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+# Proves Core Reference Project - Copilot Instructions
+
+## Project Overview
+This is a reference software implementation for the [Proves Kit](https://docs.proveskit.space/en/latest/), combining F Prime (NASA's flight software framework) with Zephyr RTOS to create firmware for embedded flight control boards. The project targets ARM Cortex-M microcontrollers, specifically RP2350 (Raspberry Pi Pico 2) and STM32 boards.
+
+**Repository Size**: ~450MB (primarily from Zephyr workspace and F Prime submodules)
+**Languages**: C++ (F Prime components), C (Zephyr integration), Python (testing), FPP (F Prime modeling language), CMake
+**Frameworks**: F Prime v4.0.0a1, Zephyr RTOS v4.2.0
+**Target Runtime**: Bare metal embedded systems (ARM Cortex-M33/M7)
+
+## Critical Build Prerequisites
+
+### System Dependencies
+Before any build steps, ensure you have:
+- Python 3.13+ (specified in `.python-version`)
+- F Prime system requirements: https://fprime.jpl.nasa.gov/latest/docs/getting-started/installing-fprime/#system-requirements
+- Zephyr dependencies: https://docs.zephyrproject.org/latest/develop/getting_started/index.html#install-dependencies
+  - **NOTE**: Only install dependencies; do NOT run Zephyr's full setup (handled by Makefile)
+
+### Build Tool: UV Package Manager
+This project uses **UV** (v0.8.13) for Python environment management. It is automatically downloaded by the Makefile.
+- Do NOT use `pip` or `python -m venv` directly
+- Always use `make` targets which invoke UV internally
+
+## Build & Test Workflow
+
+### First-Time Setup (Complete Sequence)
+Run these commands **in order** from the repository root. The entire setup takes ~5-10 minutes:
+
+```bash
+# Step 1: Initialize git submodules (~1 minute)
+make submodules
+
+# Step 2: Create Python virtual environment and install dependencies (~2 minutes)
+make fprime-venv
+
+# Step 3: Set up Zephyr workspace and SDK (~3-5 minutes)
+make zephyr-setup
+
+# Step 4: Generate F Prime build cache (~1 minute)
+make generate
+
+# Step 5: Build the firmware (~2-3 minutes)
+make build
+```
+
+**IMPORTANT**: The `make` command (default target) runs all of the above automatically.
+
+### Development Workflow
+
+**After making code changes**:
+```bash
+# Always run build (it calls generate-if-needed automatically)
+make build
+```
+
+**When to run generate explicitly**:
+- After modifying `.fpp` files (F Prime component definitions)
+- After changing CMakeLists.txt files
+- After modifying core F Prime package files
+- Command: `make generate`
+
+### Linting & Formatting
+```bash
+# Run all pre-commit checks (REQUIRED before committing)
+make fmt
+```
+
+This runs:
+- `clang-format` (C/C++ formatting)
+- `cpplint` (C++ style checking using `cpplint.cfg`)
+- `ruff` (Python linting and formatting)
+- `codespell` (spell checking)
+- Standard pre-commit hooks (trailing whitespace, JSON/YAML validation, etc.)
+
+**Configuration**: `.pre-commit-config.yaml`, `cpplint.cfg`, `.clang-format`
+
+### Testing
+
+**Integration Tests**:
+Integration tests require the GDS (Ground Data System) to be running:
+
+```bash
+# Terminal 1: Start GDS
+make gds
+
+# Terminal 2: Run integration tests
+make test-integration
+```
+
+**Test Location**: `FprimeZephyrReference/test/int/`
+**Test Framework**: pytest with fprime-gds testing API
+
+## Project Structure
+
+### Repository Root Files
+```
+CMakeLists.txt          # Top-level CMake configuration
+CMakePresets.json       # CMake presets for Zephyr build
+Makefile               # Primary build interface
+settings.ini           # F Prime project settings (default board, toolchain)
+west.yml               # Zephyr workspace manifest
+Kconfig                # Zephyr configuration options
+prj.conf               # Zephyr project configuration (USB, I2C, SPI, etc.)
+fprime-gds.yaml        # GDS command-line defaults
+requirements.txt       # Python dependencies
+.python-version        # Python version requirement (3.13)
+```
+
+### Directory Structure
+```
+FprimeZephyrReference/
+├── Components/        # Custom F Prime components
+│   ├── BootloaderTrigger/
+│   ├── Drv/          # Driver components (IMU, RTC, sensor managers)
+│   ├── FatalHandler/
+│   ├── ImuManager/
+│   └── Watchdog/
+├── ReferenceDeployment/
+│   ├── Main.cpp      # Application entry point
+│   └── Top/          # Topology definition
+│       ├── instances.fpp   # Component instances
+│       └── topology.fpp    # Component connections
+├── project/
+│   └── config/       # Project-wide FPP configuration
+└── test/
+    └── int/          # Integration tests (pytest)
+
+lib/
+├── fprime/           # F Prime framework (39MB, git submodule)
+├── fprime-zephyr/    # F Prime-Zephyr integration (368KB, git submodule)
+└── zephyr-workspace/ # Zephyr RTOS (404MB, git submodule)
+
+boards/               # Custom board definitions
+└── bronco_space/
+    └── proves_flight_control_board_v5*/
+
+docs/
+├── main-content/     # Setup and build documentation
+└── additional-resources/  # Board-specific guides, troubleshooting
+```
+
+### Key Architecture Points
+
+**F Prime + Zephyr Integration**:
+- F Prime components defined in `.fpp` files (autocoded to C++)
+- Zephyr handles RTOS, drivers, and hardware abstraction
+- Main entry point: `FprimeZephyrReference/ReferenceDeployment/Main.cpp`
+  - **Critical**: 3-second sleep before starting to allow USB CDC ACM initialization
+- Build system: CMake with F Prime and Zephyr toolchains
+- Default board: `proves_flight_control_board_v5c/rp2350a/m33` (configurable in `settings.ini`)
+
+**Component Types**:
+- `.fpp` files: F Prime component definitions (autocoded)
+- `.cpp/.hpp` files: Implementation code
+- `CMakeLists.txt` in each component: Build registration
+
+## Build System Details
+
+### Generated Artifacts Location
+```
+build-fprime-automatic-zephyr/  # F Prime + Zephyr build cache
+build-artifacts/
+├── zephyr.uf2                 # Firmware binary for flashing
+└── zephyr/fprime-zephyr-deployment/
+    └── dict/ReferenceDeploymentTopologyDictionary.json  # For GDS
+```
+
+### CMake Configuration
+- **Toolchain**: `lib/fprime-zephyr/cmake/toolchain/zephyr.cmake`
+- **Build Type**: Release
+- **Board Root**: Repository root (custom board definitions in `boards/`)
+- **Important Options**:
+  - `FPRIME_ENABLE_FRAMEWORK_UTS=OFF` (no framework unit tests)
+  - `FPRIME_ENABLE_AUTOCODER_UTS=OFF` (no autocoder unit tests)
+
+### Makefile Targets Reference
+```bash
+make help              # Show all available targets
+make submodules        # Initialize git submodules
+make fprime-venv       # Create Python virtual environment
+make zephyr-setup      # Set up Zephyr workspace and ARM toolchain
+make generate          # Generate F Prime build cache (force)
+make build             # Build firmware (runs generate-if-needed)
+make fmt               # Run linters and formatters
+make gds               # Start F Prime Ground Data System
+make test-integration  # Run integration tests
+make clean             # Remove all gitignored files
+make clean-zephyr      # Remove Zephyr build files only
+make clean-zephyr-sdk  # Remove Zephyr SDK (requires re-running zephyr-setup)
+```
+
+### CI/CD Pipeline (`.github/workflows/ci.yaml`)
+
+**Jobs**:
+1. **Lint**: Runs `make fmt` (pre-commit checks)
+2. **Build**: Full build with caching
+   - Caches: bin tools, submodules, Python venv, Zephyr workspace
+   - Runs: `make submodules`, `make fprime-venv`, `make zephyr-setup`, `make generate-ci build-ci`
+   - Uploads: `build-artifacts/zephyr.uf2` and dictionary JSON
+
+**Critical for CI Success**:
+- Always run `make fmt` before pushing
+- Ensure code builds with `make build` locally
+- Integration tests are NOT run in CI (require hardware)
+
+## Common Issues & Workarounds
+
+### Issue: Build Fails with "west not found"
+**Solution**: Run `make zephyr-setup` to install west and Zephyr SDK.
+
+### Issue: "No such file or directory: fprime-util"
+**Solution**: Run `make fprime-venv` to create virtual environment with dependencies.
+
+### Issue: CMake cache errors after changing board configuration
+**Solution**: Run `make clean` followed by `make generate build`.
+
+### Issue: USB device not detected on board
+**Workaround**: The board may need to be put into bootloader mode. See board-specific guides in `docs/additional-resources/board-list.md`.
+
+### Issue: Integration tests fail to connect
+**Solution**: Ensure GDS is running (`make gds`) and board is connected. Check serial port in GDS output.
+
+### Issue: Build times out (>2 minutes)
+**Solution**: First build takes 3-5 minutes. Subsequent builds are faster (~30 seconds). Use `timeout: 300` for initial builds.
+
+### Issue: Flashing firmware to board
+**Different boards require different methods**:
+- **RP2040/RP2350**: Copy `.uf2` file to board's USB mass storage
+  ```bash
+  cp build-artifacts/zephyr.uf2 /Volumes/RPI-RP2  # macOS
+  ```
+- **STM32**: Use STM32CubeProgrammer via SWD
+  ```bash
+  sh ~/Library/Arduino15/packages/STMicroelectronics/tools/STM32Tools/2.3.0/stm32CubeProg.sh \
+    -i swd -f build-artifacts/zephyr/zephyr.hex -c /dev/cu.usbmodem142203
+  ```
+- See `docs/additional-resources/board-list.md` for tested boards
+
+## File Modification Guidelines
+
+### When modifying F Prime components:
+1. Edit `.fpp` files for interface changes (ports, commands, telemetry, events)
+2. Edit `.cpp/.hpp` files for implementation
+3. Run `make generate` to regenerate autocoded files
+4. Run `make build` to compile
+5. Run `make fmt` to lint
+
+### When modifying topology:
+1. Edit `FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp` for new component instances
+2. Edit `FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp` for connections
+3. Run `make generate build`
+
+### When adding new components:
+1. Create component directory under `FprimeZephyrReference/Components/`
+2. Add `CMakeLists.txt` with `register_fprime_library()` or `register_fprime_module()`
+3. Add component to parent `CMakeLists.txt` with `add_fprime_subdirectory()`
+4. Follow existing component structure (see `Components/Watchdog/` as example)
+
+### When modifying board configuration:
+1. Edit `settings.ini` to change default board
+2. Or use CMake option: `cmake -DBOARD=<board_name>`
+3. Board definitions are in `boards/bronco_space/`
+4. Run `make clean` then `make generate build`
+
+## Trust These Instructions
+
+These instructions are comprehensive and validated. **Only search for additional information if**:
+- Instructions are incomplete for your specific task
+- You encounter errors not covered in "Common Issues"
+- You need board-specific flashing instructions (see docs/)
+
+For standard build/test/lint workflows, **trust and follow these instructions exactly** to minimize exploration time and command failures.