Small bugfix and adapted naming

include/sta/tacos.hpp

@@ -78,6 +78,7 @@ namespace sta
             return thread_ptr;
         }
 
+#ifdef STA_TACOS_CAN_BUS_ENABLED
 		/**
 		 * @brief Queue a message to be sent over the CAN bus.
 		 * 
@@ -102,7 +103,7 @@ namespace sta
 		 * @ingroup tacos_api
 		 */
 		bool publishState(uint32_t from, uint32_t to, uint32_t lockout = 0);
-
+#endif STA_TACOS_CAN_BUS_ENABLED
 	}  // namespace tacos
 }
 

include/sta/tacos/can_bus.hpp

@@ -3,7 +3,7 @@
 
 #include <sta/config.hpp>
 
-#ifdef STA_CAN_BUS_ENABLE
+#ifdef STA_TACOS_CAN_BUS_ENABLED
 
 #include <sta/rtos/queue.hpp>
 #include <sta/rtos/system/can_bus.hpp>
@@ -13,6 +13,9 @@
 #include <sta/tacos/thread.hpp>
 #include <sta/tacos/statemachine.hpp>
 
+#ifndef STA_STM32_CAN_ENABLED
+#	error "CAN has to be enabled in the IOC first"
+#endif // STA_STM32_CAN_ENABLED
 
 /**
  * @defgroup tacos_can_bus Can Bus Task
@@ -117,5 +120,5 @@ namespace sta
 
 } /* namespace sta */
 
-#endif /* STA_CAN_BUS_ENABLE */
+#endif /* STA_TACOS_CAN_BUS_ENABLED */
 #endif /* INCLUDE_TACOS_CAN_BUS_HPP_ */