diff --git a/include/sta/rtos/system/can_bus.hpp b/include/sta/rtos/system/can_bus.hpp
index bef0c11..71a5591 100644
--- a/include/sta/rtos/system/can_bus.hpp
+++ b/include/sta/rtos/system/can_bus.hpp
@@ -29,8 +29,7 @@
 #include <sta/config.hpp>
 #ifdef STA_RTOS_CAN_BUS_ENABLE
 
-
-#include <sta/can/controller.hpp>
+#include <sta/bus/can/controller.hpp>
 #include <sta/rtos/c_api/can_msg.h>
 
 #include <cstdint>
diff --git a/src/system/can_bus.cpp b/src/system/can_bus.cpp
index 2c1b26c..8efe9fa 100644
--- a/src/system/can_bus.cpp
+++ b/src/system/can_bus.cpp
@@ -10,7 +10,7 @@
 #ifdef STA_RTOS_CAN_BUS_ENABLE
 
 #include <sta/assert.hpp>
-#include <sta/can/subscribable.hpp>
+#include <sta/bus/can/subscribable.hpp>
 #include <sta/debug_serial.hpp>
 #include <sta/lang.hpp>
 #include <sta/proto/isotp/transmitter.hpp>
@@ -18,7 +18,7 @@
 #include <sta/rtos/defs.hpp>
 #include <sta/rtos/system/can_bus.hpp>
 #include <sta/rtos/system/events.hpp>
-#include <sta/stm32/hal.hpp>
+#include <sta/devices/stm32/hal.hpp>
 
 #include <cmsis_os2.h>
 #include <FreeRTOS.h>
@@ -28,10 +28,6 @@
 
 namespace
 {
-	StaticTask_t canBusCB;
-	StaticQueue_t canBusDataQueueCB;
-	StaticQueue_t canBusSysQueueCB;
-
 	osThreadId_t canBusTaskHandle = nullptr;
 	osMessageQueueId_t canBusDataQueueHandle = nullptr;
 	osMessageQueueId_t canBusSysQueueHandle = nullptr;
@@ -388,65 +384,4 @@ namespace sta
 	}
 } // namespace sta
 
-
-
-/**
- * @brief CAN driver thread entry function.
- */
-void canBusTask(void *)
-{
-	using namespace sta;
-
-	STA_ASSERT_MSG(canBusController != nullptr, "System CAN bus not initialized");
-
-	// Setup ISO-TP transceiver
-	AlpakaCanBus canBus(canBusController, HAL_GetTick, dummy::handleSysMessage, dummy::handleDataMessage);
-
-	while (true)
-	{
-		uint32_t flags = osThreadFlagsWait(STA_RTOS_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, 50);
-
-		if (flags != static_cast<uint32_t>(osErrorTimeout))
-		{
-			STA_ASSERT_MSG((flags & osStatusReserved) == flags, "Unexpected error occurred in wait");
-
-			if (flags & STA_RTOS_CAN_FLAG_SYS_QUEUED)
-			{
-				// Take messages from queue until empty
-				CanSysMsg msg;
-				while (rtos::getCanBusMsg(&msg, 0))
-				{
-					canBus.send(msg);
-				}
-			}
-
-			if (flags & STA_RTOS_CAN_FLAG_DATA_QUEUED)
-			{
-				// Take messages from queue until empty
-				CanDataMsg msg;
-				while (rtos::getCanBusMsg(&msg, 0))
-				{
-					canBus.send(msg);
-				}
-			}
-
-			if (flags & STA_RTOS_CAN_FLAG_MSG_AVAIL)
-			{
-				STA_DEBUG_PRINTLN("[event] CAN INT");
-
-				canBus.processRx();
-			}
-
-			if (flags & STA_RTOS_CAN_FLAG_SHOW_STATS)
-			{
-				canBus.showStatistics();
-			}
-		}
-
-		// Process ISOTP transmissions
-		canBus.processTx();
-	}
-}
-
-
 #endif // STA_RTOS_CAN_BUS_ENABLE