diff --git a/hal/targets.json b/hal/targets.json
index b948d3de9d..55c3fa3050 100644
--- a/hal/targets.json
+++ b/hal/targets.json
@@ -900,7 +900,7 @@
         "macros": ["MBEDTLS_ENTROPY_HARDWARE_ALT"],
         "progen": {"target": "nucleo-f767zi"},
         "detect_code": ["0818"],
-        "device_has": ["ANALOGIN", "ANALOGOUT", "I2C", "I2CSLAVE", "INTERRUPTIN", "PORTIN", "PORTINOUT", "PORTOUT", "PWMOUT", "RTC", "SERIAL", "SERIAL_ASYNCH", "SLEEP", "SPI", "SPISLAVE", "STDIO_MESSAGES"],
+        "device_has": ["ANALOGIN", "ANALOGOUT", "CAN", "I2C", "I2CSLAVE", "INTERRUPTIN", "PORTIN", "PORTINOUT", "PORTOUT", "PWMOUT", "RTC", "SERIAL", "SERIAL_ASYNCH", "SLEEP", "SPI", "SPISLAVE", "STDIO_MESSAGES"],
         "features": ["IPV4"],
         "release_versions": ["2", "5"]
     },
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/PeripheralNames.h b/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/PeripheralNames.h
index 819b12e8fc..fc1991862d 100644
--- a/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/PeripheralNames.h
+++ b/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/PeripheralNames.h
@@ -92,6 +92,12 @@ typedef enum {
     PWM_14 = (int)TIM14_BASE
 } PWMName;
 
+typedef enum {
+    CAN_1 = (int)CAN1_BASE,
+    CAN_2 = (int)CAN2_BASE,
+    CAN_3 = (int)CAN3_BASE
+} CANName;
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/PeripheralPins.c b/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/PeripheralPins.c
index f128dd2320..db600f4db2 100644
--- a/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/PeripheralPins.c
+++ b/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/PeripheralPins.c
@@ -326,3 +326,27 @@ const PinMap PinMap_SPI_SSEL[] = {
     {PF_6,  SPI_5, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF5_SPI5)},
     {NC,    NC,    0}
 };
+
+//*** CAN ***
+
+const PinMap PinMap_CAN_RD[] = {
+    {PA_8,  CAN_3, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF11_CAN3)},
+    {PA_11, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PB_3,  CAN_3, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF11_CAN3)},
+    {PB_5,  CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PB_8,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PB_12, CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PD_0,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {NC,    NC,    0}
+};
+
+const PinMap PinMap_CAN_TD[] = {
+    {PA_12, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PA_15, CAN_3, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF11_CAN3)},
+    {PB_4,  CAN_3, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF11_CAN3)},
+    {PB_6,  CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PB_9,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PB_13, CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PD_1,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {NC,    NC,    0}
+};
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/objects.h b/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/objects.h
index ee08873996..0c2f3fd453 100644
--- a/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/objects.h
+++ b/hal/targets/hal/TARGET_STM/TARGET_STM32F7/TARGET_NUCLEO_F767ZI/objects.h
@@ -85,6 +85,12 @@ struct i2c_s {
     uint32_t slave;
 };
 
+struct can_s {
+    CANName can;
+    int index;
+};
+
+
 #include "gpio_object.h"
 #include "common_objects.h"
 
diff --git a/libraries/tests/mbed/can_loopback/main.cpp b/libraries/tests/mbed/can_loopback/main.cpp
index efbd9a5de4..be68d11880 100644
--- a/libraries/tests/mbed/can_loopback/main.cpp
+++ b/libraries/tests/mbed/can_loopback/main.cpp
@@ -24,7 +24,7 @@ CAN can1(PA_11, PA_12);
 #elif defined(TARGET_DISCO_F469NI)  || defined(TARGET_DISCO_F746NG)  || \
       defined(TARGET_NUCLEO_F446ZE) || defined(TARGET_NUCLEO_F103RB) || \
       defined(TARGET_NUCLEO_F207ZG) || defined(TARGET_NUCLEO_F303ZE) || \
-      defined(TARGET_DISCO_F769NI)
+      defined(TARGET_DISCO_F769NI) || defined(TARGET_NUCLEO_F767ZI)
 CAN can1(PB_8, PB_9);
 #endif
 
diff --git a/tools/tests.py b/tools/tests.py
index 26ca23f344..29a610b53b 100644
--- a/tools/tests.py
+++ b/tools/tests.py
@@ -326,7 +326,7 @@ TESTS = [
         "NUCLEO_F303RE", "NUCLEO_F303K8", "NUCLEO_F302R8", "NUCLEO_F446RE","NUCLEO_F446ZE",
         "DISCO_F469NI", "DISCO_F429ZI", "NUCLEO_F103RB", "NUCLEO_F746ZG",
         "DISCO_F746NG", "DISCO_L476VG", "NUCLEO_L476RG", "NUCLEO_L432KC",
-        "DISCO_F769NI"]
+        "DISCO_F769NI", "NUCLEO_F767ZI"]
     },
     {
         "id": "MBED_A28", "description": "CAN loopback test",
@@ -339,7 +339,7 @@ TESTS = [
         "NUCLEO_F303RE", "NUCLEO_F303K8", "NUCLEO_F302R8", "NUCLEO_F303ZE", "NUCLEO_F446RE","NUCLEO_F446ZE",
         "DISCO_F469NI", "DISCO_F429ZI", "NUCLEO_F103RB", "NUCLEO_F746ZG",
         "DISCO_F746NG", "DISCO_L476VG", "NUCLEO_L476RG", "NUCLEO_L432KC",
-        "DISCO_F769NI"]
+        "DISCO_F769NI", "NUCLEO_F767ZI"]
     },
     {
         "id": "MBED_BLINKY", "description": "Blinky",