diff --git a/README.md b/README.md
index 97ea1a7..5fec4c4 100644
--- a/README.md
+++ b/README.md
@@ -72,7 +72,7 @@ To enable the CAN Bus two things need to be done:
 1. Enable CAN in the IOC with the RX0 and RX1 Interrupts enabled.
 2. Add the following code to the `sta/config.hpp` file: 
 ```
-#define STA_CAN_BUS_ENABLE
+#define STA_TACOS_CAN_BUS_ENABLE
 ```
 PS: For not officially supported chips add this:
 ```
diff --git a/include/sta/tacos.hpp b/include/sta/tacos.hpp
index 4672dbf..b7b6ccf 100644
--- a/include/sta/tacos.hpp
+++ b/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
 }
 
diff --git a/include/sta/tacos/can_bus.hpp b/include/sta/tacos/can_bus.hpp
index 216c370..750292e 100644
--- a/include/sta/tacos/can_bus.hpp
+++ b/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_ */
diff --git a/src/can_bus.cpp b/src/can_bus.cpp
index 52656c6..39f2387 100644
--- a/src/can_bus.cpp
+++ b/src/can_bus.cpp
@@ -1,5 +1,5 @@
 #include <sta/config.hpp>
-#ifdef STA_CAN_BUS_ENABLE
+#ifdef STA_TACOS_CAN_BUS_ENABLED
 
 #include <sta/tacos/can_bus.hpp>
 #include <sta/debug/assert.hpp>
@@ -161,4 +161,4 @@ namespace sta {
 	} // namespace tacos
 } // namespace sta
 
-#endif // STA_CAN_BUS_ENABLE
+#endif // STA_TACOS_CAN_BUS_ENABLED
diff --git a/src/tacos.cpp b/src/tacos.cpp
index b4e4ba3..ca50225 100644
--- a/src/tacos.cpp
+++ b/src/tacos.cpp
@@ -26,6 +26,7 @@ namespace sta
             Statemachine::instance()->requestTimedStateTransition(from, to, millis, lockout);
         }
 
+#ifdef STA_TACOS_CAN_BUS_ENABLED
         bool queueCanBusMsg(CanSysMsg & msg, uint32_t timeout){
 			return CanBus::instance()->queueCanBusMsg(msg, timeout);
 		}
@@ -42,6 +43,7 @@ namespace sta
 
             return CanBus::instance()->queueCanBusMsg(msg, lockout);
         }
+#endif // STA_TACOS_CAN_BUS_ENABLED
     } // namespace tacos
     
 } // namespace sta