diff --git a/docs/source/conf.py b/docs/source/conf.py
index 5259aa7..4edbd60 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -5,6 +5,7 @@
 import os
 sys.path.insert(0, os.path.abspath('../../flight_software/state_machine/applications/flight/'))
 sys.path.insert(0, os.path.abspath('../../flight_software/state_machine/frame/'))
+sys.path.insert(0, os.path.abspath('../../flight_software/state_machine/drivers/emulation'))
 
 # -- Project information
 
diff --git a/docs/source/index.rst b/docs/source/index.rst
index dace4b7..366215c 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -9,8 +9,10 @@ Overview
 .. toctree::
    :caption: Overview
 
-   overview/software_arch
    building
+   overview/software_arch
+   overview/frame
+   overview/firmware
    hardware
 
 Applications
diff --git a/docs/source/overview/firmware.rst b/docs/source/overview/firmware.rst
new file mode 100644
index 0000000..122ed6b
--- /dev/null
+++ b/docs/source/overview/firmware.rst
@@ -0,0 +1,20 @@
+Firmware
+=================================
+
+Updating PyCubedMini Firmware
+-----------------------------
+
+Based on `these instructions <https://github.com/PyCubed-Mini/avionics-motherboard/blob/zac-updates/firmware/README.md>`_.
+Instructions written for PycubedMiniV02.
+
+#. Connect the PyCubed-Mini board to your computer via USB.
+#. Quickly double click the "RESET" button on the board (only small black button on the board).
+   When the board boots into BOOTLOADER mode, the LED should be bright and white.
+   The board should also mount as `PYCUBEDBOOT`.
+#. Then drag and drop the `update_bootloader.uf2 <https://github.com/PyCubed-Mini/avionics-motherboard/blob/zac-updates/firmware/pycubedminiv02/update_bootloader.uf2>`_ into the the `PYCUBEDBOOT` drive (do this). 
+   However, renaming it to `CURRENT.uf2` and replacing the current `CURRENT.uf2` file in the drive also worked. 
+   The board should automatically reboot and update.
+#. Wait for the board to unmount, then remount in bootloader mode again. 
+#. Copy over `firmware.uf2 <https://github.com/PyCubed-Mini/avionics-motherboard/blob/zac-updates/firmware/pycubedminiv02/firmware.uf2>`_
+#. The board should automatically reboot, and remount as `CIRCUITPY`
+#. If the libraries/code require updating also update the `lib` directory and the relevant python files.
diff --git a/docs/source/overview/frame.rst b/docs/source/overview/frame.rst
new file mode 100644
index 0000000..e7484f4
--- /dev/null
+++ b/docs/source/overview/frame.rst
@@ -0,0 +1,33 @@
+Framework
+=========
+
+How the framework works
+-----------------------
+
+Using tasko (now called `CircuitPyton Async <https://github.com/kvc0/CircuitPython_async>`_) a set of tasks read from a config file are run at set intervals. 
+This means while a certain task is waiting for a response from something like the radio, other tasks are run.
+
+A state machine is also defined in the config file. Each state has its own set of tasks to run (and their coresponding intervals).
+All the details for transitions are handled by the state machine.
+
+One can also define exit and enter functions for each state.
+
+State Machine
+-------------
+
+.. automodule:: state_machine
+    :members:
+
+Tasko
+-----
+
+.. automodule:: tasko
+    :members:
+
+.. autofunction:: tasko.add_task
+.. autofunction:: tasko.run_later
+.. autofunction:: tasko.schedule
+.. autofunction:: tasko.schedule_later
+.. autofunction:: tasko.sleep
+.. autofunction:: tasko.suspend
+.. autofunction:: tasko.run
\ No newline at end of file