diff options
Diffstat (limited to 'tracker-trackhat/camera.cpp')
| -rw-r--r-- | tracker-trackhat/camera.cpp | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/tracker-trackhat/camera.cpp b/tracker-trackhat/camera.cpp index 77175616..1ec3bbe7 100644 --- a/tracker-trackhat/camera.cpp +++ b/tracker-trackhat/camera.cpp @@ -100,13 +100,14 @@ int trackhat_camera::init_regs() { unsigned attempts = 0; constexpr unsigned max_attempts = 5; + TH_ErrorCode error; auto exp = (uint8_t)t.exposure; auto thres = (uint8_t)t.threshold; - auto thres2 = (uint8_t)std::clamp((int)*t.threshold_2, 0, std::max(0, (int)*t.threshold - 1)); + auto thres2 = (uint8_t)std::clamp((int)*t.threshold_2, 0, std::max(64, thres-1)); auto gain = (uint8_t)*t.gain; - auto gain_c = (uint8_t)(gain < 0x0f ? 0 : (gain / 0x0f + 1) & 3); + auto gain_c = (uint8_t)((gain/0x0f + !!(gain/0x0f)) & 3); gain %= 0x0f; const uint8_t regs[][3] = { @@ -117,21 +118,22 @@ int trackhat_camera::init_regs() { 0x0c, 0x08, gain }, // gain { 0x0c, 0x0c, gain_c }, // gain multiplier { 0x0c, 0x47, thres }, // min brightness - { 0x00, 0x0f, thres2 }, // brightness margin, formula is `thres >= px > thres - fuzz' + { 0x00, 0x0f, thres2 }, // brightness margin, formula is `thres >= px > thres - fuzz' { 0x00, 0x01, 0x01 }, // bank0 sync { 0x01, 0x01, 0x01 }, // bank1 sync }; start: - for (const auto& reg : regs) { trackHat_SetRegister_t r{reg[0], reg[1], reg[2]}; - if (TH_ErrorCode error = trackHat_SetRegisterValue(&device, &r); error != TH_SUCCESS) + error = trackHat_SetRegisterValue(&device, &r); + if (error != TH_SUCCESS) goto error; } return TH_SUCCESS; + error: if (attempts++ < max_attempts) { @@ -139,7 +141,7 @@ error: goto start; } - return error_code; + return error; } bool trackhat_camera::start(const pt_settings&) |