diff --git a/README.md b/README.md
index fb34780..6da49d5 100644
--- a/README.md
+++ b/README.md
@@ -43,6 +43,148 @@ The current working steps are:
 Consider using Docker or setting up a local compile toolchain.
 Please refer to [BUILD_WITH_DOCKER.md](./BUILD_WITH_DOCKER.md) or [BUILD_WITH_CMAKE.md](./BUILD_WITH_CMAKE.md).
 
-## How to debug on hardware?
+## Prerequisits for build with Docker
+##### Info
+IRS wireguard VPN can cause network issues with docker. 
 
-Please refer to [DEBUG_ON_ZEDBOARD.md](./DEBUG_ON_ZEDBOARD.md)
\ No newline at end of file
+##### 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
+```
+
+
+## FSBL
+
+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:
+
+```sh
+cd docker/compile_fsbl/
+git clone https://github.com/Xilinx/embeddedsw/
+docker build -t compile_fsbl .
+```
+
+##### 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"
+```
+
+## Requirements [TBC]:
+1. `cmake`
+2. `arm-none-eabi-gcc`
+3. `doxygen` 
+4. `graphviz`
+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 .
+```
+
+## Steps
+1. Configure doxygen:
+
+## mission_rust
+
+##### Build the docker image:
+```sh
+export DOT_PATH=/usr/local/bin
+```
+2. 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_mission/
+docker build -t compile_mission .
+```
+
+3. Configure the ROMEO OBSW repository in `.../obsw/`
+##### 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
+```
+
+##### 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`
+`zedboard` is the `Xilinx Zynq-7000` development board. 
+## Requirements [TBC]:
+- `OpenOCD`
+- `arm-none-eabi-gdb` 
+
+## Steps
+TODO: discuss this with paul
+1. Set Zedboard `boot mode` to JTAG and connect debugging PC to zedboard JTAG and UART USB port.
+TODO: what is which port, use distinct name/add a graphic
+2. On PC connected to zedboard JTAG USB port:
+```sh
+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"
+```
+
+3. 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:
+```sh
+arm-none-eabi-gdb fsbl.elf
+>target extended-remote localhost:3333
+>load
+>cont
+>^C^D^D
+```
+
+### (Optional) Automate this run:
+```sh
+arm-none-eabi-gdb fsbl.elf -iex "target extended-remote localhost:3333" -ex "set pagination off" -ex "load" -ex "break FsblHandoffJtagExit" -ex "cont" -ex="set confirm off" -ex "exit"
+```
+
+It will exit after the Zynq is configured and ready to firmware.
+
+Then load the actual OBSW, in the build (`build_cli` in the example above) folder run:
+```sh
+arm-none-eabi-gdb romeo-obsw
+>target extended-remote localhost:3333
+>load
+>cont
+```
+
+Again, `Command Line Interface (CLI) commands` can be moved to the GNU Debugger (DGB) call. Also, a small function is used as marker to return from GDB if the mission code returns (should not happen in production but might be useful during testing).
+```sh
+arm-none-eabi-gdb romeo-obsw -iex "target extended-remote localhost:3333" -ex "set pagination off" -ex "load" -ex "break done" -ex "cont" -ex="set confirm off" -ex "exit"
+```
+
+UART USB port should output something at `115200baud`, (I use moserial to monitor).