diff --git a/.gitignore b/.gitignore
index 02fe6db..8018673 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,4 +3,5 @@
 /build*
 .vscode
 __pycache__/*
-**/__pycache__/*
\ No newline at end of file
+**/__pycache__/*
+*.elf
\ No newline at end of file
diff --git a/README.md b/README.md
index d2c9129..1488bc3 100644
--- a/README.md
+++ b/README.md
@@ -1,43 +1,106 @@
-# FSBL
+# The ROMEO Flight Software
 
-FSBL code is at https://github.com/Xilinx/embeddedsw/
+[For a broader introduction and documentation refer to the OBSW Wiki in the ROMEO Knowledge Base](https://openproject.mm.intra.irs.uni-stuttgart.de/projects/romeo-phase-c/wiki/obsw). This README gives a very brief introduction and aims to document the compile process for experienced developers.
 
-there:
-```sh
-cd lib/sw_apps/zynq_fsbl/src/ && make BOARD=zed CFLAGS=-DFSBL_DEBUG_INFO
+## Scope
+This is the central repository for the flight software of the ROMEO satellite.
+It will eventually become the new base of a Rust Flight Software Framework replacing the C++ Flight Software Framework of the FLP, EIVE and SOURCE.
+
+The current working steps are:
+
+- Build Toolchain (Daniel Philipp)
+- Hardware itnerfaces (Paul Nehlich)
+    - CAN Bus (Andy Hinkel)
+    - RS422 (Paul Nehlich, Joris Janßen)
+- Device Handling Fundamentals (Joris Janßen)
+- Framework Core Component Implementation (Paul Nehlich, Ulrich Mohr)
+- Integration of Space Packets and PUS Services (to be scheduled, Paul Nehlich)
+- OBC Board support and Linux Boot Management (Michael Steinert)
+
+- Device Integration
+- AOCS
+- TCS
+- Communications Interfaces
+
+
+
+
+## Prerequisits for build with Docker
+##### Info
+IRS wireguard VPN can cause network issues with docker. 
+
+##### Install Docker
+If you are using macOS or Windows, please use this tutorial:
+- https://www.docker.com/get-started/
+
+On Linux simply use your package manager to install ```docker``` and prepare everything using these commands, to avoid permission denied errors:
+
+```sh 
+sudo systemctl start docker
+sudo groupadd docker
+sudo usermod -aG docker $USER   
+sudo reboot
 ```
 
-# Building
 
-Requirements [TBC]:
-- cmake
-- arm-none-eabi-gcc
-- doxygen 
-- graphviz
+## FSBL
 
-Configure doxygen:
-- export DOT_PATH=/usr/local/bin
+FSBL is the First Stage Boot Loader and prepares the CPU and FPGA configuration for booting up the Second Stage Bootloader and finally the flight software. 
+
+##### Clone the repository and build the docker image:
 
-satisfy Rust requirements 
 ```sh
-cd ../mission_rust
-cargo update 
-rustup toolchain install nightly
-rustup component add rust-src --toolchain nightly-x86_64-unknown-linux-gnu
-rustup override set nightly
-cargo build -Z build-std
+cd docker/compile_fsbl/
+git clone https://github.com/Xilinx/embeddedsw/
+docker build -t compile_fsbl .
 ```
 
-In .../obsw/
+##### To build the FSBL, run the following command in the `docker/compile-fsbl` directory:
+```sh
+docker run -v ./embeddedsw:/fsbl compile_fsbl /bin/bash -c "cd lib/sw_apps/zynq_fsbl/src && make BOARD=zed SHELL=/bin/bash"
+```
+
+If you want, copy the fsbl.elf to the docker/compile_fsbl directory for easier access:
+```sh
+cp embeddedsw/lib/sw_apps/zynq_fsbl/src/fsbl.elf .
+```
+
+
+## mission_rust
+
+##### Build the docker image:
+```sh
+cd docker/compile_mission/
+docker build -t compile_mission .
+```
+
+##### To build the mission_rust, run the following command in the `docker/compile_mission` directory:
+```sh
+docker run -v $(pwd)/../../mission_rust:/mission_rust compile_mission /bin/bash -c "cargo build -Z build-std"
+```
+
+
+## obsw
+
+##### Clone the submodules (FreeRTOS and lwIP):
 ```sh
 git submodule init
 git submodule update
-mkdir build_cli
-cd build_cli
-cmake -DCMAKE_TOOLCHAIN_FILE=../bsp_z7/cmake/arm-none-eabi.toolchain ..
-make -j 4
 ```
 
+##### Build the docker image:
+```sh
+cd docker/compile_obsw/
+docker build -t compile_obsw .
+```
+
+##### To build the obsw, run the following command in the `docker/compile_obsw` directory:
+```sh
+docker run -v $(pwd)/../..:/obsw compile_obsw /bin/bash -c "mkdir -p build_cli && cd build_cli && cmake -DCMAKE_TOOLCHAIN_FILE=../bsp_z7/cmake/arm-none-eabi.toolchain .. && make -j 8"
+```
+
+The romeo-obsw binary can now be found in the `build_cli` directory.
+
 
 
 # Debugging on zedboard
@@ -53,6 +116,11 @@ On PC connected to zedboard jtag usb port:
 openocd -f board/digilent_zedboard.cfg
 ```
 
+If you have one around, load bitstream at startup (go get a coffee, takes time with onboard JTAG, blue LED lights up when done):
+```sh
+openocd -f board/digilent_zedboard.cfg -c "init" -c "pld load 0 system.bit"
+```
+
 To use JTAG Boot for the obsw, you first need to run the FSBL once.
 
 On build PC (adapt IP if different from debugging PC) in the folder where you build the FSBL as above:
diff --git a/docker/compile_fsbl/Dockerfile b/docker/compile_fsbl/Dockerfile
new file mode 100644
index 0000000..b1e1582
--- /dev/null
+++ b/docker/compile_fsbl/Dockerfile
@@ -0,0 +1,15 @@
+FROM debian:12.5
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install required packages
+RUN apt-get update && apt-get install -y \
+    make \
+    cmake \
+    gcc-arm-none-eabi \
+    && rm -rf /var/lib/apt/lists/* 
+    # Remove the package lists to reduce the image size
+
+
+WORKDIR /fsbl/
+
diff --git a/docker/compile_mission/Dockerfile b/docker/compile_mission/Dockerfile
new file mode 100644
index 0000000..837a46d
--- /dev/null
+++ b/docker/compile_mission/Dockerfile
@@ -0,0 +1,26 @@
+# Use Debian 12.5 as the base image
+FROM debian:12.5
+
+# Set environment variables to avoid any interactive dialogue
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install dependencies required for Rust and rustup
+RUN apt-get update && apt-get install -y curl gcc cmake && \
+    # Clean up the apt cache to reduce image size
+    apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# Install Rustup and select the nightly toolchain
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --default-toolchain nightly && \
+    . $HOME/.cargo/env
+
+# Add the Rust toolchain binaries to PATH
+ENV PATH="/root/.cargo/bin:${PATH}"
+
+# Install the nightly Rust toolchain, the rust-src component, and set the override
+RUN rustup component add rust-src --toolchain nightly-x86_64-unknown-linux-gnu 
+
+
+# Your project's specific setup steps here
+# For example, setting the working directory and copying your project files into the container
+WORKDIR /mission_rust/
+
diff --git a/docker/compile_obsw/Dockerfile b/docker/compile_obsw/Dockerfile
new file mode 100644
index 0000000..0da1195
--- /dev/null
+++ b/docker/compile_obsw/Dockerfile
@@ -0,0 +1,29 @@
+FROM debian:12.5
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install required packages
+RUN apt-get update && apt-get install -y \
+    make \
+    cmake \
+    gcc \
+    curl \
+    gcc-arm-none-eabi \
+    doxygen \
+    graphviz \
+    && rm -rf /var/lib/apt/lists/* 
+    # Remove the package lists to reduce the image size
+
+# Install Rustup and select the nightly toolchain
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --default-toolchain nightly && \
+    . $HOME/.cargo/env
+
+# Add the Rust toolchain binaries to PATH
+ENV PATH="/root/.cargo/bin:${PATH}"
+
+# Install the nightly Rust toolchain, the rust-src component, and set the override
+RUN rustup component add rust-src --toolchain nightly-x86_64-unknown-linux-gnu 
+
+WORKDIR /obsw/
+
+# ENV DOT_PATH=/usr/local/bin # Works without this in debian @paul
\ No newline at end of file
diff --git a/fsfw b/fsfw
new file mode 160000
index 0000000..8b9a468
--- /dev/null
+++ b/fsfw
@@ -0,0 +1 @@
+Subproject commit 8b9a468893a49d100ad5a543656c3864e0be8203