >= getPublishAccelDataInterval() )
-    {
-        F32 x = accelAvgVector[ ACCEL_AXIS_X ];
-        F32 y = accelAvgVector[ ACCEL_AXIS_Y ];
-        F32 z = accelAvgVector[ ACCEL_AXIS_Z ];
-        F32 xm = getMaxAccelAxis( ACCEL_AXIS_X );
-        F32 ym = getMaxAccelAxis( ACCEL_AXIS_Y );
-        F32 zm = getMaxAccelAxis( ACCEL_AXIS_Z );
-        F32 xt = accelTilt[ ACCEL_AXIS_X ];
-        F32 yt = accelTilt[ ACCEL_AXIS_Y ];
-        F32 zt = accelTilt[ ACCEL_AXIS_Z ];
+    {
+        ACCEL_DATA_PAYLOAD_T accData;
 
-        broadcastAccelData( x, y, z, xm, ym, zm, xt, yt, zt );
+        accData.x = accelAvgVector[ ACCEL_AXIS_X ];
+        accData.y = accelAvgVector[ ACCEL_AXIS_Y ];
+        accData.z = accelAvgVector[ ACCEL_AXIS_Z ];
+        accData.xMax = getMaxAccelAxis( ACCEL_AXIS_X );
+        accData.yMax = getMaxAccelAxis( ACCEL_AXIS_Y );
+        accData.zMax = getMaxAccelAxis( ACCEL_AXIS_Z );
+        accData.xTilt = accelTilt[ ACCEL_AXIS_X ];
+        accData.yTilt = accelTilt[ ACCEL_AXIS_Y ];
+        accData.zTilt = accelTilt[ ACCEL_AXIS_Z ];
+
+#ifdef _DG_
+        broadcastData( MSG_ID_DG_ACCELEROMETER_DATA, COMM_BUFFER_OUT_CAN_DG_BROADCAST, (U08*)&accData, sizeof( ACCEL_DATA_PAYLOAD_T ) );
+#else
+        broadcastData( MSG_ID_HD_ACCELEROMETER_DATA, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&accData, sizeof( ACCEL_DATA_PAYLOAD_T ) );
+#endif
         // Reset publication timer counter
         accelDataPublicationTimerCounter = 0;
         // Reset max axes
Index: MessageSupport.c
===================================================================
diff -u -r706d450e92a86b9751fccce9e71aa0080798ea01 -r9226df9ba2c91f938cac0e6d798bd7bd25a02c0d
--- MessageSupport.c	(.../MessageSupport.c)	(revision 706d450e92a86b9751fccce9e71aa0080798ea01)
+++ MessageSupport.c	(.../MessageSupport.c)	(revision 9226df9ba2c91f938cac0e6d798bd7bd25a02c0d)
@@ -1,4 +1,5 @@
 
+#include "MessageSupport.h"
 #include "SystemCommMessages.h"
 #include "Utilities.h"
 
@@ -12,9 +13,9 @@
 
 /*********************************************************************//**
  * @brief
- * The broadcastData function broadcasts data.
+ * The broadcastData function queues a broadcast message for transmission.
  * @details Inputs: none
- * @details Outputs: load cell data msg constructed and queued
+ * @details Outputs: broadcast data msg constructed and queued
  * @param msgID message ID of the data is broadcast
  * @param buffer comm buffer ID
  * @param dataPtr pointer to the start of the buffer
@@ -32,7 +33,10 @@
     msg.hdr.msgID = msgID;
     msg.hdr.payloadLen = length;
 
-    memcpy( payloadPtr, dataPtr, length );
+    if ( ( length > 0 ) && ( dataPtr != 0 ) )
+    {
+        memcpy( payloadPtr, dataPtr, length );
+    }
 
     // serialize the message (w/ sync, CRC, and appropriate CAN padding) and add serialized message data to appropriate comm buffer
     result = serializeMessage( msg, buffer, ACK_NOT_REQUIRED );
@@ -41,4 +45,3 @@
 }
 
 /**@}*/
-
Index: MessageSupport.h
===================================================================
diff -u -r706d450e92a86b9751fccce9e71aa0080798ea01 -r9226df9ba2c91f938cac0e6d798bd7bd25a02c0d
--- MessageSupport.h	(.../MessageSupport.h)	(revision 706d450e92a86b9751fccce9e71aa0080798ea01)
+++ MessageSupport.h	(.../MessageSupport.h)	(revision 9226df9ba2c91f938cac0e6d798bd7bd25a02c0d)
@@ -12,7 +12,8 @@
  *  @{
  */
 
-// Generic broadcast function
+// ********** public function prototypes **********
+
 BOOL broadcastData( MSG_ID_T msgID, COMM_BUFFER_T buffer, U08* dataPtr, U32 length );
 
 #endif
Index: RTC.c
===================================================================
diff -u -r5f7a10c8e116c2e00578934022ad16dda89d5bdb -r9226df9ba2c91f938cac0e6d798bd7bd25a02c0d
--- RTC.c	(.../RTC.c)	(revision 5f7a10c8e116c2e00578934022ad16dda89d5bdb)
+++ RTC.c	(.../RTC.c)	(revision 9226df9ba2c91f938cac0e6d798bd7bd25a02c0d)
@@ -1230,7 +1230,7 @@
             updateReadTimestampStruct();
             lastEpochTime = convertDateTime2Epoch( RTCTimestampStruct );
             timeCounter = 1;
-            broadcastRTCEpoch( lastEpochTime );
+            broadcastData( MSG_ID_RTC_EPOCH, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&lastEpochTime, sizeof( U32 ) );
         }
 
         result = RTC_EXEC_STATE_IDLE;