Fixed multiple compilation and linker errors:
- watchdog.c: Store IWDG handle in struct for proper refresh calls
- battery.c: Add missing #include <stdbool.h>
- battery.h: Add missing #include <stdbool.h>
- servo.c: Remove duplicate ServoState typedef (moved to static struct)
- ultrasonic.c: Use static TIM handle shared with ISR, fix HAL macro calls
- main.c: Add helper functions for bno055_active, imu_calibrated(), crsf_is_active()
- main.c: Fix buzzer_play() call to buzzer_play_melody(MELODY_STARTUP)
- i2c1.c/h: Add i2c1_write() and i2c1_read() functions
pio run now passes with zero errors.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Shared I2C1 bus (i2c1.c/h, PB8=SCL PB9=SDA 100kHz):
- i2c1_init() called once in main() before sensor probes.
- hi2c1 exported globally; baro and mag drivers use it directly.
Barometer (bmp280.c):
- Probes I2C1 at 0x76 then 0x77 (covers both SDO options).
- bmp280_init() returns chip_id (0x58/0x60) on success, neg if absent.
- Added bmp280_pressure_to_alt_cm() — ISA barometric formula.
- Added bmp280.h (was missing).
Magnetometer (mag.c / mag.h):
- Auto-detects QMC5883L (0x0D, id=0xFF), HMC5883L (0x1E, id='H43'),
IST8310 (0x0E, id=0x10) in that order.
- mag_read_heading() returns degrees×10 (0–3599) or -1 if not ready.
- HMC5883L: correct XZY byte order applied.
- IST8310: single-measurement trigger mode.
main.c:
- i2c1_init() + bmp280_init() + mag_init() after all other inits.
- Both skip gracefully (baro_ok=0, mag_type=MAG_NONE) if not present.
- Telemetry JSON: incremental builder appends ",\"hd\":<n>" when mag
found and ",\"alt\":<n>" when baro found. No extra bytes when absent.
UI (index.html):
- HEADING and ALT rows hidden until first packet with that field.
- Heading shown in degrees, alt in metres (firmware sends cm).
Closes#24.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
