diff --git a/include/etl/fsm.h b/include/etl/fsm.h
index 1e527d5d..ed1a9a7d 100644
--- a/include/etl/fsm.h
+++ b/include/etl/fsm.h
@@ -169,6 +169,18 @@ namespace etl
     }
   };
 
+  //***************************************************************************
+  /// Exception for message received but not started.
+  //***************************************************************************
+  class fsm_not_started : public etl::fsm_exception
+  {
+  public:
+    fsm_not_started(string_type file_name_, numeric_type line_number_)
+      : etl::fsm_exception(ETL_ERROR_TEXT("fsm:not started", ETL_FSM_FILE_ID"F"), file_name_, line_number_)
+    {
+    }
+  };
+
   namespace private_fsm
   {
     template <typename T = void>
@@ -404,31 +416,38 @@ namespace etl
     //*******************************************
     void receive(const etl::imessage& message) ETL_OVERRIDE
     {
-      etl::fsm_state_id_t next_state_id = p_state->process_event(message);
-
-      if (have_changed_state(next_state_id))
+      if (is_started())
       {
-        ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
-        etl::ifsm_state* p_next_state = state_list[next_state_id];
+        etl::fsm_state_id_t next_state_id = p_state->process_event(message);
 
-        do
+        if (have_changed_state(next_state_id))
+        {
+          ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
+          etl::ifsm_state* p_next_state = state_list[next_state_id];
+
+          do
+          {
+            p_state->on_exit_state();
+            p_state = p_next_state;
+
+            next_state_id = p_state->on_enter_state();
+
+            if (have_changed_state(next_state_id))
+            {
+              ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
+              p_next_state = state_list[next_state_id];
+            }
+          } while (p_next_state != p_state); // Have we changed state again?
+        }
+        else if (is_self_transition(next_state_id))
         {
           p_state->on_exit_state();
-          p_state = p_next_state;
-
-          next_state_id = p_state->on_enter_state();
-
-          if (have_changed_state(next_state_id))
-          {
-            ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
-            p_next_state = state_list[next_state_id];
-          }
-        } while (p_next_state != p_state); // Have we changed state again?
+          p_state->on_enter_state();
+        }
       }
-      else if (is_self_transition(next_state_id))
+      else
       {
-        p_state->on_exit_state();
-        p_state->on_enter_state();
+        ETL_ASSERT_FAIL(ETL_ERROR(etl::fsm_not_started));
       }
     }
 
diff --git a/include/etl/hfsm.h b/include/etl/hfsm.h
index c9ca12f3..47a936c5 100644
--- a/include/etl/hfsm.h
+++ b/include/etl/hfsm.h
@@ -98,30 +98,37 @@ namespace etl
     //*******************************************
     void receive(const etl::imessage& message) ETL_OVERRIDE
     {
-      etl::fsm_state_id_t next_state_id = p_state->process_event(message);
-
-      if (next_state_id != ifsm_state::No_State_Change)
+      if (is_started())
       {
-        ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
-        etl::ifsm_state* p_next_state = state_list[next_state_id];
+        etl::fsm_state_id_t next_state_id = p_state->process_event(message);
 
-        // Have we changed state?
-        if (p_next_state != p_state)
+        if (next_state_id != ifsm_state::No_State_Change)
         {
-          etl::ifsm_state* p_root = common_ancestor(p_state, p_next_state);
-          do_exits(p_root, p_state);
+          ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
+          etl::ifsm_state* p_next_state = state_list[next_state_id];
 
-          p_state = p_next_state;
-
-          next_state_id = do_enters(p_root, p_next_state, true);
-
-          if (next_state_id != ifsm_state::No_State_Change)
+          // Have we changed state?
+          if (p_next_state != p_state)
           {
-            ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
-            p_state = state_list[next_state_id];
+            etl::ifsm_state* p_root = common_ancestor(p_state, p_next_state);
+            do_exits(p_root, p_state);
+
+            p_state = p_next_state;
+
+            next_state_id = do_enters(p_root, p_next_state, true);
+
+            if (next_state_id != ifsm_state::No_State_Change)
+            {
+              ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
+              p_state = state_list[next_state_id];
+            }
           }
         }
       }
+      else
+      {
+        ETL_ASSERT_FAIL(ETL_ERROR(etl::fsm_not_started));
+      }
     }
 
   private:
diff --git a/test/test_fsm.cpp b/test/test_fsm.cpp
index e092f1d2..d3481dd3 100644
--- a/test/test_fsm.cpp
+++ b/test/test_fsm.cpp
@@ -672,5 +672,13 @@ namespace
       CHECK_TRUE(motorControl.exited_state);
       CHECK_TRUE(motorControl.entered_state);
     }
+
+    //*************************************************************************
+    TEST(test_fsm_no_states_and_no_start)
+    {
+      MotorControl mc;
+
+      CHECK_THROW(mc.receive(Start()), etl::fsm_not_started);
+    }
   };
 }
diff --git a/test/test_hfsm.cpp b/test/test_hfsm.cpp
index 584c3f48..4ea762ab 100644
--- a/test/test_hfsm.cpp
+++ b/test/test_hfsm.cpp
@@ -978,5 +978,13 @@ namespace
       bool exitsCorrect = std::equal(motorControl.stateExitHistory.begin(), motorControl.stateExitHistory.end(), expectedExits.begin());
       CHECK(exitsCorrect);
     }
+
+    //*************************************************************************
+    TEST(test_fsm_no_states_and_no_start)
+    {
+      MotorControl mc;
+
+      CHECK_THROW(mc.receive(Start()), etl::fsm_not_started);
+    }
   };
 }