Merge branch 'v2.5_branch'

    Conflicts:
    	src/hal/drivers/mesa-hostmot2/hostmot2.h
    	src/hal/drivers/mesa-hostmot2/resolver.c

------------------- src/hal/drivers/mesa-hostmot2/hostmot2.h -------------------
index 63093c9,f3eebb4..8311149
@@@ -340,33 -332,31 +340,33 @@@ typedef struct
              hal_s32_t *count;
              hal_float_t *angle;
              hal_float_t *position;
              hal_float_t *velocity;
              hal_bit_t *reset;
              hal_bit_t *index_enable;
              hal_bit_t *error;
          } pin;

          struct {
              hal_float_t scale;
              hal_float_t vel_scale;
 +            hal_u32_t index_div;
          } param;

      } hal;

-     long long accum;
-     long long offset;
-     u32 old_reg;
-     u32 index_cnts;
+     __s64 accum;
+     __s64 offset;
+     __u32 old_reg;
++    __u32 index_cnts;

  } hm2_resolver_instance_t;

  typedef struct {
      struct {
          hal_float_t excitation_khz;
      } param;
  } hm2_resolver_global_t;

  typedef struct {
      int num_instances;
      int num_resolvers;

------------------- src/hal/drivers/mesa-hostmot2/resolver.c -------------------
index b52d4d4,fe460e6..f678c62
@@@ -311,32 -301,29 +311,32 @@@ void hm2_resolver_process_tram_read(hos
          // sanity check
          if (res->hal.param.scale == 0.0) {
              HM2_ERR("resolver.%02d.scale == 0.0, bogus, setting to 1.0\n", i);
              res->hal.param.scale = 1.0;
          }
          if (res->hal.param.vel_scale == 0.0) {
              HM2_ERR("resolver.%02d.velocity-scale == 0.0, bogus, setting to 1.0\n", i);
              res->hal.param.vel_scale = 1.0;
          }

          // PROCESS THE REGISTERS, SET THE PINS

-         res->accum += (signed long)(hm2->resolver.position_reg[i] - res->old_reg );
+         res->accum += (__s32)(hm2->resolver.position_reg[i] - res->old_reg );
 -        if (*res->hal.pin.index_enable){
 -            if ((res->old_reg ^ hm2->resolver.position_reg[i]) & 0x80000000){
 -                res->offset = res->accum & 0xFFFFFFFF00000000LL;
 -                *res->hal.pin.index_enable = 0;
 +        if ((res->old_reg ^ hm2->resolver.position_reg[i]) & 0x80000000){
 +            if (++(res->index_cnts) >= res->hal.param.index_div){
 +                res->index_cnts = 0;
 +                if (*res->hal.pin.index_enable){
 +                    res->offset = res->accum & 0xFFFFFFFF00000000LL;
 +                    *res->hal.pin.index_enable = 0;
 +                }
              }
          }

          if (*res->hal.pin.reset){
              res->offset = res->accum;
          }

          res->old_reg = hm2->resolver.position_reg[i];

          *res->hal.pin.angle = hm2->resolver.position_reg[i] / 4294967296.0;
          *res->hal.pin.rawcounts = (res->accum >> 8);
          *res->hal.pin.count = (res->accum - res->offset) >> 8;