diff --git a/include/sta/tacos.hpp b/include/sta/tacos.hpp
index 74f1593..f969315 100644
--- a/include/sta/tacos.hpp
+++ b/include/sta/tacos.hpp
@@ -78,7 +78,9 @@ namespace sta
             return thread_ptr;
         }
 
-		//bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout);
+		bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout);
+
+		bool queueCanBusMsg(const CanSysMsg & msg, uint32_t timeout);
 	}  // namespace tacos
 }
 
diff --git a/src/tacos.cpp b/src/tacos.cpp
index 8cc7d1b..5c95424 100644
--- a/src/tacos.cpp
+++ b/src/tacos.cpp
@@ -25,11 +25,14 @@ namespace sta
         {
             Statemachine::instance()->requestTimedStateTransition(from, to, millis, lockout);
         }
-		/*bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout){
-			//extern CAN_HandleTypeDef hcan1;
-			//return CanBus::instance(STA_STM32_CAN_HANDLE)->queueCanBusMsg(msg, timeout);
-			return false;
-		}*/
+		
+        bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout){
+			return CanBus::instance()->queueCanBusMsg(msg, timeout);
+		}
+
+        bool queueCanBusMsg(const CanSysMsg & msg, uint32_t timeout){
+			return CanBus::instance()->queueCanBusMsg(msg, timeout);
+		}
     } // namespace tacos
     
 } // namespace sta