diff --git a/.github/workflows/doxygen.yml b/.github/workflows/doxygen.yml
new file mode 100644
index 0000000000..5066003a2b
--- /dev/null
+++ b/.github/workflows/doxygen.yml
@@ -0,0 +1,42 @@
+name: doc_doxygen
+on:
+  # Runs at 16:00 UTC (BeiJing 00:00) on the 30st of every month
+  schedule:
+    - cron:  '0 16 30 * *'
+  push:
+    branches:
+      - master
+    paths-ignore:
+      - documentation/**
+      - '**/README.md'
+      - '**/README_zh.md'
+  pull_request:
+    branches:
+      - master
+    paths-ignore:
+      - documentation/**
+      - bsp/**
+      - examples/**
+      - .github/**
+      - '**/README.md'
+      - '**/README_zh.md'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    name: doxygen_doc generate 
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      - name: Install Tools
+        shell: bash
+        run: |
+          sudo apt-get update
+          sudo apt-get -qq install doxygen graphviz
+      - name: generat doxygen html
+        shell: bash
+        run: |
+          cd documentation/doxygen
+          doxygen Doxyfile
+          cat Doxyfile
diff --git a/.github/workflows/manual_dist.yml b/.github/workflows/manual_dist.yml
index 2db3c2c5e1..205eb151ce 100644
--- a/.github/workflows/manual_dist.yml
+++ b/.github/workflows/manual_dist.yml
@@ -32,6 +32,7 @@ on:
           - "sourcery-riscv-none-embed"
           - "sourcery-riscv64-unknown-elf"
           - "gcc"
+          - "sourcery-riscv32-esp32"
       bsp_config:
         description: 'Type a config you want mannual test in .config, like CONFIG_BSP_USING_I2C CONFIG_BSP_USING_WDT '
         required: false
diff --git a/components/dfs/dfs_v2/src/dfs.c b/components/dfs/dfs_v2/src/dfs.c
index 82a4841bac..1eb9681ebf 100644
--- a/components/dfs/dfs_v2/src/dfs.c
+++ b/components/dfs/dfs_v2/src/dfs.c
@@ -65,12 +65,11 @@ void dfs_unlock(void)
     rt_mutex_release(&fslock);
 }
 
-/**
- * @addtogroup DFS
+/** @addtogroup DFS
+ *
+ *
+ *  @{
  */
-
-/*@{*/
-
 rt_err_t dfs_file_lock(void)
 {
     rt_err_t result = -RT_EBUSY;
@@ -790,5 +789,5 @@ MSH_CMD_EXPORT(dfs_dlog, dfs dlog on|off);
 #endif
 
 #endif
-/**@}*/
+/** @} */
 
diff --git a/documentation/doxygen/Doxyfile b/documentation/doxygen/Doxyfile
index 03f04279fa..412d93d0dc 100644
--- a/documentation/doxygen/Doxyfile
+++ b/documentation/doxygen/Doxyfile
@@ -1,4 +1,4 @@
-# Doxyfile 1.9.4
+# Doxyfile 1.9.1
 
 # This file describes the settings to be used by the documentation system
 # doxygen (www.doxygen.org) for a project.
@@ -12,15 +12,6 @@
 # For lists, items can also be appended using:
 # TAG += value [value, ...]
 # Values that contain spaces should be placed between quotes (\" \").
-#
-# Note:
-#
-# Use doxygen to compare the used configuration file with the template
-# configuration file:
-# doxygen -x [configFile]
-# Use doxygen to compare the used configuration file with the template
-# configuration file without replacing the environment variables:
-# doxygen -x_noenv [configFile]
 
 #---------------------------------------------------------------------------
 # Project related configuration options
@@ -69,28 +60,16 @@ PROJECT_LOGO           = ./images/rtthread_logo.png
 
 OUTPUT_DIRECTORY       = .
 
-# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096
-# sub-directories (in 2 levels) under the output directory of each output format
-# and will distribute the generated files over these directories. Enabling this
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
+# directories (in 2 levels) under the output directory of each output format and
+# will distribute the generated files over these directories. Enabling this
 # option can be useful when feeding doxygen a huge amount of source files, where
 # putting all generated files in the same directory would otherwise causes
-# performance problems for the file system. Adapt CREATE_SUBDIRS_LEVEL to
-# control the number of sub-directories.
+# performance problems for the file system.
 # The default value is: NO.
 
 CREATE_SUBDIRS         = NO
 
-# Controls the number of sub-directories that will be created when
-# CREATE_SUBDIRS tag is set to YES. Level 0 represents 16 directories, and every
-# level increment doubles the number of directories, resulting in 4096
-# directories at level 8 which is the default and also the maximum value. The
-# sub-directories are organized in 2 levels, the first level always has a fixed
-# numer of 16 directories.
-# Minimum value: 0, maximum value: 8, default value: 8.
-# This tag requires that the tag CREATE_SUBDIRS is set to YES.
-
-CREATE_SUBDIRS_LEVEL   = 8
-
 # If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
 # characters to appear in the names of generated files. If set to NO, non-ASCII
 # characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
@@ -102,18 +81,26 @@ ALLOW_UNICODE_NAMES    = NO
 # The OUTPUT_LANGUAGE tag is used to specify the language in which all
 # documentation generated by doxygen is written. Doxygen will use this
 # information to generate all constant output in the proper language.
-# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Bulgarian,
-# Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, English
-# (United States), Esperanto, Farsi (Persian), Finnish, French, German, Greek,
-# Hindi, Hungarian, Indonesian, Italian, Japanese, Japanese-en (Japanese with
-# English messages), Korean, Korean-en (Korean with English messages), Latvian,
-# Lithuanian, Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese,
-# Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish,
-# Swedish, Turkish, Ukrainian and Vietnamese.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
+# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
+# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
+# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
+# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
+# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
+# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
+# Ukrainian and Vietnamese.
 # The default value is: English.
 
 OUTPUT_LANGUAGE        = English
 
+# The OUTPUT_TEXT_DIRECTION tag is used to specify the direction in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all generated output in the proper direction.
+# Possible values are: None, LTR, RTL and Context.
+# The default value is: None.
+
+OUTPUT_TEXT_DIRECTION  = None
+
 # If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
 # descriptions after the members that are listed in the file and class
 # documentation (similar to Javadoc). Set to NO to disable this.
@@ -271,16 +258,16 @@ TAB_SIZE               = 4
 # the documentation. An alias has the form:
 # name=value
 # For example adding
-# "sideeffect=@par Side Effects:^^"
+# "sideeffect=@par Side Effects:\n"
 # will allow you to put the command \sideeffect (or @sideeffect) in the
 # documentation, which will result in a user-defined paragraph with heading
-# "Side Effects:". Note that you cannot put \n's in the value part of an alias
-# to insert newlines (in the resulting output). You can put ^^ in the value part
-# of an alias to insert a newline as if a physical newline was in the original
-# file. When you need a literal { or } or , in the value part of an alias you
-# have to escape them by means of a backslash (\), this can lead to conflicts
-# with the commands \{ and \} for these it is advised to use the version @{ and
-# @} or use a double escape (\\{ and \\})
+# "Side Effects:". You can put \n's in the value part of an alias to insert
+# newlines (in the resulting output). You can put ^^ in the value part of an
+# alias to insert a newline as if a physical newline was in the original file.
+# When you need a literal { or } or , in the value part of an alias you have to
+# escape them by means of a backslash (\), this can lead to conflicts with the
+# commands \{ and \} for these it is advised to use the version @{ and @} or use
+# a double escape (\\{ and \\})
 
 ALIASES                =
 
@@ -325,8 +312,8 @@ OPTIMIZE_OUTPUT_SLICE  = NO
 # extension. Doxygen has a built-in mapping, but you can override or extend it
 # using this tag. The format is ext=language, where ext is a file extension, and
 # language is one of the parsers supported by doxygen: IDL, Java, JavaScript,
-# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice,
-# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
+# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, VHDL,
+# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
 # FortranFree, unknown formatted Fortran: Fortran. In the later case the parser
 # tries to guess whether the code is fixed or free formatted code, this is the
 # default for Fortran type files). For instance to make doxygen treat .inc files
@@ -473,13 +460,13 @@ TYPEDEF_HIDES_STRUCT   = NO
 
 LOOKUP_CACHE_SIZE      = 0
 
-# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use
+# The NUM_PROC_THREADS specifies the number threads doxygen is allowed to use
 # during processing. When set to 0 doxygen will based this on the number of
 # cores available in the system. You can set it explicitly to a value larger
 # than 0 to get more control over the balance between CPU load and processing
 # speed. At this moment only the input processing can be done using multiple
 # threads. Since this is still an experimental feature the default is set to 1,
-# which effectively disables parallel processing. Please report any issues you
+# which efficively disables parallel processing. Please report any issues you
 # encounter. Generating dot graphs in parallel is controlled by the
 # DOT_NUM_THREADS setting.
 # Minimum value: 0, maximum value: 32, default value: 1.
@@ -598,7 +585,7 @@ INTERNAL_DOCS          = NO
 # filesystem is case sensitive (i.e. it supports files in the same directory
 # whose names only differ in casing), the option must be set to YES to properly
 # deal with such files in case they appear in the input. For filesystems that
-# are not case sensitive the option should be set to NO to properly deal with
+# are not case sensitive the option should be be set to NO to properly deal with
 # output files written for symbols that only differ in casing, such as for two
 # classes, one named CLASS and the other named Class, and to also support
 # references to files without having to specify the exact matching casing. On
@@ -623,12 +610,6 @@ HIDE_SCOPE_NAMES       = NO
 
 HIDE_COMPOUND_REFERENCE= NO
 
-# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class
-# will show which file needs to be included to use the class.
-# The default value is: YES.
-
-SHOW_HEADERFILE        = YES
-
 # If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
 # the files that are included by a file in the documentation of that file.
 # The default value is: YES.
@@ -786,8 +767,7 @@ FILE_VERSION_FILTER    =
 # output files in an output format independent way. To create the layout file
 # that represents doxygen's defaults, run doxygen with the -l option. You can
 # optionally specify a file name after the option, if omitted DoxygenLayout.xml
-# will be used as the name of the layout file. See also section "Changing the
-# layout of pages" for information.
+# will be used as the name of the layout file.
 #
 # Note that if you run doxygen from a directory containing a file called
 # DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
@@ -833,26 +813,18 @@ WARNINGS               = YES
 WARN_IF_UNDOCUMENTED   = YES
 
 # If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
-# potential errors in the documentation, such as documenting some parameters in
-# a documented function twice, or documenting parameters that don't exist or
-# using markup commands wrongly.
+# potential errors in the documentation, such as not documenting some parameters
+# in a documented function, or documenting parameters that don't exist or using
+# markup commands wrongly.
 # The default value is: YES.
 
 WARN_IF_DOC_ERROR      = YES
 
-# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete
-# function parameter documentation. If set to NO, doxygen will accept that some
-# parameters have no documentation without warning.
-# The default value is: YES.
-
-WARN_IF_INCOMPLETE_DOC = YES
-
 # This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
 # are documented, but have no documentation for their parameters or return
-# value. If set to NO, doxygen will only warn about wrong parameter
-# documentation, but not about the absence of documentation. If EXTRACT_ALL is
-# set to YES then this flag will automatically be disabled. See also
-# WARN_IF_INCOMPLETE_DOC
+# value. If set to NO, doxygen will only warn about wrong or incomplete
+# parameter documentation, but not about the absence of documentation. If
+# EXTRACT_ALL is set to YES then this flag will automatically be disabled.
 # The default value is: NO.
 
 WARN_NO_PARAMDOC       = NO
@@ -864,7 +836,7 @@ WARN_NO_PARAMDOC       = NO
 # Possible values are: NO, YES and FAIL_ON_WARNINGS.
 # The default value is: NO.
 
-WARN_AS_ERROR          = NO
+WARN_AS_ERROR          = FAIL_ON_WARNINGS
 
 # The WARN_FORMAT tag determines the format of the warning messages that doxygen
 # can produce. The string should contain the $file, $line, and $text tags, which
@@ -872,27 +844,13 @@ WARN_AS_ERROR          = NO
 # and the warning text. Optionally the format may contain $version, which will
 # be replaced by the version of the file (if it could be obtained via
 # FILE_VERSION_FILTER)
-# See also: WARN_LINE_FORMAT
 # The default value is: $file:$line: $text.
 
 WARN_FORMAT            = "$file:$line: $text"
 
-# In the $text part of the WARN_FORMAT command it is possible that a reference
-# to a more specific place is given. To make it easier to jump to this place
-# (outside of doxygen) the user can define a custom "cut" / "paste" string.
-# Example:
-# WARN_LINE_FORMAT = "'vi $file +$line'"
-# See also: WARN_FORMAT
-# The default value is: at line $line of file $file.
-
-WARN_LINE_FORMAT       = "at line $line of file $file"
-
 # The WARN_LOGFILE tag can be used to specify a file to which warning and error
 # messages should be written. If left blank the output is written to standard
-# error (stderr). In case the file specified cannot be opened for writing the
-# warning and error messages are written to standard error. When as file - is
-# specified the warning and error messages are written to standard output
-# (stdout).
+# error (stderr).
 
 WARN_LOGFILE           =
 
@@ -935,10 +893,10 @@ INPUT_ENCODING         = UTF-8
 #
 # If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
 # *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
-# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml,
-# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C
-# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd,
-# *.vhdl, *.ucf, *.qsf and *.ice.
+# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment),
+# *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, *.vhdl,
+# *.ucf, *.qsf and *.ice.
 
 FILE_PATTERNS          = *.c \
                          *.cc \
@@ -981,7 +939,7 @@ EXCLUDE_PATTERNS       =
 # (namespaces, classes, functions, etc.) that should be excluded from the
 # output. The symbol name can be a fully qualified name, a word, or if the
 # wildcard * is used, a substring. Examples: ANamespace, AClass,
-# ANamespace::AClass, ANamespace::*Test
+# AClass::ANamespace, ANamespace::*Test
 #
 # Note that the wildcards are matched against the file with absolute path, so to
 # exclude all test directories use the pattern */test/*
@@ -1167,11 +1125,9 @@ VERBATIM_HEADERS       = NO
 
 CLANG_ASSISTED_PARSING = NO
 
-# If the CLANG_ASSISTED_PARSING tag is set to YES and the CLANG_ADD_INC_PATHS
-# tag is set to YES then doxygen will add the directory of each input to the
-# include path.
+# If clang assisted parsing is enabled and the CLANG_ADD_INC_PATHS tag is set to
+# YES then doxygen will add the directory of each input to the include path.
 # The default value is: YES.
-# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
 
 CLANG_ADD_INC_PATHS    = YES
 
@@ -1306,7 +1262,7 @@ HTML_EXTRA_FILES       =
 
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
 # will adjust the colors in the style sheet and background images according to
-# this color. Hue is specified as an angle on a color-wheel, see
+# this color. Hue is specified as an angle on a colorwheel, see
 # https://en.wikipedia.org/wiki/Hue for more information. For instance the value
 # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
 # purple, and 360 is red again.
@@ -1316,7 +1272,7 @@ HTML_EXTRA_FILES       =
 HTML_COLORSTYLE_HUE    = 220
 
 # The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
-# in the HTML output. For a value of 0 the output will use gray-scales only. A
+# in the HTML output. For a value of 0 the output will use grayscales only. A
 # value of 255 will produce the most vivid colors.
 # Minimum value: 0, maximum value: 255, default value: 100.
 # This tag requires that the tag GENERATE_HTML is set to YES.
@@ -1398,13 +1354,6 @@ GENERATE_DOCSET        = NO
 
 DOCSET_FEEDNAME        = "Doxygen generated docs"
 
-# This tag determines the URL of the docset feed. A documentation feed provides
-# an umbrella under which multiple documentation sets from a single provider
-# (such as a company or product suite) can be grouped.
-# This tag requires that the tag GENERATE_DOCSET is set to YES.
-
-DOCSET_FEEDURL         =
-
 # This tag specifies a string that should uniquely identify the documentation
 # set bundle. This should be a reverse domain-name style string, e.g.
 # com.mycompany.MyDocSet. Doxygen will append .docset to the name.
@@ -1430,12 +1379,8 @@ DOCSET_PUBLISHER_NAME  = Publisher
 # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
 # additional HTML index files: index.hhp, index.hhc, and index.hhk. The
 # index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
-# on Windows. In the beginning of 2021 Microsoft took the original page, with
-# a.o. the download links, offline the HTML help workshop was already many years
-# in maintenance mode). You can download the HTML help workshop from the web
-# archives at Installation executable (see:
-# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo
-# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe).
+# (see:
+# https://www.microsoft.com/en-us/download/details.aspx?id=21138) on Windows.
 #
 # The HTML Help Workshop contains a compiler that can convert all HTML output
 # generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
@@ -1594,28 +1539,16 @@ DISABLE_INDEX          = NO
 # to work a browser that supports JavaScript, DHTML, CSS and frames is required
 # (i.e. any modern browser). Windows users are probably better off using the
 # HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
-# further fine tune the look of the index (see "Fine-tuning the output"). As an
-# example, the default style sheet generated by doxygen has an example that
-# shows how to put an image at the root of the tree instead of the PROJECT_NAME.
-# Since the tree basically has the same information as the tab index, you could
-# consider setting DISABLE_INDEX to YES when enabling this option.
+# further fine-tune the look of the index. As an example, the default style
+# sheet generated by doxygen has an example that shows how to put an image at
+# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# the same information as the tab index, you could consider setting
+# DISABLE_INDEX to YES when enabling this option.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
 GENERATE_TREEVIEW      = YES
 
-# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the
-# FULL_SIDEBAR option determines if the side bar is limited to only the treeview
-# area (value NO) or if it should extend to the full height of the window (value
-# YES). Setting this to YES gives a layout similar to
-# https://docs.readthedocs.io with more room for contents, but less room for the
-# project logo, title, and description. If either GENERATE_TREEVIEW or
-# DISABLE_INDEX is set to NO, this option has no effect.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-FULL_SIDEBAR           = NO
-
 # The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
 # doxygen will group on one line in the generated HTML documentation.
 #
@@ -1640,13 +1573,6 @@ TREEVIEW_WIDTH         = 250
 
 EXT_LINKS_IN_WINDOW    = NO
 
-# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email
-# addresses.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-OBFUSCATE_EMAILS       = YES
-
 # If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
 # tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
 # https://inkscape.org) to generate formulas as SVG images instead of PNGs for
@@ -1695,29 +1621,11 @@ FORMULA_MACROFILE      =
 
 USE_MATHJAX            = NO
 
-# With MATHJAX_VERSION it is possible to specify the MathJax version to be used.
-# Note that the different versions of MathJax have different requirements with
-# regards to the different settings, so it is possible that also other MathJax
-# settings have to be changed when switching between the different MathJax
-# versions.
-# Possible values are: MathJax_2 and MathJax_3.
-# The default value is: MathJax_2.
-# This tag requires that the tag USE_MATHJAX is set to YES.
-
-MATHJAX_VERSION        = MathJax_2
-
 # When MathJax is enabled you can set the default output format to be used for
-# the MathJax output. For more details about the output format see MathJax
-# version 2 (see:
-# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3
-# (see:
-# http://docs.mathjax.org/en/latest/web/components/output.html).
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details.
 # Possible values are: HTML-CSS (which is slower, but has the best
-# compatibility. This is the name for Mathjax version 2, for MathJax version 3
-# this will be translated into chtml), NativeMML (i.e. MathML. Only supported
-# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This
-# is the name for Mathjax version 3, for MathJax version 2 this will be
-# translated into HTML-CSS) and SVG.
+# compatibility), NativeMML (i.e. MathML) and SVG.
 # The default value is: HTML-CSS.
 # This tag requires that the tag USE_MATHJAX is set to YES.
 
@@ -1730,21 +1638,15 @@ MATHJAX_FORMAT         = HTML-CSS
 # MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
 # Content Delivery Network so you can quickly see the result without installing
 # MathJax. However, it is strongly recommended to install a local copy of
-# MathJax from https://www.mathjax.org before deployment. The default value is:
-# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2
-# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3
+# MathJax from https://www.mathjax.org before deployment.
+# The default value is: https://cdn.jsdelivr.net/npm/mathjax@2.
 # This tag requires that the tag USE_MATHJAX is set to YES.
 
 MATHJAX_RELPATH        = http://www.mathjax.org/mathjax
 
 # The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
 # extension names that should be enabled during MathJax rendering. For example
-# for MathJax version 2 (see
-# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions):
 # MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
-# For example for MathJax version 3 (see
-# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html):
-# MATHJAX_EXTENSIONS = ams
 # This tag requires that the tag USE_MATHJAX is set to YES.
 
 MATHJAX_EXTENSIONS     =
@@ -1924,31 +1826,29 @@ PAPER_TYPE             = a4
 
 EXTRA_PACKAGES         =
 
-# The LATEX_HEADER tag can be used to specify a user-defined LaTeX header for
-# the generated LaTeX document. The header should contain everything until the
-# first chapter. If it is left blank doxygen will generate a standard header. It
-# is highly recommended to start with a default header using
-# doxygen -w latex new_header.tex new_footer.tex new_stylesheet.sty
-# and then modify the file new_header.tex. See also section "Doxygen usage" for
-# information on how to generate the default header that doxygen normally uses.
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
+# generated LaTeX document. The header should contain everything until the first
+# chapter. If it is left blank doxygen will generate a standard header. See
+# section "Doxygen usage" for information on how to let doxygen write the
+# default header to a separate file.
 #
-# Note: Only use a user-defined header if you know what you are doing!
-# Note: The header is subject to change so you typically have to regenerate the
-# default header when upgrading to a newer version of doxygen. The following
-# commands have a special meaning inside the header (and footer): For a
-# description of the possible markers and block names see the documentation.
+# Note: Only use a user-defined header if you know what you are doing! The
+# following commands have a special meaning inside the header: $title,
+# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
+# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
+# string, for the replacement values of the other commands the user is referred
+# to HTML_HEADER.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
 LATEX_HEADER           =
 
-# The LATEX_FOOTER tag can be used to specify a user-defined LaTeX footer for
-# the generated LaTeX document. The footer should contain everything after the
-# last chapter. If it is left blank doxygen will generate a standard footer. See
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
+# generated LaTeX document. The footer should contain everything after the last
+# chapter. If it is left blank doxygen will generate a standard footer. See
 # LATEX_HEADER for more information on how to generate a default footer and what
-# special commands can be used inside the footer. See also section "Doxygen
-# usage" for information on how to generate the default footer that doxygen
-# normally uses. Note: Only use a user-defined footer if you know what you are
-# doing!
+# special commands can be used inside the footer.
+#
+# Note: Only use a user-defined footer if you know what you are doing!
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
 LATEX_FOOTER           =
@@ -1993,7 +1893,8 @@ USE_PDFLATEX           = NO
 
 # If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
 # command to the generated LaTeX files. This will instruct LaTeX to keep running
-# if errors occur, instead of asking the user for help.
+# if errors occur, instead of asking the user for help. This option is also used
+# when generating formulas in HTML.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
@@ -2006,6 +1907,16 @@ LATEX_BATCHMODE        = NO
 
 LATEX_HIDE_INDICES     = NO
 
+# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
+# code with syntax highlighting in the LaTeX output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_SOURCE_CODE      = NO
+
 # The LATEX_BIB_STYLE tag can be used to specify the style to use for the
 # bibliography, e.g. plainnat, or ieeetr. See
 # https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
@@ -2086,6 +1997,16 @@ RTF_STYLESHEET_FILE    =
 
 RTF_EXTENSIONS_FILE    =
 
+# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
+# with syntax highlighting in the RTF output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_SOURCE_CODE        = NO
+
 #---------------------------------------------------------------------------
 # Configuration options related to the man page output
 #---------------------------------------------------------------------------
@@ -2182,6 +2103,15 @@ GENERATE_DOCBOOK       = NO
 
 DOCBOOK_OUTPUT         = docbook
 
+# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
+# program listings (including syntax highlighting and cross-referencing
+# information) to the DOCBOOK output. Note that enabling this will significantly
+# increase the size of the DOCBOOK output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_PROGRAMLISTING = NO
+
 #---------------------------------------------------------------------------
 # Configuration options for the AutoGen Definitions output
 #---------------------------------------------------------------------------
@@ -2272,8 +2202,7 @@ SEARCH_INCLUDES        = YES
 
 # The INCLUDE_PATH tag can be used to specify one or more directories that
 # contain include files that are not input files but should be processed by the
-# preprocessor. Note that the INCLUDE_PATH is not recursive, so the setting of
-# RECURSIVE has no effect here.
+# preprocessor.
 # This tag requires that the tag SEARCH_INCLUDES is set to YES.
 
 INCLUDE_PATH           =
@@ -2380,6 +2309,15 @@ EXTERNAL_PAGES         = YES
 # Configuration options related to the dot tool
 #---------------------------------------------------------------------------
 
+# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
+# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
+# NO turns the diagrams off. Note that this option also works with HAVE_DOT
+# disabled, but it is recommended to install and use dot, since it yields more
+# powerful graphs.
+# The default value is: YES.
+
+CLASS_DIAGRAMS         = YES
+
 # You can include diagrams made with dia in doxygen documentation. Doxygen will
 # then run dia to produce the diagram and insert it in the documentation. The
 # DIA_PATH tag allows you to specify the directory where the dia binary resides.
@@ -2400,7 +2338,7 @@ HIDE_UNDOC_RELATIONS   = YES
 # set to NO
 # The default value is: NO.
 
-HAVE_DOT               = NO
+HAVE_DOT               = YES
 
 # The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
 # to run in parallel. When set to 0 doxygen will base this on the number of
@@ -2420,7 +2358,7 @@ DOT_NUM_THREADS        = 0
 # The default value is: Helvetica.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
-DOT_FONTNAME           = FreeSans.ttf
+DOT_FONTNAME           = Helvetica
 
 # The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
 # dot graphs.
@@ -2436,14 +2374,11 @@ DOT_FONTSIZE           = 10
 
 DOT_FONTPATH           =
 
-# If the CLASS_GRAPH tag is set to YES (or GRAPH) then doxygen will generate a
-# graph for each documented class showing the direct and indirect inheritance
-# relations. In case HAVE_DOT is set as well dot will be used to draw the graph,
-# otherwise the built-in generator will be used. If the CLASS_GRAPH tag is set
-# to TEXT the direct and indirect inheritance relations will be shown as texts /
-# links.
-# Possible values are: NO, YES, TEXT and GRAPH.
+# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
+# each documented class showing the direct and indirect inheritance relations.
+# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
 # The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 CLASS_GRAPH            = YES
 
@@ -2457,8 +2392,7 @@ CLASS_GRAPH            = YES
 COLLABORATION_GRAPH    = NO
 
 # If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
-# groups, showing the direct groups dependencies. See also the chapter Grouping
-# in the manual.
+# groups, showing the direct groups dependencies.
 # The default value is: YES.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2573,13 +2507,6 @@ GRAPHICAL_HIERARCHY    = YES
 
 DIRECTORY_GRAPH        = YES
 
-# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels
-# of child directories generated in directory dependency graphs by dot.
-# Minimum value: 1, maximum value: 25, default value: 1.
-# This tag requires that the tag DIRECTORY_GRAPH is set to YES.
-
-DIR_GRAPH_MAX_DEPTH    = 1
-
 # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
 # generated by dot. For an explanation of the image formats see the section
 # output formats in the documentation of the dot tool (Graphviz (see:
@@ -2611,7 +2538,7 @@ INTERACTIVE_SVG        = NO
 # found. If left blank, it is assumed the dot tool can be found in the path.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
-DOT_PATH               = ../../tools
+DOT_PATH               =
 
 # The DOTFILE_DIRS tag can be used to specify one or more directories that
 # contain dot files that are included in the documentation (see the \dotfile
@@ -2633,10 +2560,10 @@ MSCFILE_DIRS           =
 DIAFILE_DIRS           =
 
 # When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
-# path where java can find the plantuml.jar file or to the filename of jar file
-# to be used. If left blank, it is assumed PlantUML is not used or called during
-# a preprocessing step. Doxygen will generate a warning when it encounters a
-# \startuml command in this case and will not generate output for the diagram.
+# path where java can find the plantuml.jar file. If left blank, it is assumed
+# PlantUML is not used or called during a preprocessing step. Doxygen will
+# generate a warning when it encounters a \startuml command in this case and
+# will not generate output for the diagram.
 
 PLANTUML_JAR_PATH      =
 
@@ -2698,8 +2625,6 @@ DOT_MULTI_TARGETS      = NO
 # If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
 # explaining the meaning of the various boxes and arrows in the dot generated
 # graphs.
-# Note: This tag requires that UML_LOOK isn't set, i.e. the doxygen internal
-# graphical representation for inheritance and collaboration diagrams is used.
 # The default value is: YES.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2708,8 +2633,8 @@ GENERATE_LEGEND        = YES
 # If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate
 # files that are used to generate the various graphs.
 #
-# Note: This setting is not only used for dot files but also for msc temporary
-# files.
+# Note: This setting is not only used for dot files but also for msc and
+# plantuml temporary files.
 # The default value is: YES.
 
 DOT_CLEANUP            = YES
diff --git a/include/rtdef.h b/include/rtdef.h
index e9afa06ff0..c62167f73f 100644
--- a/include/rtdef.h
+++ b/include/rtdef.h
@@ -396,7 +396,7 @@ typedef int (*init_fn_t)(void);
 #endif
 
 /**
- * @addtogroup Error Code
+ * @addtogroup Error
  */
 
 /**@{*/