diff --git a/src/thread.cpp b/src/thread.cpp
index e13863d..426f9b0 100644
--- a/src/thread.cpp
+++ b/src/thread.cpp
@@ -22,20 +22,39 @@ namespace sta
 		TacosThread::TacosThread(const char* name, osPriority_t prio, uint32_t stack_size /* = 0 */, uint32_t cb_size /* = 0 */)
 				: RtosThread(name, prio, stack_size, cb_size),
 				  instance_{ NULL },
-				  attribs_{ .name=name, .cb_size=cb_size, .stack_size=stack_size, .priority=prio },
-				  running_{false},
-#ifdef STA_TACOS_WATCHDOG_ENABLED
-				  status_{ThreadStatus::STOPPED},
-#endif // STA_TACOS_WATCHDOG_ENABLED
-#ifdef STA_CAN_BUS_ENABLE
-				  CAN_queue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH},
-				  canID_{0},
-#endif // STA_CAN_BUS_ENABLE
-				  terminate_{false},
-				  previous_tick_{0}
+				  attribs_{ .name = name, .priority = prio },
+				  running_{false}
+		{}
+
+		TacosThread::TacosThread()
+				: RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_))),
+				  instance_{ NULL },
+				  attribs_{ },
+				  running_{false}
+		{}
+
+		void TacosThread::entry_point(void* arg)
 		{
-			STA_ASSERT(stack_size >= 0);
-			STA_ASSERT(cb_size >= 0);
+			STA_ASSERT(arg != nullptr);
+
+			TacosThread* instance = reinterpret_cast<TacosThread*>(arg) ;
+			instance->loop();
+		}
+
+		void TacosThread::start()
+		{
+			STA_ASSERT(!isRunning());
+
+			// If this is the first time starting the thread, it has to be started via rtos first.
+			if (instance_ == NULL)
+			{
+				instance_ = osThreadNew(entry_point, this, &attribs_);
+
+				STA_ASSERT(instance_ != NULL);
+			}
+
+			// Send a thread start signal.
+			sysNotify(STA_RTOS_THREAD_FLAG_START);
 		}
 
 		bool TacosThread::isRunning()