diff --git a/.gitignore b/.gitignore
index 4b5a695..3adcee3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -10,6 +10,9 @@
 Debug/
 Release/
 
+!include/sta/debug/
+!src/debug/
+
 # Doxygen
 docs/html
 docs/latex
diff --git a/include/sta/debug/printing/printable.hpp b/include/sta/debug/printing/printable.hpp
index d25148b..c913bff 100644
--- a/include/sta/debug/printing/printable.hpp
+++ b/include/sta/debug/printing/printable.hpp
@@ -201,6 +201,14 @@ namespace sta
          * @param length    Buffer length
          */
         void read(double * buffer, size_t length);
+    public:
+        virtual void request(uint8_t * txBuffer, size_t txLength, uint8_t * rxBuffer, size_t rxLength) = 0;
+
+        void request(uint8_t * txBuffer, size_t txLength, float * rxBuffer, size_t rxLength);
+
+        void request(uint8_t * txBuffer, size_t txLength, double * rxBuffer, size_t rxLenght);
+
+        
 
     private:
         /**
diff --git a/include/sta/debug/profile.hpp b/include/sta/debug/profile.hpp
index f256ac5..50100c5 100644
--- a/include/sta/debug/profile.hpp
+++ b/include/sta/debug/profile.hpp
@@ -5,8 +5,8 @@
  *      Author: Dario
  */
 
-#ifndef STA_DEBUGGING_PROFILING_HPP
-#define STA_DEBUGGING_PROFILING_HPP
+#ifndef STA_CORE_PROFILE_HPP
+#define STA_CORE_PROFILE_HPP
 
 #include <sta/debug/debug.hpp>
 
@@ -44,4 +44,4 @@ namespace sta
 
 #endif // // STA_PROFILING_ENABLED
 
-#endif // STA_DEBUGGING_PROFILING_HPP
+#endif // STA_CORE_PROFILE_HPP
diff --git a/include/sta/debug/spatz.hpp b/include/sta/debug/spatz.hpp
new file mode 100644
index 0000000..5f6f54f
--- /dev/null
+++ b/include/sta/debug/spatz.hpp
@@ -0,0 +1,56 @@
+#ifndef STA_CORE_SPATZ_HPP
+#define STA_CORE_SPATZ_HPP
+
+#include <sta/config.hpp>
+#ifdef STA_SPATZ_ENABLED
+
+#include <sta/debug/debug.hpp>
+#ifndef STA_DEBUGGING_ENABLED
+#   error "Cannot use SPATZ without debugging being enabled."
+#endif // STA_DEBUGGING_ENABLED
+
+#include <sta/mutex.hpp>
+
+namespace sta
+{
+    namespace spatz
+    {
+        /**
+         * @brief Initialize SPATZ for in-the-loop testing.
+         * 
+         * @param mutex A mutex used to make SPATZ thread-safe.
+         */
+        void init(Mutex * mutex);
+        
+        /**
+         * @brief Request bytes for a specific sensor id via the printable.
+         * 
+         * @param id The id of the sensor to request data for.
+         * @param buffer The byte buffer to write the data to.
+         * @param length The number of the bytes to request.
+         */
+        void request(uint8_t id, uint8_t * buffer, size_t length);
+
+        /**
+         * @brief Request floats for a specific sensor id via the printable.
+         * 
+         * @param id The id of the sensor to request data for.
+         * @param buffer The float buffer to write the data to.
+         * @param length The number of floats to request.
+         */
+        void request(uint8_t id, float * buffer, size_t length);
+
+        /**
+         * @brief Request doubles for a specific sensor id via the printable.
+         * 
+         * @param id The id of the sensor to request data for.
+         * @param buffer The double buffer to write the data to.
+         * @param length The number of doubles to request.
+         */
+        void request(uint8_t id, double * buffer, size_t length);
+    } // namespace spatz
+} // namespace sta
+
+#endif // STA_SPATZ_ENABLED
+
+#endif // STA_CORE_SPATZ_HPP
diff --git a/src/debug/spatz.cpp b/src/debug/spatz.cpp
new file mode 100644
index 0000000..0e3082a
--- /dev/null
+++ b/src/debug/spatz.cpp
@@ -0,0 +1,42 @@
+#include <sta/debug/spatz.hpp>
+
+#ifdef STA_SPATZ_ENABLED
+
+namespace sta
+{
+    namespace spatz
+    {
+        sta::Mutex * mutex_;
+
+        void init(sta::Mutex * mutex)
+        {
+            mutex_ = mutex;
+        }
+
+        void request(uint8_t id, uint8_t * buffer, size_t length)
+        {
+            sta::lock_guard lock(*mutex_);
+
+            Debug->println(id);
+            Debug->read(buffer, length);
+        }
+
+        void request(uint8_t id, float * buffer, size_t length)
+        {
+            sta::lock_guard lock(*mutex_);
+
+            Debug->println(id);
+            Debug->read(buffer, length);
+        }
+
+        void request(uint8_t id, double * buffer, size_t length)
+        {
+            sta::lock_guard lock(*mutex_);
+
+            Debug->println(id);
+            Debug->read(buffer, length);
+        }
+    } // namespace spatz    
+} // namespace sta
+
+#endif // STA_SPATZ_ENABLED
\ No newline at end of file