diff --git a/libraries/mbed/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/stm32f091xc.h b/libraries/mbed/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/stm32f091xc.h
index d507e9948c..7c4e8c3b97 100644
--- a/libraries/mbed/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/stm32f091xc.h
+++ b/libraries/mbed/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/stm32f091xc.h
@@ -708,7 +708,7 @@ typedef struct
 #define USART5              ((USART_TypeDef *) USART5_BASE)
 #define I2C1                ((I2C_TypeDef *) I2C1_BASE)
 #define I2C2                ((I2C_TypeDef *) I2C2_BASE)
-#define CAN                 ((CAN_TypeDef *) CAN_BASE)
+#define CAN1                ((CAN_TypeDef *) CAN_BASE)
 #define CRS                 ((CRS_TypeDef *) CRS_BASE)
 #define PWR                 ((PWR_TypeDef *) PWR_BASE)
 #define DAC                 ((DAC_TypeDef *) DAC_BASE)
diff --git a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/PeripheralNames.h b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/PeripheralNames.h
index e0c9364358..5acb24b75f 100644
--- a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/PeripheralNames.h
+++ b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/PeripheralNames.h
@@ -79,6 +79,10 @@ typedef enum {
     PWM_17 = (int)TIM17_BASE
 } PWMName;
 
+typedef enum {
+    CAN_1 = (int)CAN_BASE
+} CANName;
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/PeripheralPins.c b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/PeripheralPins.c
index 01edd70191..22742a60c1 100644
--- a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/PeripheralPins.c
+++ b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/PeripheralPins.c
@@ -218,3 +218,15 @@ const PinMap PinMap_SPI_SSEL[] = {
     {PB_12, SPI_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF0_SPI2)},
     {NC,    NC,    0}
 };
+
+const PinMap PinMap_CAN_RD[] = {
+    {PB_8 , CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {PA_11, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {NC,    NC,    0}
+};
+
+const PinMap PinMap_CAN_TD[] = {
+    {PB_9 ,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {PA_12,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {NC,    NC,    0}
+};
diff --git a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/device.h b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/device.h
index 4701cebf96..796242cb24 100644
--- a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/device.h
+++ b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/device.h
@@ -54,6 +54,8 @@
 
 #define DEVICE_SLEEP            1
 
+#define DEVICE_CAN              1
+
 //=======================================
 
 #define DEVICE_SEMIHOST         0
diff --git a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/objects.h b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/objects.h
index 5c29075f39..c92f1d2cde 100644
--- a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/objects.h
+++ b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/objects.h
@@ -100,6 +100,11 @@ struct pwmout_s {
     uint32_t pulse;
 };
 
+struct can_s {
+    CANName can;
+    int index;
+};
+
 #include "gpio_object.h"
 
 #ifdef __cplusplus
diff --git a/libraries/tests/mbed/can/main.cpp b/libraries/tests/mbed/can/main.cpp
index 4c771fa1a1..f7ab154af2 100644
--- a/libraries/tests/mbed/can/main.cpp
+++ b/libraries/tests/mbed/can/main.cpp
@@ -14,6 +14,8 @@ CAN can1(D2, D3);
 #elif defined(TARGET_B96B_F446VE)
 // B96B_F446VE support only single CAN channel
 CAN can1(PD_0, PD_1);
+#elif defined(TARGET_NUCLEO_F091RC)
+CAN can1(PA_11, PA_12);
 #else
 CAN can1(p9, p10);
 #endif
@@ -48,7 +50,7 @@ int main() {
     ticker.attach(&send, 1);
     CANMessage msg;
     while(1) {
-#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE))
+#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && !defined(TARGET_NUCLEO_F091RC))
       printf("loop()\n");
         if(can2.read(msg)) {
             printmsg("Rx message:", &msg);
diff --git a/libraries/tests/mbed/can_interrupt/main.cpp b/libraries/tests/mbed/can_interrupt/main.cpp
index e95dfbdc5c..61bd5dbed5 100644
--- a/libraries/tests/mbed/can_interrupt/main.cpp
+++ b/libraries/tests/mbed/can_interrupt/main.cpp
@@ -14,6 +14,8 @@ CAN can1(D2, D3);
 #elif defined(TARGET_B96B_F446VE)
 // B96B_F446VE support only single CAN channel
 CAN can1(PD_0, PD_1);
+#elif defined(TARGET_NUCLEO_F091RC)
+CAN can1(PA_11, PA_12);
 #else
 CAN can1(p9, p10);
 #endif
@@ -43,7 +45,7 @@ void send() {
     led1 = !led1;
 }
 
-#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE))
+#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && !defined(TARGET_NUCLEO_F091RC))
 void read() {
     CANMessage msg;
     printf("rx()\n");
@@ -57,7 +59,7 @@ void read() {
 int main() {
     printf("main()\n");
     ticker.attach(&send, 1);
-#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE))
+#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && !defined(TARGET_NUCLEO_F091RC))
     can2.attach(&read);
 #endif
     while(1) {
diff --git a/libraries/tests/mbed/can_loopback/main.cpp b/libraries/tests/mbed/can_loopback/main.cpp
index 9068cdcd5c..1b4fed3545 100644
--- a/libraries/tests/mbed/can_loopback/main.cpp
+++ b/libraries/tests/mbed/can_loopback/main.cpp
@@ -13,6 +13,8 @@ CAN can1(p9, p10);
 CAN can1(PD_0, PD_1);
 #elif defined(TARGET_VK_RZ_A1H)
 CAN can1(P5_9, P5_10);
+#elif defined(TARGET_NUCLEO_F091RC)
+CAN can1(PA_11, PA_12);
 #endif
 
 #define TEST_ITERATIONS     127
diff --git a/workspace_tools/tests.py b/workspace_tools/tests.py
index 7a8adb5440..c7265faf23 100644
--- a/workspace_tools/tests.py
+++ b/workspace_tools/tests.py
@@ -91,6 +91,7 @@ Wiring:
      * LPC1549: (RX=D9,   TX=D8)
      * LPC4088: (RX=p9,   TX=p10)
      * VK_RZ_A1H:(RX=P5_9, TX=P5_10)
+     * NUCLEO_F091RC: (RX=PA_11, TX=PA_12)
 
 """
 TESTS = [
@@ -296,7 +297,8 @@ TESTS = [
         "automated": True,
         "duration": 20,
         "peripherals": ["can_transceiver"],
-        "mcu": ["LPC1549", "LPC1768","B96B_F446VE", "VK_RZ_A1H"],
+        "mcu": ["LPC1549", "LPC1768","B96B_F446VE", "VK_RZ_A1H",
+		"NUCLEO_F091RC"],
     },
     {
         "id": "MBED_BLINKY", "description": "Blinky",
@@ -567,13 +569,13 @@ TESTS = [
         "id": "MBED_29", "description": "CAN network test",
         "source_dir": join(TEST_DIR, "mbed", "can"),
         "dependencies": [MBED_LIBRARIES],
-        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE"]
+        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE", "NUCLEO_F091RC"]
     },
     {
         "id": "MBED_30", "description": "CAN network test using interrupts",
         "source_dir": join(TEST_DIR, "mbed", "can_interrupt"),
         "dependencies": [MBED_LIBRARIES],
-        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE"]
+        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE", "NUCLEO_F091RC"]
     },
     {
         "id": "MBED_31", "description": "PWM LED test",