I use CooCox CoIDE From Help->About: Version: 2.0.3 Build id: 20150527-2.0.3 CooCox CoIDE is a free software product. Visit: http://www.coocox.org/software/coide.php Project for STM32F407VGT6 Control mode: 1)SpeedMode 0x00: pocket size 5 byte 0x00|LeftSpeed|RightSpeed|/n|/r; 2)WayMode 0x01: pocket size 5 byte 0x01|LengthOfWay|Speed|/n|/r; 3)RoundMode 0x02: pocket size 5 byte 0x02|CountOfRounds|Speed|/n|/r;