# Exercise 25: MotionCal T-Beam Bridge

Streams the T-Beam Supreme QMC6310 magnetometer in the ASCII format accepted by
Paul Stoffregen's MotionCal desktop tool.

https://github.com/PaulStoffregen/MotionCal.git (fetch)

MotionCal expects:

```text
Raw:accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z
```

This exercise only has a magnetometer, so it sends a stationary accelerometer
placeholder and zero gyro:

```text
Raw:0,0,8192,0,0,0,mag_x,mag_y,mag_z
```

The magnetic values are converted from SensorLib Gauss readings into MotionCal's
integer units where 1 count is 0.1 microtesla.

## Build

```sh
cd /usr/local/src/microreticulum/microReticulumTbeam/exercises/25_motioncal_tbeam
source /home/jlpoole/rnsenv/bin/activate
pio run
```

## Upload

```sh
source /home/jlpoole/rnsenv/bin/activate
pio run -t upload
```

Use a specific board environment if needed:

```sh
pio run -e guy -t upload
```

## MotionCal

Build and run MotionCal as before:

```sh
cd /usr/local/src/MotionCal
make WXCONFIG=wx-config LDFLAGS="-lglut -lGLU -lGL -lm"
GDK_BACKEND=x11 ./MotionCal
```

Select the T-Beam USB serial port in MotionCal. The firmware also accepts
MotionCal's 68-byte calibration packet and echoes `Cal1:` and `Cal2:` lines so
MotionCal can confirm the send.