diff --git a/.changesets/devcontainer-none.md b/.changesets/devcontainer-none.md
new file mode 100644
index 000000000..d72edbe50
--- /dev/null
+++ b/.changesets/devcontainer-none.md
@@ -0,0 +1,4 @@
+release: none
+summary: Add devcontainer config and fix some things to hyperloop-firmware-toolchain
+
+Use **Ubuntu 22.04** instead of 24.04 in the package image to eliminate the ubuntu 20.04 Focal hack. Also adds **devcontainer** config and installs **stlink-server**.
\ No newline at end of file
diff --git a/.devcontainer/Containerfile b/.devcontainer/Containerfile
new file mode 100644
index 000000000..7292575ea
--- /dev/null
+++ b/.devcontainer/Containerfile
@@ -0,0 +1,3 @@
+FROM ghcr.io/hyperloop-upv/hyperloop-firmware-toolchain:latest
+
+WORKDIR /workspaces
\ No newline at end of file
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 000000000..7205fa5b6
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,22 @@
+{
+  "name": "ST-LIB Dev Container",
+  "build": {
+    "dockerfile": "Containerfile"
+  },
+  "workspaceFolder": "/workspaces/${localWorkspaceFolderBasename}",
+  "containerEnv": {
+    "CONTAINER_NAME": "stm32-project"
+  },
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools",
+        "marus25.cortex-debug",
+        "twxs.cmake",
+        "ms-vscode.cmake-tools"
+      ]
+    }
+  },
+  "containerUser": "root",
+  "updateRemoteUserUID": true
+}
diff --git a/ci/Dockerfile b/ci/Dockerfile
index 62ca6205b..f121cc701 100644
--- a/ci/Dockerfile
+++ b/ci/Dockerfile
@@ -1,45 +1,47 @@
-FROM ubuntu:24.04
+FROM ubuntu:22.04
 
 ARG DEBIAN_FRONTEND=noninteractive
 ARG CUBECLT_VERSION=1.21.0
 ARG CUBECLT_INSTALLER=cubeclt_${CUBECLT_VERSION}_installer.sh
-ARG UV_INSTALLER_URL=https://astral.sh/uv/install.sh
 
-RUN echo "deb http://security.ubuntu.com/ubuntu focal-security main universe" > /etc/apt/sources.list.d/ubuntu-focal-sources.list && \
-    apt-get update && \
-    apt-get install -y --no-install-recommends \
-        bash ca-certificates curl git git-lfs \
-        python3 python3-pip python3-venv \
-        cmake ninja-build \
-        g++ build-essential \
-        libncurses5 libusb-1.0-0 \
-        gdb && \
-    git lfs install --system && \
-    rm -rf /var/lib/apt/lists/*
+# 1. Install System Dependencies (Revised for Programmer CLI)
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential cmake ninja-build git git-lfs \
+    python3 python3-pip python3-venv curl \
+    libncurses5 libusb-1.0-0 stlink-tools openocd \
+    libglib2.0-0 libusb-0.1-4 libsm6 libice6 \
+    tio cu lsb-release \
+    && rm -rf /var/lib/apt/lists/*
 
-RUN curl -LsSf "${UV_INSTALLER_URL}" | sh && \
-    ln -sf /root/.local/bin/uv /usr/local/bin/uv && \
-    python3 -m pip install --break-system-packages \
-        Jinja2==3.1.5 \
-        GitPython==3.1.43
+RUN curl -LsSf https://astral.sh/uv/install.sh | sh && \
+    ln -sf /root/.local/bin/uv /usr/local/bin/uv
 
-# Install cubeclt (STM32CubeCLT)
 WORKDIR /tmp
 
 RUN git clone --depth 1 https://github.com/Hyperloop-UPV/cubeclt.git && \
     cd cubeclt && \
     git lfs pull --include="${CUBECLT_INSTALLER}" && \
     chmod +x ${CUBECLT_INSTALLER} && \
-    echo | LICENSE_ALREADY_ACCEPTED=1 ./${CUBECLT_INSTALLER} && \
-    actual_root="$(find /opt/st -maxdepth 1 -type d -name "stm32cubeclt_${CUBECLT_VERSION}*" | head -n1)" && \
-    test -n "${actual_root}" && \
-    mkdir -p /opt/ST && \
-    ln -s "${actual_root}" "/opt/ST/STM32CubeCLT_${CUBECLT_VERSION}" && \
-    cd / && \
-    rm -rf /tmp/cubeclt
+    ./${CUBECLT_INSTALLER} --target /tmp/extract --noexec && \
+    # --- Part A: STM32CubeCLT ---
+    mkdir -p /opt/st/STM32CubeCLT_${CUBECLT_VERSION} && \
+    tar -xzf /tmp/extract/st-stm32cubeclt_*.tar.gz -C /opt/st/STM32CubeCLT_${CUBECLT_VERSION} --strip-components=1 && \
+    cp /tmp/extract/version.txt /opt/st/STM32CubeCLT_${CUBECLT_VERSION}/version.txt && \
+    # --- Part B: ST-LINK Server ---
+    export LICENSE_ALREADY_ACCEPTED=1 && \
+    SERVER_INSTALL=$(ls /tmp/extract/st-stlink-server.*.install.sh) && \
+    sh "$SERVER_INSTALL" --target /tmp/server_extract --noexec && \
+    cp /tmp/server_extract/stlink-server /usr/bin/stlink-server && \
+    chmod +x /usr/bin/stlink-server && \
+    # --- Part C: FIX THE PATH MISMATCH ---
+    # Create the directory structure the VS Code extension expects
+    mkdir -p /usr/local/STMicroelectronics/STM32Cube/STM32CubeProgrammer && \
+    ln -s /opt/st/STM32CubeCLT_${CUBECLT_VERSION}/STM32CubeProgrammer/bin /usr/local/STMicroelectronics/STM32Cube/STM32CubeProgrammer/bin && \
+    # Cleanup
+    cd / && rm -rf /tmp/cubeclt /tmp/extract /tmp/server_extract
 
-ENV STM32_CLT_ROOT=/opt/ST/STM32CubeCLT_${CUBECLT_VERSION}
-ENV HYPER_STM32CLT_ROOT=/opt/ST/STM32CubeCLT_${CUBECLT_VERSION}
-ENV PATH="/root/.local/bin:${STM32_CLT_ROOT}/GNU-tools-for-STM32/bin:${STM32_CLT_ROOT}/STM32CubeProgrammer/bin:${STM32_CLT_ROOT}/CMake/bin:${STM32_CLT_ROOT}/Ninja/bin:${PATH}"
+ENV STM32_CLT_ROOT=/opt/st/STM32CubeCLT_${CUBECLT_VERSION}
+ENV HYPER_STM32CLT_ROOT=/opt/st/STM32CubeCLT_${CUBECLT_VERSION}
+ENV PATH="/root/.local/bin:${STM32_CLT_ROOT}/GNU-tools-for-STM32/bin:${STM32_CLT_ROOT}/STM32CubeProgrammer/bin:${STM32_CLT_ROOT}/STLink-gdb-server/bin:${STM32_CLT_ROOT}/CMake/bin:${STM32_CLT_ROOT}/Ninja/bin:${PATH}"
 
-WORKDIR /workspace
+WORKDIR /workspaces