diff --git a/src/can_bus.cpp b/src/can_bus.cpp
index ee14e16..3726a13 100644
--- a/src/can_bus.cpp
+++ b/src/can_bus.cpp
@@ -1,4 +1,8 @@
+#include <sta/config.hpp>
+#ifdef STA_RTOS_CAN_BUS_ENABLE
+
 #include <sta/tacos/can_bus.hpp>
+#include <sta/rtos/system/can_bus.hpp>
 #include <sta/debug/debug.hpp>
 #include <sta/debug/assert.hpp>
 
@@ -8,10 +12,10 @@ namespace sta
 	{
 		CanBus::CanBus(CAN_HandleTypeDef * controller)
 			: TacosThread{"Can Bus", STA_TACOS_CAN_BUS_PRIORITY},
-			  canBusController_(controller),
-			  canBusSysQueue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH},
-			  canBusDataQueue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH},
-              canBus_{&canBusController_, HAL_GetTick, dummy::handleSysMessage, dummy::handleDataMessage}
+			  canBusController_(new STM32CanController(controller)),
+			  canBusSysQueue_(STA_RTOS_CAN_BUS_QUEUE_LENGTH),
+			  canBusDataQueue_(STA_RTOS_CAN_BUS_QUEUE_LENGTH),
+              canBus_{canBusController_, HAL_GetTick, dummy::handleSysMessage, dummy::handleDataMessage}
 		{
 		}
 
@@ -109,5 +113,9 @@ namespace sta
 			return (canBusSysQueue_.get(msg, timeout));
 		}
 
+		CanBus* CanBus::_instance = nullptr;
+
     } /* namespace tacos */
 } /* namespace sta */
+
+#endif // STA_RTOS_CAN_BUS_ENABLE
\ No newline at end of file