Add target CoreWingF405WingV2 #11291

CoreWingDev · 2026-01-26T03:00:44Z

User description

CoreWing F405 Wing V2

Summary

Adds support for the CoreWing F405 Wing V2 flight controller board.

Hardware Specifications

Component	Specification
MCU	STM32F405RGT6
Gyro	ICM42688P (ICM42605 driver) on SPI1 (CW270 alignment)
OSD	MAX7456 on SPI2
Blackbox	SD Card on SPI3
Barometer	SPA06-003 on I2C1
Magnetometer	All supported via I2C1
Motor/Servo Outputs	S1-S10 with DMA (full DSHOT support)
UARTs	6 (UART1-6) + USB VCP + 1 Softserial = 8 ports
LEDs	PA14 (Blue), PA13 (Green)
Beeper	PC15 (Inverted)
LED Strip	PA8
ADC	Vbat (PC0), Current (PC1), Airspeed (PC5), RSSI (PC4)
PINIO	PC13 (USER1)
Default RX	CRSF on UART6

Default Port Configuration

Port	Function
UART1	MSP
UART5	GPS
UART6	CRSF RX

Pin Mapping

Motor/Servo Outputs

Output	Pin	Timer
S1	PB7	TIM4 CH2
S2	PB6	TIM4 CH1
S3	PB0	TIM3 CH3
S4	PB1	TIM3 CH4
S5	PC8	TIM8 CH3
S6	PC9	TIM8 CH4
S7	PB14	TIM8 CH2N
S8	PA15	TIM2 CH1
S9	PB10	TIM2 CH3
S10	PB11	TIM2 CH4
S11	PB15	TIM12 CH2

SPI Bus Assignment

Bus	Pins (SCK/MISO/MOSI)	Device
SPI1	PA5/PA6/PA7	ICM42688P Gyro (CS: PA4)
SPI2	PB13/PC2/PC3	MAX7456 OSD (CS: PB12)
SPI3	PB3/PB4/PB5	SD Card (CS: PC14)

I2C Bus Assignment

Bus	Pins (SCL/SDA)	Devices
I2C1	PB8/PB9	Barometer, Magnetometer, Rangefinder, Pitot

UART Pin Mapping

UART	TX	RX
UART1	PA9	PA10
UART2	PA2	PA3
UART3	PC10	PC11
UART4	PA0	PA1
UART5	PC12	PD2
UART6	PC6	PC7
Softserial1	PA2	PA2

Notes

Designed for fixed-wing aircraft with 11 servo/motor outputs
Supports rangefinder (US42) and pitot tube via I2C1
SD card blackbox logging enabled by default
Current meter scale: 158

PR Type

Enhancement

Description

Adds support for CoreWing F405 Wing V2 flight controller board
Configures ICM42688P gyro with CW270 alignment
Enables 11 motor/servo outputs with full DMA/DSHOT support
Includes 6 UARTs, OSD, SD card blackbox, barometer, and PINIO features

Block Diagram

flowchart LR
  MCU["STM32F405RGT6"]
  SPI1["SPI1: ICM42688P Gyro"]
  SPI2["SPI2: MAX7456 OSD"]
  SPI3["SPI3: SD Card"]
  I2C["I2C1: SPA06-003 on I2C1 Baro + Mag"]
  OUTPUTS["11 Servo/Motor Outputs"]
  UART["6 UARTs + USB VCP"]
  PINIO["PINIO: USER1"]

  MCU --> SPI1
  MCU --> SPI2
  MCU --> SPI3
  MCU --> I2C
  MCU --> OUTPUTS
  MCU --> UART
  MCU --> PINIO

PR Type

Enhancement

Description

Adds support for CoreWing F405 Wing V2 flight controller board
Configures ICM42688P gyro with CW270 alignment on SPI1
Enables 11 motor/servo outputs with full DMA/DSHOT support
Includes 6 UARTs, OSD, SD card blackbox, barometer, magnetometer
Supports rangefinder, pitot tube, LED strip, and PINIO features

Diagram Walkthrough

flowchart LR
  MCU["STM32F405RGT6"]
  SPI1["SPI1: ICM42688P Gyro"]
  SPI2["SPI2: MAX7456 OSD"]
  SPI3["SPI3: SD Card"]
  I2C["I2C1: Baro/Mag/Rangefinder"]
  UART["6 UARTs + USB VCP"]
  PWM["11 Motor/Servo Outputs"]
  
  MCU --> SPI1
  MCU --> SPI2
  MCU --> SPI3
  MCU --> I2C
  MCU --> UART
  MCU --> PWM

File Walkthrough

Relevant files

Configuration changes

target.h `Complete hardware configuration and pin definitions` src/main/target/COREWINGF405WINGV2/target.h Defines board identifier "CW4W2" and product string Configures all three SPI buses with pin assignments Sets up 6 UARTs plus USB VCP and softserial Defines I2C1 for sensors (barometer, magnetometer, rangefinder, pitot) Configures ICM42688P gyro with CW270 alignment on SPI1 Enables MAX7456 OSD on SPI2 and SD card on SPI3 Sets up ADC channels for voltage, current, airspeed, and RSSI Defines 11 PWM outputs with LED strip and PINIO support	+174/-0
target.c `Timer and sensor hardware initialization` src/main/target/COREWINGF405WINGV2/target.c Registers ICM42688P gyro on SPI1 with CW270 alignment Defines timer hardware for 11 motor/servo outputs with DMA Configures LED strip on TIM1 CH1 (PA8) Sets up softserial1 TX on TIM5 CH3 (PA2)	+48/-0
config.c `Default port and feature configuration` src/main/target/COREWINGF405WINGV2/config.c Sets UART6 as default CRSF RX serial port Configures UART5 for GPS functionality Configures UART1 for MSP protocol Enables PINIO user1 box on PC13	+41/-0
CMakeLists.txt `Build system configuration` src/main/target/COREWINGF405WINGV2/CMakeLists.txt Adds CMake build target for STM32F405 MCU variant	+1/-0

Merge 9.x to master

Merge Maintenance 9.x to master, mostly for the github workflow

…check-action Fix YAML syntax error in workflow file

github-actions · 2026-01-26T03:00:54Z

Branch Targeting Suggestion

You've targeted the master branch with this PR. Please consider if a version branch might be more appropriate:

maintenance-9.x - If your change is backward-compatible and won't create compatibility issues between INAV firmware and Configurator 9.x versions. This will allow your PR to be included in the next 9.x release.
maintenance-10.x - If your change introduces compatibility requirements between firmware and configurator that would break 9.x compatibility. This is for PRs which will be included in INAV 10.x

If master is the correct target for this change, no action is needed.

This is an automated suggestion to help route contributions to the appropriate branch.

qodo-code-review · 2026-01-26T03:01:45Z

ⓘ Your approaching your monthly quota for Qodo. Upgrade your plan

PR Compliance Guide 🔍

All compliance sections have been disabled in the configurations.

src/main/target/COREWINGF405WINGV2/target.h

qodo-code-review · 2026-01-26T03:03:14Z

src/main/target/COREWINGF405WINGV2/config.c

+void targetConfiguration(void)
+{
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_RX_SERIAL;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].functionMask = FUNCTION_GPS;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_MSP;
+
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+}


Suggestion: Store the result of findSerialPortIndexByIdentifier() and guard against -1 before indexing portConfigs to avoid out-of-bounds writes when a port identifier is unavailable/misconfigured. [Learned best practice, importance: 6]

Suggested change

void targetConfiguration(void)

{

serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_RX_SERIAL;

serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].functionMask = FUNCTION_GPS;

serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_MSP;

pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;

}

void targetConfiguration(void)

{

const int usart6Index = findSerialPortIndexByIdentifier(SERIAL_PORT_USART6);

const int usart5Index = findSerialPortIndexByIdentifier(SERIAL_PORT_USART5);

const int usart1Index = findSerialPortIndexByIdentifier(SERIAL_PORT_USART1);

if (usart6Index >= 0) {

serialConfigMutable()->portConfigs[usart6Index].functionMask = FUNCTION_RX_SERIAL;

}

if (usart5Index >= 0) {

serialConfigMutable()->portConfigs[usart5Index].functionMask = FUNCTION_GPS;

}

if (usart1Index >= 0) {

serialConfigMutable()->portConfigs[usart1Index].functionMask = FUNCTION_MSP;

}

pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;

}

sensei-hacker and others added 4 commits January 17, 2026 09:51

Merge pull request iNavFlight#11257 from iNavFlight/maintenance-9.x

dbe338a

Merge 9.x to master

Merge pull request iNavFlight#11273 from iNavFlight/maintenance-9.x

1092cc0

Merge Maintenance 9.x to master, mostly for the github workflow

Merge pull request iNavFlight#11275 from sensei-hacker/ci/pg-version-…

da2a35c

…check-action Fix YAML syntax error in workflow file

add CoreWingF405WingV2

cb6df43

qodo-code-review bot added the Review effort 2/5 label Jan 26, 2026

qodo-code-review bot reviewed Jan 26, 2026

View reviewed changes

sensei-hacker changed the base branch from master to maintenance-9.x January 26, 2026 04:42

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Add target CoreWingF405WingV2 #11291

Add target CoreWingF405WingV2 #11291

CoreWingDev commented Jan 26, 2026 •

edited by qodo-code-review bot

Loading

Uh oh!

github-actions bot commented Jan 26, 2026

Uh oh!

qodo-code-review bot commented Jan 26, 2026

Uh oh!

Uh oh!

qodo-code-review bot Jan 26, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

-void targetConfiguration(void)
-{
-    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_RX_SERIAL;
-    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].functionMask = FUNCTION_GPS;
-    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_MSP;
-    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
-}
+void targetConfiguration(void)
+{
+    const int usart6Index = findSerialPortIndexByIdentifier(SERIAL_PORT_USART6);
+    const int usart5Index = findSerialPortIndexByIdentifier(SERIAL_PORT_USART5);
+    const int usart1Index = findSerialPortIndexByIdentifier(SERIAL_PORT_USART1);
+    if (usart6Index >= 0) {
+        serialConfigMutable()->portConfigs[usart6Index].functionMask = FUNCTION_RX_SERIAL;
+    }
+    if (usart5Index >= 0) {
+        serialConfigMutable()->portConfigs[usart5Index].functionMask = FUNCTION_GPS;
+    }
+    if (usart1Index >= 0) {
+        serialConfigMutable()->portConfigs[usart1Index].functionMask = FUNCTION_MSP;
+    }
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+}

Add target CoreWingF405WingV2 #11291

Are you sure you want to change the base?

Add target CoreWingF405WingV2 #11291

Conversation

CoreWingDev commented Jan 26, 2026 • edited by qodo-code-review bot Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

User description

CoreWing F405 Wing V2

Summary

Hardware Specifications

Default Port Configuration

Pin Mapping

Motor/Servo Outputs

SPI Bus Assignment

I2C Bus Assignment

UART Pin Mapping

Notes

PR Type

Description

Block Diagram

PR Type

Description

Diagram Walkthrough

File Walkthrough

Uh oh!

github-actions bot commented Jan 26, 2026

Branch Targeting Suggestion

Uh oh!

qodo-code-review bot commented Jan 26, 2026

PR Compliance Guide 🔍

Uh oh!

Uh oh!

qodo-code-review bot Jan 26, 2026

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

CoreWingDev commented Jan 26, 2026 •

edited by qodo-code-review bot

Loading