diff --git a/ftdi_flash.cfg b/ftdi_flash.cfg
index 1a43006..a80dc2b 100644
--- a/ftdi_flash.cfg
+++ b/ftdi_flash.cfg
@@ -1,16 +1,16 @@
 adapter driver ftdi
-ftdi vid_pid 0x0403 0x6010
+ftdi_vid_pid 0x0403 0x6010
 
 # Initial state: Assuming 0x0008 doesn't interfere with your setup
 # and 0x000b sets the required initial states for your other signals.
-ftdi layout_init 0x0008 0x000b
+ftdi_layout_init 0x0008 0x000b
 
-ftdi layout_signal LED_Tx -data 0x00F0 -oe 0x00F0
-ftdi layout_signal LED_Rx -data 0x00F0 -oe 0x00F0
+ftdi_layout_signal LED_Tx -data 0x00F0 -oe 0x00F0
+ftdi_layout_signal LED_Rx -data 0x00F0 -oe 0x00F0
 
 # Configure GPIOL0 (ADBUS4) as nSRST, assuming active low reset
 # Setting `-data` for active low, `-oe` to enable output.
 # If tri-state isn't supported, this configures the pin as push-pull.
-ftdi layout_signal nSRST -data 0x0010 -oe 0x0010
+ftdi_layout_signal nSRST -data 0x0010 -oe 0x0010
 
-transport select jtag
\ No newline at end of file
+transport select jtag
diff --git a/ner_environment/build_system/build_system.py b/ner_environment/build_system/build_system.py
index 99d6705..82483a0 100644
--- a/ner_environment/build_system/build_system.py
+++ b/ner_environment/build_system/build_system.py
@@ -14,9 +14,12 @@
 # To see a list of available commands and additional configuration options, run `ner --help`
 # ==============================================================================
 import argparse
+import platform
 import subprocess
 import sys
 import os
+import glob
+import time
 
 # custom modules for functinality that is too large to be included in this script directly
 from .miniterm import main as miniterm
@@ -31,7 +34,7 @@ def build(args):
         command = ["docker", "compose", "run", "--rm", "ner-gcc-arm", "make", "clean"]
     else:
         command = ["docker", "compose", "run", "--rm", "ner-gcc-arm", "make", f"-j{os.cpu_count()}"]
-    run_command(command)
+    run_command(command, stream_output=True)
 
 # ==============================================================================
 # Clang command
@@ -55,7 +58,53 @@ def clang(args):
 # ==============================================================================
 
 def debug(args):
-    pass
+
+    command = []
+    #if args.docker:
+    #    print("Dockerized openocd unsupported for gdb")
+    #    sys.exit(1)
+    
+    command = command + ["openocd"]
+
+    current_directory = os.getcwd()
+    if args.ftdi:
+        ftdi_path = os.path.join(current_directory, "Drivers", "Embedded-Base", "ftdi_flash.cfg")
+        command = command + ["-f", ftdi_path]
+    else:
+        command = command + ["-f", "interface/cmsis-dap.cfg"]
+
+    build_directory = os.path.join("build", "*.elf")
+    elf_files = glob.glob(build_directory)
+    if not elf_files:
+        print("Error: No ELF file found in ./build/")
+        sys.exit(1)
+
+    elf_file = os.path.basename(os.path.normpath(elf_files[0]))  # Take the first ELF file found
+    print(f"Found ELF file: {elf_file}")
+
+    halt_command = command + ["-f", "flash.cfg", "-f", os.path.join(current_directory, "Drivers", "Embedded-Base", "openocd.cfg"),
+"-c", "init", "-c", "reset halt"]
+    ocd = subprocess.Popen(halt_command)
+    time.sleep(1)
+    
+    # for some reason the host docker internal thing is broken on linux despite compose being set correctly, hence this hack
+    gdb_uri  = "host.docker.internal"
+    if platform.system() == "Linux" and is_wsl() == 0:
+        gdb_uri = "localhost"
+
+    send_command = ["docker", "compose", "run", "--rm", "ner-gcc-arm", "arm-none-eabi-gdb", f"/home/app/build/{elf_file}", "-ex", f"target extended-remote {gdb_uri}:3333"]
+
+    subprocess.run(send_command)
+
+    # make terminal clearer
+    time.sleep(4)
+    print("\nKilling openocd...")
+    ocd.terminate()
+    time.sleep(1)
+
+    
+    
+	
 
 # ==============================================================================
 # Flash command
@@ -64,6 +113,10 @@ def debug(args):
 def flash(args):
 
     command = []
+    if args.docker and args.ftdi:
+        print("Cannot flash ftdi from docker")
+        sys.exit(1)
+
     if args.docker:
         command = ["docker", "compose", "run", "--rm", "ner-gcc-arm"]
 
@@ -75,8 +128,18 @@ def flash(args):
         command = command + ["-f", ftdi_path]
     else:
         command = command + ["-f", "interface/cmsis-dap.cfg"]
-        
-    command = command + ["-f", "flash.cfg"]
+    
+
+    build_directory = os.path.join("build", "*.elf")
+    elf_files = glob.glob(build_directory)
+    if not elf_files:
+        print("Error: No ELF file found in ./build/")
+        sys.exit(1)
+
+    elf_file = elf_files[0]  # Take the first ELF file found
+    print(f"Found ELF file: {elf_file}")
+
+    command = command + ["-f", "flash.cfg", "-c", f"program {elf_file} verify reset exit"]
     
     run_command(command, stream_output=True)
 
@@ -206,6 +269,11 @@ def main():
     # ==============================================================================
 
     parser_debug = subparsers.add_parser('debug', help="Start a debug session")
+    parser_debug.add_argument(
+        '--ftdi',
+        action="store_true",
+        help="Set this flag if the device uses an FTDI chip",
+    )
     parser_debug.set_defaults(func=debug)
 
     # ==============================================================================
@@ -257,21 +325,7 @@ def run_command(command, stream_output=False, exit_on_fail=True):
     
     if stream_output:
      
-        process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
-
-        # Stream the output in real-time
-        while True:
-            output = process.stdout.readline()
-            if output == '' and process.poll() is not None:
-                break
-            if output:
-                print(output.strip())
-
-        # Capture any remaining output
-        stderr_output = process.stderr.read()
-        if stderr_output:
-            print(stderr_output, file=sys.stderr)
-
+        process = subprocess.Popen(command, text=True)
   
         returncode = process.wait()
         if returncode != 0:
@@ -294,6 +348,18 @@ def disconnect_usbip():
     command = ["sudo", "usbip", "detach", "-p", "0"]
     run_command(command, exit_on_fail=False)
 
+def is_wsl(v: str = platform.uname().release) -> int:
+    """
+    detects if Python is running in WSL
+    """
+
+    if v.endswith("-Microsoft"):
+        return 1
+    elif v.endswith("microsoft-standard-WSL2"):
+        return 2
+
+    return 0
+
 
 if __name__ == "__main__":
     main()
diff --git a/ner_environment/ner_setup.py b/ner_environment/ner_setup.py
index fb38de0..2a7045d 100644
--- a/ner_environment/ner_setup.py
+++ b/ner_environment/ner_setup.py
@@ -9,6 +9,18 @@
 except ImportError:
     distro = None
 
+def is_wsl(v: str = platform.uname().release) -> int:
+    """
+    detects if Python is running in WSL
+    """
+
+    if v.endswith("-Microsoft"):
+        return 1
+    elif v.endswith("microsoft-standard-WSL2"):
+        return 2
+
+    return 0
+
 def run_command(command, check=True, shell=False):
     try:
         result = subprocess.run(command, check=check, shell=shell, text=True, capture_output=True)
@@ -19,22 +31,20 @@ def run_command(command, check=True, shell=False):
         print(f"Command failed: {e.cmd}\nReturn code: {e.returncode}\nOutput: {e.output}\nError: {e.stderr}", file=sys.stderr)
         sys.exit(1)
 
-def check_docker_and_rust():
-    print("This script requires Docker and Rust to be installed.")
-    answer = input("Do you have Docker and Rust installed? (yes/no): ").strip().lower()
+def check_docker():
+    print("This script requires Docker to be installed.")
+    answer = input("Do you have Docker installed? (yes/no): ").strip().lower()
     if 'y' not in answer:
         sys.exit(1)
 
     os_type = platform.system()
     if os_type == 'Windows':
-        print("Windows OS detected. If on windows, you must be using bash (included with git), instead of cmd or powershell") 
-        answer = input("Are you using bash? (yes/no): ").strip().lower()
-        if 'y' not in answer:
-	        sys.exit(1)  
+        print("Windows OS detected. If on windows, you must be using WSL. Revist the docs and reinstall. Sorry") 
+        sys.exit(1) 
 
 def docker_pull(image_url):
     os_type = platform.system()
-    if os_type=='Windows' or os_type == 'Darwin':
+    if is_wsl() or os_type == 'Darwin':
         print("Please open the Docker Desktop application before proceeding")
         answer =input("Is the Docker Desktop app running? (yes/no)")
     print("Pulling Docker image...")
@@ -70,11 +80,7 @@ def install_precommit(venv_python):
 def install_openocd():
     os_type = platform.system()
     try:
-        if os_type == "Windows":
-            print("Please install OpenOCD manually on Windows. You can download it from https://gnutoolchains.com/arm-eabi/openocd/")
-            print("You will need to unzip the downloaded file and run the exe file.")
-            return
-        elif os_type == "Darwin":
+        if os_type == "Darwin":
             run_command(["brew", "install", "openocd"])
 
         elif os_type == "Linux":
@@ -113,8 +119,8 @@ def main():
     print("Everyone's system is different, and if you already have something installed, or know exactly")
     print("what you are doing, feel free to manually go about this as needed.")
 
-    # Step 0: Check for Docker and Rust
-    check_docker_and_rust()
+    # Step 0: Check for Docker
+    check_docker()
 	
     # Step 1: pull image
     answer = input("Would you like to pull the docker image? (yes/no)")
@@ -137,7 +143,7 @@ def main():
         answer = input("Would you like to install all python packages in the venv? (yes/no)")
         if 'y' in answer:
         # Use the venv's Python
-            venv_python = os.path.join(venv_path, 'Scripts', 'python') if os_type == "Windows" else os.path.join(venv_path, 'bin', 'python')
+            venv_python = os.path.join(venv_path, 'bin', 'python')
 
             # Step 4: run setup.py (installs requirements and entry points)
             run_setup(venv_python)
@@ -151,7 +157,7 @@ def main():
         install_openocd()
 
     # Step 6: Install usbip if on Linux
-    if os_type == "Linux":
+    if os_type == "Linux" and is_wsl() == 0:
         answer = input("Would you like to install usbip? (yes/no)")
         if 'y' in answer:
             install_usbip()
diff --git a/openocd.cfg b/openocd.cfg
new file mode 100644
index 0000000..12a8374
--- /dev/null
+++ b/openocd.cfg
@@ -0,0 +1,7 @@
+$_TARGETNAME configure -event gdb-detach {
+    reset run 
+    shutdown
+}
+
+init
+reset halt