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;