From a19e1f780efd5365dc2210da49dd7d60362dc335 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 9 Apr 2022 18:56:12 -0400
Subject: [PATCH] reduce HRT_INTERVAL_MIN to 10 us

---
 platforms/nuttx/src/px4/nxp/imxrt/hrt/hrt.c        | 2 +-
 platforms/nuttx/src/px4/nxp/kinetis/hrt/hrt.c      | 2 +-
 platforms/nuttx/src/px4/nxp/s32k1xx/hrt/hrt.c      | 2 +-
 platforms/nuttx/src/px4/rpi/rpi_common/hrt/hrt.c   | 2 +-
 platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c | 2 +-
 platforms/posix/src/px4/common/drv_hrt.cpp         | 4 ++--
 6 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/platforms/nuttx/src/px4/nxp/imxrt/hrt/hrt.c b/platforms/nuttx/src/px4/nxp/imxrt/hrt/hrt.c
index 7106a1814c..fac44fc51e 100644
--- a/platforms/nuttx/src/px4/nxp/imxrt/hrt/hrt.c
+++ b/platforms/nuttx/src/px4/nxp/imxrt/hrt/hrt.c
@@ -124,7 +124,7 @@
 * reading a time and writing a deadline to the timer cannot
 * result in missing the deadline.
 */
-#define HRT_INTERVAL_MIN	50
+#define HRT_INTERVAL_MIN	10
 #define HRT_INTERVAL_MAX	 4294951760LL
 
 /*
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/hrt/hrt.c b/platforms/nuttx/src/px4/nxp/kinetis/hrt/hrt.c
index 8956ddf15a..ad88317210 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/hrt/hrt.c
+++ b/platforms/nuttx/src/px4/nxp/kinetis/hrt/hrt.c
@@ -119,7 +119,7 @@
 * reading a time and writing a deadline to the timer cannot
 * result in missing the deadline.
 */
-#define HRT_INTERVAL_MIN	50
+#define HRT_INTERVAL_MIN	10
 #define HRT_INTERVAL_MAX	50000
 
 /*
diff --git a/platforms/nuttx/src/px4/nxp/s32k1xx/hrt/hrt.c b/platforms/nuttx/src/px4/nxp/s32k1xx/hrt/hrt.c
index 71a97c9d81..5b318f0d4a 100644
--- a/platforms/nuttx/src/px4/nxp/s32k1xx/hrt/hrt.c
+++ b/platforms/nuttx/src/px4/nxp/s32k1xx/hrt/hrt.c
@@ -147,7 +147,7 @@
 * reading a time and writing a deadline to the timer cannot
 * result in missing the deadline.
 */
-#define HRT_INTERVAL_MIN	50
+#define HRT_INTERVAL_MIN	10
 #define HRT_INTERVAL_MAX	50000
 
 /*
diff --git a/platforms/nuttx/src/px4/rpi/rpi_common/hrt/hrt.c b/platforms/nuttx/src/px4/rpi/rpi_common/hrt/hrt.c
index 12050a247d..2685323555 100644
--- a/platforms/nuttx/src/px4/rpi/rpi_common/hrt/hrt.c
+++ b/platforms/nuttx/src/px4/rpi/rpi_common/hrt/hrt.c
@@ -100,7 +100,7 @@
  * reading a time and writing a deadline to the timer cannot
  * result in missing the deadline.
  */
-#define HRT_INTERVAL_MIN	50
+#define HRT_INTERVAL_MIN	10
 #define HRT_INTERVAL_MAX	4000000000
 
 /*
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c b/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c
index 025e31a003..cfd7e88cf7 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c
@@ -209,7 +209,7 @@ void hrt_usr_call(void *arg)
  * reading a time and writing a deadline to the timer cannot
  * result in missing the deadline.
  */
-#define HRT_INTERVAL_MIN	50
+#define HRT_INTERVAL_MIN	10
 #define HRT_INTERVAL_MAX	50000
 
 /*
diff --git a/platforms/posix/src/px4/common/drv_hrt.cpp b/platforms/posix/src/px4/common/drv_hrt.cpp
index a75c953f85..b8a6245aa3 100644
--- a/platforms/posix/src/px4/common/drv_hrt.cpp
+++ b/platforms/posix/src/px4/common/drv_hrt.cpp
@@ -55,8 +55,8 @@
 #endif
 
 // Intervals in usec
-static constexpr unsigned HRT_INTERVAL_MIN = 50;
-static constexpr unsigned HRT_INTERVAL_MAX = 50000000;
+static constexpr unsigned HRT_INTERVAL_MIN = 10;
+static constexpr unsigned HRT_INTERVAL_MAX = 50000;
 
 /*
  * Queue of callout entries.