diff --git a/include/sta/rtos/thread.hpp b/include/sta/rtos/thread.hpp
index 76a4bd1..713cf0b 100644
--- a/include/sta/rtos/thread.hpp
+++ b/include/sta/rtos/thread.hpp
@@ -14,7 +14,7 @@
 /**
  * @brief Number of bits in task notification flags used internally.
  */
-#define STA_RTOS_MAX_BITS_THREAD_SYS_NOTIFY         1U
+#define STA_RTOS_MAX_BITS_THREAD_SYS_NOTIFY         2U
 /**
  * @brief Number of user usable bits in task notification flags.
  */
@@ -91,10 +91,23 @@ namespace sta
 		 */
 		uint32_t getFlags();
 
+		/**
+		 * @brief Wait for certain thread flags.
+		 *
+		 * @return Returns the flags triggering the activation.
+		 */
+		uint32_t wait(uint32_t flags);
+
 		/**
 		 * @brief Send termination request to thread.
 		 */
 		void requestTermination();
+
+		/**
+		 * @brief Returns true if this thread was requested to terminate.
+		 */
+		bool checkTerminationRequest();
+
 		/**
 		 * @brief Forcibly terminate thread.
 		 */
@@ -109,6 +122,7 @@ namespace sta
 
 	private:
 		Handle handle_;
+		bool terminate_;
 	};
 } // namespace sta
 
diff --git a/src/thread.cpp b/src/thread.cpp
index 0694858..4c54e92 100644
--- a/src/thread.cpp
+++ b/src/thread.cpp
@@ -29,7 +29,16 @@ namespace sta
 		STA_ASSERT(handle_.get() != nullptr);
 		STA_ASSERT_MSG(IS_THREAD_SYS_FLAGS(flags), "Only system flags allowed");
 
-		osThreadFlagsSet(handle_.get(), flags);
+		uint32_t rslt = osThreadFlagsSet(handle_.get(), flags);
+
+		STA_ASSERT_MSG(rslt != osFlagsErrorUnknown, "Unknown thread flag error.");
+		STA_ASSERT_MSG(rslt != osFlagsErrorParameter, "Parameter thread_id is not a valid thread or flags has highest bit set.");
+		STA_ASSERT_MSG(rslt != osFlagsErrorResource, "The thread is in invalid state.");
+	}
+
+	uint32_t RtosThread::wait(uint32_t flags)
+	{
+		return osThreadFlagsWait(flags, osFlagsWaitAny, osWaitForever);
 	}
 
 	uint32_t RtosThread::getFlags()
@@ -41,7 +50,16 @@ namespace sta
 
 	void RtosThread::requestTermination()
 	{
-		sysNotify(STA_RTOS_THREAD_FLAG_TERMINATE);
+		// sysNotify(STA_RTOS_THREAD_FLAG_TERMINATE);
+		terminate_ = true;
+	}
+
+	bool RtosThread::checkTerminationRequest()
+	{
+		bool temp = terminate_;
+		terminate_ = false;
+
+		return temp;
 	}
 
 	void RtosThread::terminate()