Add target CoreWingF405WingV2 #11290

MakeSomeFakeNews · 2026-01-26T02:48:24Z

User description

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 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 name Configures all three SPI buses with pin mappings for gyro, OSD, and SD card Sets up 6 UARTs plus VCP and softserial with pin assignments Configures I2C1 for barometer, magnetometer, rangefinder, and pitot sensors Defines ADC channels for voltage, current, RSSI, and airspeed monitoring Enables LED strip, DSHOT, ESC sensor, and PINIO features Sets default features including OSD, telemetry, and blackbox logging	+174/-0
target.c `Timer and sensor hardware initialization` src/main/target/COREWINGF405WINGV2/target.c Registers ICM42688P gyro on SPI1 with CW270 alignment Defines 11 timer hardware entries for motor/servo outputs with DMA assignments Configures LED strip on TIM1 CH1 (PA8) Sets up softserial1 TX on TIM5 CH3 (PA2)	+48/-0
config.c `Default serial port and PINIO configuration` src/main/target/COREWINGF405WINGV2/config.c Sets UART6 as default RX serial port for CRSF receiver Configures UART5 for GPS functionality Configures UART1 for MSP protocol Sets PINIO1 as USER1 box for permanent ID mapping	+41/-0
CMakeLists.txt `Build system configuration` src/main/target/COREWINGF405WINGV2/CMakeLists.txt Adds build target for STM32F405 MCU variant	+1/-0

github-actions · 2026-01-26T02:48:35Z

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 · 2026-01-26T02:49:32Z

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PR Compliance Guide 🔍

All compliance sections have been disabled in the configurations.

qodo-code-review · 2026-01-26T02:50:57Z

src/main/target/COREWINGF405WINGV2/target.h

+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PC10
+#define UART3_RX_PIN            PC11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+//Optional Softserial on UART2 TX Pin PA2
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_TX_PIN      PA2
+#define SOFTSERIAL_1_RX_PIN      PA2


Suggestion: Change SOFTSERIAL_1_RX_PIN from PA2 to PA3 to resolve the pin conflict with SOFTSERIAL_1_TX_PIN and align it with the UART2_RX_PIN. [possible issue, importance: 8]

Suggested change

#define USE_UART2

#define UART2_TX_PIN PA2

#define UART2_RX_PIN PA3

#define USE_UART3

#define UART3_TX_PIN PC10

#define UART3_RX_PIN PC11

#define USE_UART4

#define UART4_TX_PIN PA0

#define UART4_RX_PIN PA1

#define USE_UART5

#define UART5_TX_PIN PC12

#define UART5_RX_PIN PD2

#define USE_UART6

#define UART6_TX_PIN PC6

#define UART6_RX_PIN PC7

//Optional Softserial on UART2 TX Pin PA2

#define USE_SOFTSERIAL1

#define SOFTSERIAL_1_TX_PIN PA2

#define SOFTSERIAL_1_RX_PIN PA2

#define USE_UART2

#define UART2_TX_PIN PA2

#define UART2_RX_PIN PA3

...

//Optional Softserial on UART2 TX Pin PA2

#define USE_SOFTSERIAL1

#define SOFTSERIAL_1_TX_PIN PA2

#define SOFTSERIAL_1_RX_PIN PA3

qodo-code-review · 2026-01-26T02:50:57Z

src/main/target/COREWINGF405WINGV2/config.c

+    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;


Suggestion: Add checks to verify that the index returned by findSerialPortIndexByIdentifier is not -1 before using it to access the portConfigs array, preventing potential out-of-bounds access. [possible issue, importance: 6]

Suggested change

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;

int idx;

idx = findSerialPortIndexByIdentifier(SERIAL_PORT_USART6);

if (idx >= 0) serialConfigMutable()->portConfigs[idx].functionMask = FUNCTION_RX_SERIAL;

idx = findSerialPortIndexByIdentifier(SERIAL_PORT_USART5);

if (idx >= 0) serialConfigMutable()->portConfigs[idx].functionMask = FUNCTION_GPS;

idx = findSerialPortIndexByIdentifier(SERIAL_PORT_USART1);

if (idx >= 0) serialConfigMutable()->portConfigs[idx].functionMask = FUNCTION_MSP;

qodo-code-review · 2026-01-26T02:50:57Z

src/main/target/COREWINGF405WINGV2/target.c

+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,  DEVHW_ICM42605, ICM42605_SPI_BUS,  ICM42605_CS_PIN,  NONE,  0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);


Suggestion: Change the hardware identifier from DEVHW_ICM42605 to DEVHW_ICM42688 in the BUSDEV_REGISTER_SPI_TAG macro to match the actual ICM42688P sensor on the board. [general, importance: 7]

Suggested change

BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);

BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42688, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);

add CoreWingF405WingV2

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

MakeSomeFakeNews closed this Jan 26, 2026

qodo-code-review bot reviewed Jan 26, 2026

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Add target CoreWingF405WingV2 #11290

Add target CoreWingF405WingV2 #11290

MakeSomeFakeNews commented Jan 26, 2026 •

edited by qodo-code-review bot

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-    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;
+    int idx;
+    idx = findSerialPortIndexByIdentifier(SERIAL_PORT_USART6);
+    if (idx >= 0) serialConfigMutable()->portConfigs[idx].functionMask = FUNCTION_RX_SERIAL;
+    idx = findSerialPortIndexByIdentifier(SERIAL_PORT_USART5);
+    if (idx >= 0) serialConfigMutable()->portConfigs[idx].functionMask = FUNCTION_GPS;
+    idx = findSerialPortIndexByIdentifier(SERIAL_PORT_USART1);
+    if (idx >= 0) serialConfigMutable()->portConfigs[idx].functionMask = FUNCTION_MSP;

	BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
	BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42688, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);

Add target CoreWingF405WingV2 #11290

Add target CoreWingF405WingV2 #11290

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User description

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

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MakeSomeFakeNews commented Jan 26, 2026 •

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