diff --git a/include/sta/tacos/debug.hpp b/include/sta/tacos/debug.hpp
new file mode 100644
index 0000000..b1df4c2
--- /dev/null
+++ b/include/sta/tacos/debug.hpp
@@ -0,0 +1,28 @@
+#ifndef STA_TACOS_DEBUG_HPP
+#define STA_TACOS_DEBUG_HPP
+
+#include <sta/tacos/watchdog.hpp>
+
+/**
+ * @defgroup tacos_debugging TACOS Debugging
+ * @brief Functions and classes that are used to debugging TACOS.
+ * 
+ * @details This module contains all functions and classes that are used for debugging TACOS. This is mostly used for writing automated tests.
+ */
+
+namespace sta
+{
+    namespace tacos
+    {
+#ifdef STA_TACOS_WATCHDOG_ENABLED
+		/**
+		 * @return uint16_t Returns the number thread restarts performed by the watchdog. Can be used for debugging and testing. 
+		 * 
+		 * @ingroup tacos_debugging
+		 */
+		uint16_t getNumThreadRestarts();
+#endif // STA_TACOS_WATCHDOG_ENABLED
+    } // namespace tacos
+} // namespace sta
+
+#endif // STA_TACOS_DEBUG_HPP
\ No newline at end of file
diff --git a/include/sta/tacos/thread.hpp b/include/sta/tacos/thread.hpp
index 8291c93..82a07dd 100644
--- a/include/sta/tacos/thread.hpp
+++ b/include/sta/tacos/thread.hpp
@@ -27,6 +27,7 @@ namespace sta
 		/**
 		 * @brief A status flags for the watchdog.
 		 * 
+		 * @ingroup tacos_thread
 		 */
 		enum class ThreadStatus
 		{
@@ -137,13 +138,14 @@ namespace sta
 
 		protected:
 			/**
-			 * @brief 
+			 * @brief Sends a heartbeat signal by setting the thread status to RUNNING
 			 * 
 			 */
 			void heartbeat();
 
 			/**
-			 * @brief Set the thread's status to waiting. Should be called before executing
+			 * @brief Set the thread's status to waiting. This can called before executing code which is very likely
+			 * to exceed a watchdog cycle. This stops the watchdog from restarting the thread.
 			 * 
 			 */
 			void waiting();
@@ -151,7 +153,7 @@ namespace sta
 			/**
 			 * @brief Get the current status of the thread.
 			 * 
-			 * @return ThreadStatus 
+			 * @return ThreadStatus The current status of the thread.
 			 */
 			ThreadStatus getStatus();
 
diff --git a/include/sta/tacos/watchdog.hpp b/include/sta/tacos/watchdog.hpp
index 5953c57..ca0b103 100644
--- a/include/sta/tacos/watchdog.hpp
+++ b/include/sta/tacos/watchdog.hpp
@@ -16,6 +16,12 @@
 #include <sta/tacos/thread.hpp>
 
 
+/**
+ * @defgroup tacos_watchdog Watchdog Task
+ * @ingroup tacos
+ * @brief Watchdog class for TACOS.
+ */
+
 namespace sta
 {
     namespace tacos
@@ -23,6 +29,7 @@ namespace sta
         /**
          * @brief Watchdog class for TACOS using singleton pattern.
          * 
+		 * @ingroup tacos_watchdog
          */
         class Watchdog: public TacosThread
 		{
@@ -30,7 +37,7 @@ namespace sta
 			/**
 			 * @brief Getter for the singleton instance. Constructs the instance if no exists.
 			 * 
-			 * @return Watchdog* 
+			 * @ingroup tacos_watchdog
 			 */
 			static Watchdog* instance()
 			{
diff --git a/src/debug.cpp b/src/debug.cpp
new file mode 100644
index 0000000..43552c6
--- /dev/null
+++ b/src/debug.cpp
@@ -0,0 +1,15 @@
+#include <sta/tacos/debug.hpp>
+
+
+namespace sta
+{
+    namespace tacos
+    {
+#ifdef STA_TACOS_WATCHDOG_ENABLED
+        uint16_t getNumThreadRestarts()
+        {
+            return Watchdog::instance()->getNumRestarts();
+        }
+#endif // STA_TACOS_WATCHDOG_ENABLED
+    } // namespace tacos
+} // namespace sta