#2 Draft: malá revízia

Open
juraj wants to merge 16 commits from irep/jd_cleanup into irep/master

+ 189 - 0
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+ 1 - 0
.clang-format-ignore

@@ -0,0 +1 @@
+Core/Src/system_stm32l4xx.c

+ 1 - 3
.gitignore

@@ -44,6 +44,4 @@
 *~
 
 # Libraries
-/lib
-
-/Core/Inc/nbus_config.h
+/lib

+ 5 - 4
Core/Inc/AppBridge.h

@@ -1,14 +1,15 @@
-/*
+/**
  * @file AppBridge.h
- * @brief Deklarácia vysokoúrovňovej logiky firmvéru nBusBridge
- * @date Mar 5, 2025
- * @author Juraj Dudak
+ * @brief Declaration of high-level logic of nBusBridge. This is the application entry point.
+ * @date Nov 28, 2025
+ * @author Juraj Dudak, Matus Necas
  */
 
 
 #ifndef SRC_APPBRIDGE_H_
 #define SRC_APPBRIDGE_H_
 
+
 #if defined(STM32F401xC) || defined(STM32F401xE)
 #include "stm32f4xx_hal.h"
 #endif

+ 135 - 51
Core/Inc/NbusBridge.h

@@ -1,8 +1,8 @@
-/*
+/**
  * @file NbusBridge.h
- * @brief Deklarácia modulu nBus Brige
- * @date Mar 7, 2025
- * @author Juraj Dudak
+ * @brief Declaration of nBus Bridge
+ * @date Nov 27, 2025
+ * @author Juraj Dudak, Matus Necas
  */
 
 #ifndef SRC_NBUSBRIDGE_H_
@@ -10,59 +10,143 @@
 
 #include "NbusSlave.h"
 
-/* DEFINES BEGIN */
-
-#define MAX_SLAVES 16
-
-#define MODULE_ADDRESS(packet)  packet[0]
-#define SENSOR_ADDRESS(packet)  packet[1]
-#define FUNCTION_CODE(packet)   packet[2]
-
-#define BROADCAST_ADDRESS	0
-#define RX_META	4
-
-#define DATAPACKET_SIZE  (NBUS_MAX_FRAME_SIZE*MAX_SLAVES)
-
-/* DEFINES END */
-
-typedef enum {
-	STATE_STOPPED,
-	STATE_TO_STOP,
-	STATE_RUNNING,
-}RunState_e;
+/**
+ * Class representing nBus Bridge.
+ */
+class NbusBridge
+{
+public:
 
-class NbusBridge {
+	/** Constructor
+	 * @param nbus_communicator: hardware communicator.
+	 */
+	NbusBridge(NbusCommunicator *nbus_communicator);
 
-private:
-	NbusCommunicator *_communicator;
-	NbusSlave _slaves[MAX_SLAVES];
-	uint8_t _slave_adress[MAX_SLAVES];
-	uint8_t _num_slaves;
-	RunState_e _run_state;
-	DataFrame *_workerFrame;
-	uint8_t _dataPacket[DATAPACKET_SIZE];
-	DataFrame *_dataFrame;
-
-	void transmit(DataFrame *packet);
-	DataFrame *_frame_nbus_internal;
-	Nbus_pdu _pdu;
+	/** Provide scan of internal nBus net and initialize local slave devices data.
+	 */
+	void scanNetwork();
 
-public:
-	NbusBridge();
-	void setCommunicator(NbusCommunicator *nc);
-	virtual ~NbusBridge();
-
-	void scan();
-	uint8_t getNumSlaves();
-	//bool call_echo(uint8_t slave);
-	NbusSlave * getSlave(uint8_t index);
-	void sendResponseToMaster(DataFrame *response_frame);
+	/** Process incoming requests.
+	 * @param rx_frame: RX data packet
+	 * @param size: size of rx_frame
+	 */
 	void processRequest(uint8_t *rxFrame, uint8_t size);
-	void broadcastStart();
-	void broadcastStop();
+
+	/**
+	 * Implementation of the STATE_RUNNING state.
+	 * In this state, automatic reading of data from all slaves/all sensors is running.
+	 * The data is sent to the Master in a batch (for all slaves).
+	 */
 	void processRunningState();
-	void process_broadcast(uint8_t *rxFrame);
 
+private:
+	/** Get slave pointer.
+	 * @param index: slave id
+	 * @return pointer to slave
+	 * @note: can be nullptr
+	 */
+	NbusSlave* _getSlave(uint8_t index);
+
+	/** Calculate 8-bit CRC.
+	 *  @param mem: data buffer
+	 *  @param len: buffer length
+	 *  @return> crc
+	 */
+	uint8_t _crc8x_fast(void const *mem, uint16_t len);
+
+	/** Process broadcast request.
+	 * @param rx_frame: RX data packet
+	 * @param size: size of rx_frame
+	 */
+	void _processBroadcast(uint8_t *rx_frame, uint8_t size);
+
+	/** Process bridge request (e.g. bridge-cast).
+	 * @param rx_frame: RX data packet
+	 * @param size: size of rx_frame
+	 */
+	void _processBridgeRequest(uint8_t *rxFrame, uint8_t size);
+
+	/** Process slave request (e.g. uni-cast).
+	 * @param rx_frame: RX data packet
+	 * @param size: size of rx_frame
+	 */
+	void _processSlaveRequest(uint8_t *rxFrame, uint8_t size);
+
+	/** Implementation of CMD_GET_DATA for bridge.
+	 * @return: response to master
+	 */
+	DataFrame * _cmdGetData();
+
+	/** Implementation of CMD_GET_INFO for bridge.
+	 * @return: response to master
+	 */
+	DataFrame * _cmdGetInfo();
+
+	/** Implementation of CMD_GET_FORMAT for bridge.
+	 * @return: response to master
+	 */
+	DataFrame * _cmdGetFormat();
+
+	/** Implementation of CMD_GET_SLAVES for bridge.
+	 * @return: response to master
+	 */
+	DataFrame * _cmdGetSlaves();
+
+	/** Implementation of CMD_SET_STOPfor bridge.
+	 */
+	void _cmdSetStop();
+
+	/** Implementation of CMD_SET_START for bridge.
+	 */
+	void _cmdSetStart();
+
+	/** Set error response to master.
+	 * @param error_code: error code
+	 * @return: response to master
+	 */
+	DataFrame * _rspSetError(Nbus_EC_e error_code);
+
+	/** Set status response to master.
+	 * @param error_code: error code
+	 * @return: response to master
+	 */
+	DataFrame * _rspSetStatus(Nbus_SC_e status_code);
+
+	/** Make default packet from pdu and data.
+	 * @param pdu: current pdu
+	 * @param data: application data
+	 * @param size: application data size
+	 * @return: response to master
+	 */
+	DataFrame * _makePacket(Nbus_PDU_t pdu, uint8_t *data, uint8_t size);
+
+	DataFrame * _makeBridgeDataPacket();
+
+	/** Make raw packet (just copy whole input frame).
+	 * @param daa: application data
+	 * @param size: application data size
+	 * @return: response to master
+	 */
+	DataFrame * _forwardPacket(uint8_t *data, uint8_t size);
+
+	void _addDataPayload(DataFrame * data_frame);
+
+
+
+
+	NbusCommunicator *_communicator{nullptr};													///< nBus HW communicator
+	NbusSlave _slaves[NBUS_BRIDGE_MAX_SLAVES];                                                  ///< array of nBus slaves
+	uint8_t _slave_adress[NBUS_BRIDGE_MAX_SLAVES]{0};                                           ///< array of slave addresses
+	uint8_t _num_slaves{0};                                                                     ///< number of slaves
+	Nbus_RunState_e _run_state{STATE_STOPPED};                                                  ///< running state flag
+	DataFrame *_worker_frame_ptr{nullptr};														///< pointer to actual data frame
+	uint8_t _data_packet[NBUS_BRIDGE_DATAPACKET_SIZE]{0};                                       ///< data packet buffer
+	DataFrame _bridge_cast_frame{_data_packet, NBUS_BRIDGE_DATAPACKET_SIZE, TYPE_RAW, CRC_OFF}; ///< data frame for bridge cast
+	DataFrame _default_frame{_data_packet, NBUS_BRIDGE_DATAPACKET_SIZE, TYPE_PLAIN, CRC_ON};    ///< data frame for default operation
+	DataFrame _raw_data_frame{_data_packet, NBUS_BRIDGE_DATAPACKET_SIZE, TYPE_RAW, CRC_OFF};    ///< raw data frame for copying
+	uint8_t _scan_request{0};																	///< flag if scan request is necessary
+	Nbus_PDU_t _pdu{NBUS_BROADCAST_ADDRESS, NBUS_BROADCAST_ADDRESS, FC_ECHO};                   ///< nBus actual PDU
+	uint8_t _bridge_cast_header[NBUS_BRIDGE_HEADER_SIZE]{NBUS_BRIDGE_HEADER_SEQ};               ///< data header for bridge-cast
 };
 
 #endif /* SRC_NBUSBRIDGE_H_ */

+ 40 - 24
Core/Inc/NbusCommunicator.h

@@ -1,8 +1,8 @@
-/*
+/**
  * @file NbusCommunicator.h
- * @brief Deklarácia komunikačnej vrstvy: 1) internej 2) externej
- * @date Mar 7, 2025
- * @author Juraj Dudak
+ * @brief Declaration of hardware communication interface.
+ * @date Nov 28, 2025
+ * @author Juraj Dudak, Matus Necas
  */
 
 #ifndef SRC_NBUSCOMMUNICATOR_H_
@@ -10,36 +10,52 @@
 
 #include "inttypes.h"
 #include "dataframe.h"
-#include "nbus_structs.h"
+#include "nbus_config.h"
+#include "nbus_defines.h"
 
 #include "stm32l4xx_hal.h"
 
+/** @brief Class for NBus Communicator handle.
+ */
+class NbusCommunicator
+{
+public:
 
-/* DEFINES BEGIN */
+	/** Constructor.
+	 * @param uart_nbus: pointer to UART nBus instance
+	 * @param uart_master: pointer to UART master instance
+	 */
+	NbusCommunicator(UART_HandleTypeDef *uart_nbus, UART_HandleTypeDef *uart_master);
 
-#define NBUS_MAX_FRAME_SIZE 64
+	/** Send data to master.
+	 *  @param master_frame: data frame to send
+	 */
+	void sendToMaster(DataFrame *master_frame);
 
-/* DEFINES END */
+	/** Send data to slave.
+	 *  @param slave_frame: data frame to send
+	 */
+	void sendToSlave(DataFrame *slave_frame);
 
-class NbusCommunicator {
+	/** Send data to slave and receive response.
+	 *  @param slave_frame: data frame to send
+	 *  @return: response data frame
+	 */
+	DataFrame* sendAndReceiveSlave(DataFrame *slave_frame);
 
 private:
-	uint8_t _data_packet_tx[NBUS_MAX_FRAME_SIZE];
-	uint8_t _data_packet_comm[NBUS_MAX_FRAME_SIZE];
-	uint8_t _data_packet_rx[NBUS_MAX_FRAME_SIZE];
-	DataFrame *_packet_tx;
-	DataFrame *_packet_rx;
-	UART_HandleTypeDef *_uart_nbus;
-	UART_HandleTypeDef *_uart_master;
-	void _receive();
-public:
-	NbusCommunicator(UART_HandleTypeDef*, UART_HandleTypeDef*);
-//	void transmit(uint8_t *, uint8_t);
-	void sendToMaster(DataFrame *master_frame);
-	virtual ~NbusCommunicator();
 
-	DataFrame* sendAndReceive(Nbus_pdu *pdu, uint8_t *data, uint8_t data_len);
-	void send(Nbus_pdu *pdu, uint8_t *data, uint8_t data_len);
+	/** Receive data from slave.
+	 */
+	void _receiveFromSlave();
+
+	uint8_t _data_packet_tx[NBUS_COMM_MAX_FRAME_SIZE]{0};									///< raw TX data packet
+	uint8_t _data_packet_comm[NBUS_COMM_MAX_FRAME_SIZE]{0};									///< raw common data packet
+	uint8_t _data_packet_rx[NBUS_COMM_MAX_FRAME_SIZE]{0};									///< raw RX data packet
+	DataFrame _packet_tx{_data_packet_tx, NBUS_COMM_MAX_FRAME_SIZE, TYPE_PLAIN, CRC_ON};	///< TX data frame
+	DataFrame _packet_rx{_data_packet_rx, NBUS_COMM_MAX_FRAME_SIZE, TYPE_PLAIN, CRC_OFF};   ///< RX data frame
+	UART_HandleTypeDef *_uart_nbus{nullptr};												///< pointer to UART nBus
+	UART_HandleTypeDef *_uart_master{nullptr};												///< pointer to UART master
 };
 
 

+ 55 - 39
Core/Inc/NbusSlave.h

@@ -1,60 +1,76 @@
-/*
+/**
  * @file AppBridge.h
- * @brief Deklarácia modulu nBus Slave z pohľadu nBus Bridge
- * @date Mar 3, 2025
- * @author Juraj Dudak
+ * @brief nBus Slave module declaration.
+ * @date Nov 26, 2025
+ * @author Juraj Dudak, Matus Necas
  */
 #ifndef SRC_APPSLAVE_H_
 #define SRC_APPSLAVE_H_
 
-
 #include "inttypes.h"
 #include "dataframe.h"
 #include "NbusCommunicator.h"
 
-/** Adresa slave modulu, bez špecifikácie adresy konktrétneho senzora. */
-#define SLAVE_ADDRESS_MODULE	0
-
-class NbusSlave {
-
-private:
-	NbusCommunicator* _communicator;
-	Nbus_pdu _pdu;
-	uint8_t _sensor_cache[16];
+/** @brief Class for nBus slave communication
+ */
+class NbusSlave
+{
+public:
+	/** Set nBus communicator.
+	 * @param nbus_comm: communicator to set
+	 */
+	void setCommunicator(NbusCommunicator* nbus_comm);
 
-	uint8_t _sensor_count;
+	/** Set nBus address.
+	 * @param addr: address to set
+	 */
+	void setModuleAddress(uint8_t addr);
 
-public:
-	NbusSlave(uint8_t, NbusCommunicator*);
-	NbusSlave();
-	virtual ~NbusSlave();
-	void setCommunicator(NbusCommunicator*);
-	void setAddress(uint8_t);
+	/** Get slave active status.
+	 * @return: active status (1 = active, 0 = inactive)
+	 */
 	bool isActive();
-	uint8_t getSensorAddress();
+
+	/** Get nBus module address.
+     * @return: actual address (0 if not set)
+	 */
 	uint8_t getModuleAddress();
-	DataFrame* nbus_echo(uint8_t *echo_data, uint8_t size);
-	DataFrame* nbus_sensor_count();
-	DataFrame* nbus_sensor_type(uint8_t);
-	DataFrame* nbus_sensor_format(uint8_t);
-	DataFrame* nbus_module_info();
-	DataFrame* nbus_sensor_getData(uint8_t sensor_address);
-	DataFrame* nbus_sensor_parameter(uint8_t, uint8_t);
-	DataFrame* nbus_sensor_parameters(uint8_t);
 
-	uint8_t nbus_get_sensor_count(bool check_hw = false);
+	/** Send any nBus request and get response.
+	 * @param slave_frame: data to send
+	 * @return: response data frame
+	 */
+	DataFrame* cmdProcessAnyRequest(DataFrame *slave_frame);
 
-};
+	/** Send nBus request and get sensor data.
+	 * @return: response data frame
+	 */
+	DataFrame* cmdGetData();
 
+	/** Send nBus request and get sensor format.
+	 * @return: response data frame
+	 */
+	DataFrame* cmdGetFormat();
 
-#ifdef __cplusplus
-extern "C"
-{
-#endif
+	/** Send nBus request and get sensor count.
+	 * @param check_hw: 1 = load from bus, 0 = use local cache
+	 * @return: number of sensors / actuators
+	 */
+	Nbus_SensorCnt_t cmdGetSensorCnt(bool check_hw);
 
+private:
+	/** Make nBus packet for selected function code.
+	 * @param fc: function code
+	 * @return: _slave_cache
+	 */
+	DataFrame* _makePacket(Nbus_FC_e fc);
+
+	NbusCommunicator* _communicator{nullptr};											///< hardware bus communicator
+	Nbus_SensorCnt_t _sensor_count{0, 0};												///< number of sensors / actuators
+	Nbus_PDU_t _pdu{0, 0, FC_ECHO}; 													///< slave PDU
+	uint8_t _slave_cache[NBUS_SLAVE_CACHE_SIZE]{0};									    ///< slave temporary data
+	DataFrame _cache_frame{_slave_cache, NBUS_SLAVE_CACHE_SIZE, TYPE_PLAIN, CRC_ON};    ///< data frame of _slave_cache
+};
 
-#ifdef __cplusplus
-}
-#endif
 
 #endif /* SRC_APPSLAVE_H_ */

+ 73 - 0
Core/Inc/nbus_config.h

@@ -0,0 +1,73 @@
+/*
+ * nbus_config.h
+ *
+ *  Created on: Nov 28, 2025
+ *      Author: Juraj Dudak, Matus Necas
+ */
+
+#ifndef INC_NBUS_CONFIG_H_
+#define INC_NBUS_CONFIG_H_
+
+
+/* BEGIN NBUS APP DEFINES */
+
+/**  @brief Macro for UART buffer size for Master-Bridge */
+#define NBUS_APP_UART_FRAME_SIZE        64
+/** @brief Macro for blink cound during boot sequence. */
+#define NBUS_APP_BLINK_COUNT			10
+/** @brief Macro for blink delay during boot sequence. */
+#define NBUS_APP_BLINK_DELAY			50
+
+/* END NBUS APP DEFINES */
+
+
+/* BEGIN NBUS COMMUNICATOR DEFINES */
+
+/** @brief Macro for frame size of nBus Communicator. */
+#define NBUS_COMM_MAX_FRAME_SIZE		64
+/** @brief Macro for receive timeout in ms. */
+#define NBUS_COMM_UART_RX_TIMEOUT  		 5
+/** @brief Macro for transfer timeout in ms. */
+#define NBUS_COMM_UART_TX_TIMEOUT 		10
+
+/* END NBUS COMMUNICATOR DEFINES */
+
+
+/* BEGIN NBUS SLAVE DEFINES */
+
+/** @brief Macro for slave cache size. */
+#define NBUS_SLAVE_CACHE_SIZE			  NBUS_TX_META_SIZE
+
+/* END NBUS SLAVE DEFINES */
+
+
+/* BEGIN NBUS BRIDGE DEFINES */
+
+/** @brief Macro for max slave modules for nBus Bridge. */
+#define NBUS_BRIDGE_MAX_SLAVES 			  16
+/** @brief Macro for echo message length in network scan. */
+#define NBUS_BRIDGE_ECHO_SCAN_SIZE	   	   4
+/** @brief Macro for 0th byte in echo message in network scan. */
+#define NBUS_BRIDGE_ECHO_SCAN_BYTE0      (uint8_t)'n'
+#define NBUS_BRIDGE_ECHO_SCAN_BYTE1		 (uint8_t)'B'
+#define NBUS_BRIDGE_ECHO_SCAN_BYTE2		 (uint8_t)'u'
+#define NBUS_BRIDGE_ECHO_SCAN_BYTE3		 (uint8_t)'s'
+/** @brief Macro for nBus Bridge running state delay. **/
+#define NBUS_BRIDGE_RUNNING_STATE_DELAY  50
+/** @brief Macro for nBus Bridge info version. **/
+#define NBUS_BRIDGE_INFO_VERSION		"1.0"
+/** @brief Macro for nBus Bridge hardware family. **/
+#define NBUS_BRIDGE_INFO_HW_FAMILY		"STM"
+/** @brief Macro for nBus Bridge hardware version. **/
+#define NBUS_BRIDGE_INFO_HW_VERSION		"0.5"
+/** @brief Macro for nBus Bridge data packet size. **/
+#define NBUS_BRIDGE_DATAPACKET_SIZE  (NBUS_COMM_MAX_FRAME_SIZE*NBUS_BRIDGE_MAX_SLAVES)
+/** @brief Macro for header size in bridge-cast. **/
+#define NBUS_BRIDGE_HEADER_SIZE		    10
+/** @brief Macro for header byte in bridge-cast. **/
+#define NBUS_BRIDGE_HEADER_SEQ			0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00
+
+/* END NBUS BRIDGE DEFINES */
+
+
+#endif /* INC_NBUS_CONFIG_H_ */

+ 140 - 0
Core/Inc/nbus_defines.h

@@ -0,0 +1,140 @@
+/**
+ * @file nbus_defines.h
+ *
+ *  @date: Nov 26, 2025
+ *  @author: Juraj Dudak, Matus Necas
+ */
+
+#ifndef INC_NBUS_DEFINES_H_
+#define INC_NBUS_DEFINES_H_
+
+
+#if defined(STM32F401xC) || defined(STM32F401xE)
+#include "stm32f4xx_hal.h"
+#endif
+
+#if defined (STM32L432xx)
+#include "stm32l4xx_hal.h"
+#endif
+
+#if defined (STM32L031xx) || defined (STM32L082xx)
+#include "stm32l0xx_hal.h"
+#endif
+
+
+/* BEGIN GENERAL NBUS DEFINES */
+
+/** @brief Macro for broadcast address (MA = 0). */
+#define NBUS_BROADCAST_ADDRESS			0x00
+/** @brief Macro for NBus Bridge address (MA = 0, SA = BRIDGE). */
+#define NBUS_BRIDGE_ADDRESS				0xFF
+
+/** @brief Macro for RX meta size in bytes. */
+#define NBUS_RX_META_SIZE				4
+/** @brief Macro for module address in RX packet. */
+#define NBUS_RX_MODULE_ADDRESS(packet)	(packet)[0]
+/** @brief Macro for sensor address in RX packet. */
+#define NBUS_RX_SENSOR_ADDRESS(packet)	(packet)[1]
+/** @brief Macro for function code in RX packet. */
+#define NBUS_RX_FUNCTION_CODE(packet)	(packet)[2]
+/** @brief Macro for #0 data byte in RX packet. */
+#define NBUS_RX_DATA0(packet)		    (packet)[3]
+/** @brief Macro for CRC8 byte in RX packet. */
+#define NBUS_RX_CRC8(packet, size)	    (packet)[(size) - 1]
+
+/** @brief Macro for TX meta size in bytes. */
+#define NBUS_TX_META_SIZE				5
+/** @brief Macro for #0 data byte in TX packet. */
+#define NBUS_TX_DATA0(packet) 		    (packet)[4]
+
+/** @brief Macro for set command flag. */
+#define NBUS_SET_CMD(cmd)				((cmd) | 0x20)
+/** @brief Macro to set error response. */
+#define NBUS_SET_ERR_RESPONSE(fc)		((fc) | 0x80)
+
+#define NBUS_CHECK_ERR_RESPONSE(packet)	((packet)[2] & 0x80)
+
+/* END GENERAL NBUS DEFINES */
+
+
+/** @brief Enumerate for function codes  */
+typedef enum {
+	FC_FIND = 0,
+	FC_ECHO,			/* 1 */
+	FC_STOP,			/* 2 */
+	FC_START,			/* 3 */
+	FC_PARAM,			/* 4 */
+	FC_SENSOR_CNT,		/* 5 */
+	FC_SLEEP,			/* 6 */
+	FC_WAKEUP,			/* 7 */
+	FC_CALIBRATE,		/* 8 */
+	FC_RESET,			/* 9 */
+	FC_STORE,			/* 0xA => 10 */
+	FC_DATA,			/* 0xB => 11 */
+	FC_SYNC,			/* 0xC => 12 */
+	FC_SENSOR_TYPE,		/* 0xD => 13 */
+	FC_INFO,			/* 0xE => 14 */
+	FC_SENSOR_FORMAT, 	/* 0xF => 15 */
+	FC_SLAVES,		 	/* 0x10 => 16 */
+} Nbus_FC_e;
+
+
+/** @brief Enumerate for Bridge run state. */
+typedef enum {
+	STATE_STOPPED,
+	STATE_TO_STOP,
+	STATE_RUNNING,
+} Nbus_RunState_e;
+
+
+/** @brief Structure for PDU data. */
+typedef struct {
+	uint8_t ma;
+	uint8_t sa;
+	Nbus_FC_e fc;
+} Nbus_PDU_t;
+
+
+/** @brief Structure for sensor count. */
+typedef struct
+{
+    uint8_t read_only_count;
+    uint8_t read_write_count;
+} Nbus_SensorCnt_t;
+
+
+/** @brief Enumerate for error codes.  */
+typedef enum {
+	OK_CODE                	=	0x00,
+	ILLEGAL_FUNCTION       	=	0x01,
+	ILLEGAL_DEVICE_ADDRESS 	=	0x02,
+	ILLEGAL_DATA_VALUE     	=	0x03,
+	SLAVE_DEVICE_FAILURE   	=	0x04,
+	ACKNOWLEDGE            	=	0x05,
+	DEVICE_BUSY            	=	0x06,
+	DEVICE_NOT_READY       	=	0x07,
+	PARAM_NOT_IMPLEMENTED  	=	0x10,
+	ILLEGAL_FUNCTION_PARAM 	=	0x11,
+	DEVICE_IS_READ_ONLY    	=	0x12,
+	GENERIC_SUBSLAVE_ERROR 	=	0x13,
+	ERR_SUBSLAVE_INIT_FAIL 	=	0x14,
+	SUBSLAVE_CUSTOM_ERR_1  	=	0x1A,
+	SUBSLAVE_CUSTOM_ERR_2  	=	0x1B,
+	SUBSLAVE_CUSTOM_ERR_3  	=	0x1C,
+	SUBSLAVE_CUSTOM_ERR_4  	=	0x1D,
+	SUBSLAVE_CUSTOM_ERR_5  	=	0x1E,
+	SUBSLAVE_CUSTOM_ERR_6  	=	0x1F,
+	ERR_OUTPUT_ONLY        	=	0x21,
+	ERR_INPUT_ONLY         	=	0x22
+} Nbus_EC_e;
+
+
+/** @brief Enumerate for status codes.  */
+typedef enum {
+    STATUS_NOT_SUPPORTED 	= 0xFF,
+    STATUS_SUCCESS 		 	= 0x00,
+    STATUS_FAIL 		 	= 0x01
+} Nbus_SC_e;
+
+
+#endif /* INC_NBUS_DEFINES_H_ */

+ 0 - 53
Core/Inc/nbus_structs.h

@@ -1,53 +0,0 @@
-/*
- * @file nbus_structs.h
- *
- *  @date: Mar 7, 2025
- *  @author: Juraj Dudak
- */
-
-#ifndef INC_NBUS_STRUCTS_H_
-#define INC_NBUS_STRUCTS_H_
-
-
-#if defined(STM32F401xC) || defined(STM32F401xE)
-#include "stm32f4xx_hal.h"
-#endif
-
-#if defined (STM32L432xx)
-#include "stm32l4xx_hal.h"
-#endif
-
-#if defined (STM32L031xx) || defined (STM32L082xx)
-#include "stm32l0xx_hal.h"
-#endif
-
-
-typedef enum {
-	FC_FIND = 0,
-	FC_ECHO,			/* 1 */
-	FC_STOP,			/* 2 */
-	FC_START,			/* 3 */
-	FC_PARAM,			/* 4 */
-	FC_SENSOR_CNT,		/* 5 */
-	FC_SLEEP,			/* 6 */
-	FC_WAKEUP,			/* 7 */
-	FC_CALIBRATE,		/* 8 */
-	FC_RESET,			/* 9 */
-	FC_STORE,			/* 0xA => 10 */
-	FC_DATA,			/* 0xB => 11 */
-	FC_SYNC,			/* 0xC => 12 */
-	FC_SENSOR_TYPE,		/* 0xD => 13 */
-	FC_INFO,			/* 0xE => 14 */
-	FC_SENSOR_FORMAT, 	/* 0xF => 15 */
-}Nbus_FC_e;
-
-
-typedef struct {
-	uint8_t ma;
-	uint8_t sa;
-	Nbus_FC_e fc;
-}Nbus_pdu;
-
-
-
-#endif /* INC_NBUS_STRUCTS_H_ */

+ 82 - 64
Core/Src/AppBridge.cpp

@@ -1,88 +1,106 @@
-/*
+/**
  * @file AppBridge.cpp
- * @brief Vysokoúrovňová logika formvéru nBusBridge
- * @date Mar 5, 2025
- * @author Juraj Dudak
+ * @brief High-level logic of nBusBridge. This is the application entry point.
+ *
+ * @date Nov 28, 2025
+ * @author Juraj Dudak, Matus Necas
  */
 
-#include <NbusSlave.h>
 #include "AppBridge.h"
-#include "dataframe.h"
 #include "NbusBridge.h"
 
-#include "NbusCommunicator.h"
 
+/** @brief UARTinterface between Master-Bridge. */
 UART_HandleTypeDef *pUartMasterGlobal;
+/** @brief flag for data-ready from pUartMasterGlobal. */
 volatile uint32_t flagUartMasterDataReady;
-uint8_t pMasterUartRx[64];
-uint8_t pMasterUartFrame[64];
+/** @brief reading buffer from pUartMasterGlobal. */
+uint8_t pMasterUartRx[NBUS_APP_UART_FRAME_SIZE];
+/** @brief master buffer for pUartMasterGlobal. */
+uint8_t pMasterUartFrame[NBUS_APP_UART_FRAME_SIZE];
+/** @brief internal index for data acquisition from pUartMasterGlobal. */
 volatile uint8_t vMasterUartIndex;
+/** @brief size of received request from pUartMasterGlobal. */
 volatile uint8_t vMasterUartSize;
 
-NbusBridge bridge;
 
-static void init_app(){
-	HAL_UARTEx_ReceiveToIdle_DMA(pUartMasterGlobal, pMasterUartRx, 64);
-	flagUartMasterDataReady = 0;
-	vMasterUartIndex = 0;
-	vMasterUartSize = 0;
-
-	// boot long blink
-	for(uint32_t i = 0 ; i<64 ; i++){
-		HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_3);
-		HAL_Delay(25);
-	}
+/** Initialize resources and provide boot sequence. */
+static void init_app()
+{
+    HAL_UARTEx_ReceiveToIdle_DMA(pUartMasterGlobal, pMasterUartRx, NBUS_APP_UART_FRAME_SIZE);
+    flagUartMasterDataReady = 0;
+    vMasterUartIndex = 0;
+    vMasterUartSize = 0;
+
+    // boot long blink
+    for (uint32_t i = 0; i < NBUS_APP_BLINK_COUNT; i++)
+    {
+        HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_3);
+        HAL_Delay(NBUS_APP_BLINK_DELAY);
+    }
 }
 
-void app(UART_HandleTypeDef *uartNbus, UART_HandleTypeDef *uartMaster){
 
-	pUartMasterGlobal = uartMaster;
-	init_app();
+/**
+ * Entrypoint of nBusBridge applicattion.
+ * @param uart_nbus: interface for internal bridge-slave
+ * @param uart_master: nterface for external bridge-master
+ */
+void app(UART_HandleTypeDef *uart_nbus, UART_HandleTypeDef *uart_master)
+{
+
+    pUartMasterGlobal = uart_master;
+    init_app();
 
-	NbusCommunicator nc(uartNbus, uartMaster);
-	bridge.setCommunicator(&nc);
-	bridge.scan();
+    NbusCommunicator nc(uart_nbus, uart_master);
+    NbusBridge bridge(&nc);
 
 
-	while(1){
-		bridge.processRunningState();
+    bridge.scanNetwork();
 
-		if(flagUartMasterDataReady > 0){
-			bridge.processRequest(pMasterUartFrame, flagUartMasterDataReady);
-			flagUartMasterDataReady = 0;
-		}
+    while (1)
+    {
+        bridge.processRunningState();
 
-	}
+        if (flagUartMasterDataReady > 0)
+        {
+            bridge.processRequest(pMasterUartFrame, flagUartMasterDataReady);
+            flagUartMasterDataReady = 0;
+        }
+    }
 }
 
-//  Application callbacks
-void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
-	if(huart == pUartMasterGlobal) {
-		HAL_UARTEx_ReceiveToIdle_DMA(pUartMasterGlobal, pMasterUartRx, 64);
-		uint8_t copy_offset = 0;
-
-		if(vMasterUartIndex == 0){
-			vMasterUartSize = pMasterUartRx[0];
-			vMasterUartIndex = 1;
-			Size--;
-			copy_offset = 1;
-		}
-
-		if (Size > 0) {
-			memcpy(&pMasterUartFrame[vMasterUartIndex-1], &pMasterUartRx[copy_offset], Size);
-			vMasterUartIndex += Size;
-		}
-
-		if(vMasterUartIndex > vMasterUartSize){
-			flagUartMasterDataReady = vMasterUartSize;
-			vMasterUartSize = 0;
-			vMasterUartIndex = 0;
-			pMasterUartRx[0] = 0;
-			if (MODULE_ADDRESS(pMasterUartFrame) == 0){
-				bridge.process_broadcast(pMasterUartFrame);
-				// TODO tu este mozno deaktivovat spracovanie nroadcast paketu
-				// flagUartMasterDataReady = 0;
-			}
-		}
-	}
+
+/**
+ * @brief Application callback of STM32 HAL.
+ */
+void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
+{
+    if (huart == pUartMasterGlobal)
+    {
+        HAL_UARTEx_ReceiveToIdle_DMA(pUartMasterGlobal, pMasterUartRx, NBUS_APP_UART_FRAME_SIZE);
+        uint8_t copy_offset = 0;
+
+        if (vMasterUartIndex == 0)
+        {
+            vMasterUartSize = pMasterUartRx[0];
+            vMasterUartIndex = 1;
+            Size--;
+            copy_offset = 1;
+        }
+
+        if (Size > 0)
+        {
+            memcpy(&pMasterUartFrame[vMasterUartIndex - 1], &pMasterUartRx[copy_offset], Size);
+            vMasterUartIndex += Size;
+        }
+
+        if (vMasterUartIndex > vMasterUartSize)
+        {
+            flagUartMasterDataReady = vMasterUartSize;
+            vMasterUartSize = 0;
+            vMasterUartIndex = 0;
+            pMasterUartRx[0] = 0;
+        }
+    }
 }

+ 325 - 215
Core/Src/NbusBridge.cpp

@@ -1,14 +1,14 @@
-/*
+/**
  * @file NbusBridge.cpp
- * @brief Implemetnácia modulu nBus Brige
- * @date Mar 7, 2025
- * @author Juraj Dudak
+ * @brief Implementation of  nBus Brige
+ * @date Nov 27, 2025
+ * @author Juraj Dudak, Matus Necas
  */
 
 #include "NbusBridge.h"
-#include "dataframe.h"
 
-static uint8_t const crc8x_table[] = {
+
+static const uint8_t __crc8x_table[] = {
     0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15, 0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D, 0x70, 0x77, 0x7E,
     0x79, 0x6C, 0x6B, 0x62, 0x65, 0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D, 0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB,
     0xF2, 0xF5, 0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD, 0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85, 0xA8,
@@ -24,269 +24,379 @@ static uint8_t const crc8x_table[] = {
     0xB2, 0xB5, 0xBC, 0xBB, 0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83, 0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC,
     0xCB, 0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3};
 
-static uint8_t crc8x_fast(void const *mem, uint16_t len)
-{
-    uint8_t crc = 0;
-    uint8_t const *data = (uint8_t *)mem;
-    if (data == NULL)
-        return 0xff;
-    crc &= 0xff;
-    while (len--)
-        crc = crc8x_table[crc ^ *data++];
-    return crc;
-}
-
-NbusBridge::NbusBridge() {
 
-	_communicator = NULL;
-	_num_slaves = 0;
-	_run_state = STATE_STOPPED;
-	_pdu.sa = BROADCAST_ADDRESS;
+NbusBridge::NbusBridge(NbusCommunicator *nbus_communicator)
+: _communicator(nbus_communicator)
+{
 
 }
 
-void NbusBridge::setCommunicator(NbusCommunicator *nc){
-	if(nc == NULL)
-	{
-		while(1){
-			__NOP();
-		}
-	}
-
-	_communicator = nc;
-	_num_slaves = 0;
-	_run_state = STATE_STOPPED;
-	_pdu.sa = BROADCAST_ADDRESS;
-	_dataFrame = new DataFrame(_dataPacket, sizeof(_dataPacket), TYPE_RAW, CRC_OFF);
+void NbusBridge::scanNetwork()
+{
+    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
+
+    _num_slaves = 0;
+
+    uint8_t   *response_raw;
+    Nbus_PDU_t  pdu = {NBUS_BROADCAST_ADDRESS, NBUS_BROADCAST_ADDRESS, FC_ECHO};
+    uint8_t    data[] = {NBUS_BRIDGE_ECHO_SCAN_BYTE0, NBUS_BRIDGE_ECHO_SCAN_BYTE1, NBUS_BRIDGE_ECHO_SCAN_BYTE2, NBUS_BRIDGE_ECHO_SCAN_BYTE3};
+    uint8_t    slave_index = 0;
+
+    for (uint32_t i = 1; i < NBUS_BRIDGE_MAX_SLAVES; i++)
+    {
+        _slave_adress[i] = 0;
+    }
+
+    for (uint32_t i = 1; i < NBUS_BRIDGE_MAX_SLAVES; i++)
+    {
+        HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_3);
+        pdu.ma = i;
+
+        _worker_frame_ptr = _communicator->sendAndReceiveSlave(_makePacket(pdu, data, NBUS_BRIDGE_ECHO_SCAN_SIZE));
+
+        if (!_worker_frame_ptr->IsEmpty())
+        {
+            response_raw = _worker_frame_ptr->GetFrame();
+
+            if (NBUS_TX_DATA0(response_raw + 0) == NBUS_BRIDGE_ECHO_SCAN_BYTE0 && NBUS_TX_DATA0(response_raw + 1) == NBUS_BRIDGE_ECHO_SCAN_BYTE1 &&
+            	NBUS_TX_DATA0(response_raw + 2) == NBUS_BRIDGE_ECHO_SCAN_BYTE2 && NBUS_TX_DATA0(response_raw + 3) == NBUS_BRIDGE_ECHO_SCAN_BYTE3)
+            {
+                _num_slaves++;
+                _slaves[i].setModuleAddress(i);
+                _slaves[i].setCommunicator(_communicator);
+                _slave_adress[slave_index++] = i;
+                _slaves[i].cmdGetSensorCnt(true); 	// retrieve sensor count for each slave
+            }
+        }
+    }
+
+    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);
 }
 
-NbusBridge::~NbusBridge() {
-	// empty
+void NbusBridge::processRequest(uint8_t *rxFrame, uint8_t size)
+{
+    uint8_t crcC = _crc8x_fast(rxFrame, size - 1);
+
+    if (crcC != NBUS_RX_CRC8(rxFrame, size))
+    {
+        return;
+    }
+
+    _pdu.ma = rxFrame[0];
+    _pdu.sa = rxFrame[1];
+    _pdu.fc = (Nbus_FC_e)rxFrame[2];
+
+    if (_pdu.ma == NBUS_BROADCAST_ADDRESS)
+    {
+        if (_pdu.sa == NBUS_BRIDGE_ADDRESS)
+        {
+            _processBridgeRequest(rxFrame, size);
+        }
+        else
+        {
+            _processBroadcast(rxFrame, size);
+        }
+    }
+    else
+    {
+        _processSlaveRequest(rxFrame, size);
+    }
 }
 
-
-void NbusBridge::scan(){
-	_num_slaves = 0;
-
-	DataFrame *frame;
-	uint8_t *response;
-	Nbus_pdu pdu;
-	pdu.fc = FC_ECHO;
-	pdu.sa = SLAVE_ADDRESS_MODULE;
-	_pdu.ma = SLAVE_ADDRESS_MODULE;
-	uint8_t data[4] = {110, 66, 117, 115};	// nBus
-	const uint8_t data_offset = 4;
-	uint8_t slave_index = 0;
-
-	for(uint32_t i = 1 ; i < MAX_SLAVES; i++){
-		pdu.ma = i;
-		frame = _communicator->sendAndReceive(&pdu, data, 4);
-		if (!frame->IsEmpty()){
-			response = frame->GetFrame();
-			if(response[0+data_offset] == 110 && response[1+data_offset] == 66 && response[2+data_offset] == 117 && response[3+data_offset] == 115) {
-				_num_slaves++;
-				_slaves[i].setAddress(i);
-				_slaves[i].setCommunicator(_communicator);
-				_slave_adress[slave_index++] = i;
-			}
-		}
-	}
+void NbusBridge::processRunningState()
+{
+    if (_run_state == STATE_STOPPED)
+    {
+        return;
+    }
+
+    if (_run_state == STATE_TO_STOP)
+    {
+        HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);
+        _run_state = STATE_STOPPED;
+        return;
+    }
+
+    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
+
+    _worker_frame_ptr = _makeBridgeDataPacket();
+
+    // TODO problem: v stavi RUNNING pride STOP prikaz, ale ten sa nespracuje, pretoze bezi obsluha tejto funkcie.
+    if (_run_state == STATE_RUNNING)
+    {
+        _communicator->sendToMaster(_worker_frame_ptr);
+    }
+
+    /// TODO toto sa MI NEPACI, TREBA VYRIESIT INAK!!!!!!
+    HAL_Delay(NBUS_BRIDGE_RUNNING_STATE_DELAY); // TREBA VYSKUSAT
 }
 
-NbusSlave * NbusBridge::getSlave(uint8_t index){
-	if(index >= 0 && index < MAX_SLAVES){
-		if (_slaves[index].isActive()) {
-			return &_slaves[index];
-		}
-	}
-	return NULL;
+uint8_t NbusBridge::_crc8x_fast(void const *mem, uint16_t len)
+{
+    uint8_t crc = 0;
+    uint8_t const *data = (uint8_t *)mem;
+    if (data == nullptr)
+        return 0xff;
+    crc &= 0xff;
+    while (len--)
+        crc = __crc8x_table[crc ^ *data++];
+    return crc;
 }
 
-uint8_t NbusBridge::getNumSlaves(){
-	return _num_slaves;
+NbusSlave *NbusBridge::_getSlave(uint8_t index)
+{
+    if (index >= 0 && index < NBUS_BRIDGE_MAX_SLAVES)
+    {
+        if (_slaves[index].isActive())
+        {
+            return &_slaves[index];
+        }
+    }
+
+    return nullptr;
 }
 
-/*
-bool NbusBridge::call_echo(uint8_t slave){
-	if(slave >= _num_slaves){
-			return false;
-	}
-	if(slave == 0){
-		for(uint32_t i = 0 ; i<_num_slaves ; i++){
-			getSlave(i)->nbus_echo();
-		}
-		return true;
-	}
-	getSlave(slave)->nbus_echo();
-	return true;
+void NbusBridge::_processBroadcast(uint8_t *rx_frame, uint8_t size)
+{
+    _communicator->sendToSlave(_forwardPacket(rx_frame, size));
 }
-*/
 
-void NbusBridge::sendResponseToMaster(DataFrame *response_frame){
-	if(response_frame !=NULL && response_frame->IsEmpty() == false) {
-		_communicator->sendToMaster(response_frame);
-	}
+void NbusBridge::_processBridgeRequest(uint8_t *rx_frame, uint8_t size)
+{
+	switch (NBUS_RX_FUNCTION_CODE(rx_frame))
+    {
+    case FC_ECHO:				/* GET 1 */
+    	_worker_frame_ptr = _forwardPacket(rx_frame, size);
+    	break;
+
+    case NBUS_SET_CMD(FC_STOP):  /* SET 2 */
+    	_cmdSetStop();
+    	_worker_frame_ptr = nullptr;
+    	break;
+
+    case NBUS_SET_CMD(FC_START): /* SET 3 */
+    	_cmdSetStart();
+  		_worker_frame_ptr = nullptr;
+    	break;
+
+    case NBUS_SET_CMD(FC_RESET): /* SET 9 */
+		scanNetwork();
+        _worker_frame_ptr = _rspSetStatus(STATUS_SUCCESS);
+        break;
+
+    case FC_DATA:           	/* GET 11 */
+    	_worker_frame_ptr = _cmdGetData();
+    	break;
+
+    case FC_INFO:           	/* GET 14 */
+    	_worker_frame_ptr = _cmdGetInfo();
+        break;
+
+    case FC_SENSOR_FORMAT: 		/* GET 15 */
+       	_worker_frame_ptr = _cmdGetFormat();
+        break;
+
+    case FC_SLAVES: 			/* GET 16 */
+       	_worker_frame_ptr = _cmdGetSlaves();
+        break;
+
+    default:
+      	_worker_frame_ptr = _rspSetError(ILLEGAL_FUNCTION);
+    }
+
+	_communicator->sendToMaster(_worker_frame_ptr);
 }
 
-void NbusBridge::broadcastStart(){
-	_pdu.fc = FC_START;
-	_pdu.ma = BROADCAST_ADDRESS;
-	_communicator->send(&_pdu, NULL, 0);
-	_run_state = STATE_RUNNING;
+void NbusBridge::_processSlaveRequest(uint8_t *rx_frame, uint8_t size)
+{
+    NbusSlave *selected_slave = _getSlave(NBUS_RX_MODULE_ADDRESS(rx_frame));
+
+    if (selected_slave == nullptr)
+    {
+    	_worker_frame_ptr = _rspSetError(ILLEGAL_DEVICE_ADDRESS);
+    }
+    else
+    {
+    	_worker_frame_ptr = _communicator->sendAndReceiveSlave(_forwardPacket(rx_frame, size));
+    }
+
+    _communicator->sendToMaster(_worker_frame_ptr);
 }
 
-void NbusBridge::broadcastStop(){
-	_pdu.fc = FC_STOP;
-	_pdu.ma = BROADCAST_ADDRESS;
-	_communicator->send(&_pdu, NULL, 0);
-	_run_state = STATE_TO_STOP;
+DataFrame* NbusBridge::_cmdGetData()
+{
+	_default_frame.Init();
+	_default_frame.AddUint8(NBUS_BROADCAST_ADDRESS);
+	_default_frame.AddUint8(NBUS_BRIDGE_ADDRESS);
+	_default_frame.AddUint8((Nbus_FC_e)FC_DATA);
+	_addDataPayload(&_default_frame);
+	_default_frame.Commit();
+
+	return &_default_frame;
 }
 
-void NbusBridge::process_broadcast(uint8_t *rxFrame){
-	switch(FUNCTION_CODE(rxFrame)) {
-
-	case FC_STOP:			/* 2 */
-		this->broadcastStop();
-		break;
-
-	case FC_START:			/* 3 */
-		this->broadcastStart();
-		break;
-
-	default:
-		;//nothing
-	}
-
+DataFrame * NbusBridge::_cmdGetInfo()
+{
+	_default_frame.Init();
+	_default_frame.AddUint8(NBUS_BROADCAST_ADDRESS);
+	_default_frame.AddUint8(NBUS_BRIDGE_ADDRESS);
+	_default_frame.AddUint8(FC_INFO);
+	_default_frame.AddArray((uint8_t*)NBUS_BRIDGE_INFO_VERSION, 3);
+	_default_frame.AddArray((uint8_t*)NBUS_BRIDGE_INFO_HW_FAMILY, 3);
+	_default_frame.AddArray((uint8_t*)NBUS_BRIDGE_INFO_HW_VERSION, 3);
+	_default_frame.Commit();
+
+	return &_default_frame;
 }
 
+DataFrame * NbusBridge::_cmdGetFormat()
+{
+	NbusSlave * slave_ptr = nullptr;
 
-void NbusBridge::processRequest(uint8_t *rxFrame, uint8_t size){
-	if (MODULE_ADDRESS(rxFrame) == 0){
-		process_broadcast(rxFrame);
-		return;
-	}
+	_default_frame.Init();
+	_default_frame.AddUint8(NBUS_BROADCAST_ADDRESS);
+	_default_frame.AddUint8(NBUS_BRIDGE_ADDRESS);
+	_default_frame.AddUint8(FC_SENSOR_FORMAT);
 
-	uint8_t send_reponse = 1;
-	NbusSlave *selected_slave = getSlave(MODULE_ADDRESS(rxFrame));
-	if (selected_slave == NULL){
-		return;
+	for (uint32_t i = 0; i < _num_slaves; i++)
+	{
+		slave_ptr = _getSlave(_slave_adress[i]);
+		if (slave_ptr != nullptr)
+		{
+			_default_frame.AddInt8(slave_ptr->getModuleAddress());
+			_worker_frame_ptr = slave_ptr->cmdGetFormat();
+			_default_frame.AddArray(&NBUS_RX_DATA0(_worker_frame_ptr->GetFrame() + 1), _worker_frame_ptr->GetLength() - (NBUS_RX_META_SIZE + 1)); // add without length byte
+		}
 	}
 
-	if (!selected_slave->isActive()){
-		return;
-	}
+	_default_frame.Commit();
 
-	uint8_t crcC = crc8x_fast(rxFrame, size - 1);
+	return &_default_frame;
+}
 
-	if (crcC != rxFrame[size-1]){
-		return;
-	}
+DataFrame* NbusBridge::_cmdGetSlaves()
+{
+	NbusSlave * slave_ptr = nullptr;
+
+	_default_frame.Init();
+	_default_frame.AddUint8(NBUS_BROADCAST_ADDRESS);
+	_default_frame.AddUint8(NBUS_BRIDGE_ADDRESS);
+	_default_frame.AddUint8(FC_SLAVES);
 
-	switch(FUNCTION_CODE(rxFrame)) {
+	Nbus_SensorCnt_t sensor_cnt{0, 0};
 
-	case FC_FIND:			/* 0 */
-		// Not implemented yet
-	break;
+	for (uint8_t i = 0; i < _num_slaves; i++)
+    {
+		slave_ptr = _getSlave(_slave_adress[i]);
 
-	case FC_ECHO:			/* 1 */
-		_frame_nbus_internal = selected_slave->nbus_echo(&rxFrame[3], size - 4);
-		break;
+		if (slave_ptr != nullptr)
+		{
+			sensor_cnt = slave_ptr->cmdGetSensorCnt(false);
 
-	case FC_PARAM:			/* 4 */
-		if(size == RX_META){
-			_frame_nbus_internal = selected_slave->nbus_sensor_parameters(SENSOR_ADDRESS(rxFrame));
-		} else{
-			_frame_nbus_internal = selected_slave->nbus_sensor_parameter(SENSOR_ADDRESS(rxFrame), rxFrame[RX_META-1]);
+			_default_frame.AddUint8(slave_ptr->getModuleAddress());
+			_default_frame.AddUint8(sensor_cnt.read_only_count);
+			_default_frame.AddUint8(sensor_cnt.read_write_count);
 		}
-		break;
+    }
 
-	case FC_SENSOR_CNT:		/* 5 */
-		_frame_nbus_internal = selected_slave->nbus_sensor_count();
-		break;
+	_default_frame.Commit();
 
-	case FC_SLEEP:			/* 6 */
-		break;
+	return &_default_frame;
+}
 
-	case FC_WAKEUP:			/* 7 */
-		break;
+void NbusBridge::_cmdSetStop()
+{
+	_pdu.sa = NBUS_BROADCAST_ADDRESS;
+    _communicator->sendToSlave(_makePacket(_pdu, nullptr, 0));
+    _run_state = STATE_TO_STOP;
+}
 
-	case FC_CALIBRATE:		/* 8 */
-		break;
+void NbusBridge::_cmdSetStart()
+{
+	_pdu.sa = NBUS_BROADCAST_ADDRESS;
+    _communicator->sendToSlave(_makePacket(_pdu, nullptr, 0));
+    _run_state = STATE_RUNNING;
+}
 
-	case FC_RESET:			/* 9 */
-		break;
+DataFrame* NbusBridge::_rspSetError(Nbus_EC_e error_code)
+{
+	_default_frame.Init();
+	_default_frame.AddUint8(_pdu.ma);
+	_default_frame.AddUint8(_pdu.sa);
+	_default_frame.AddUint8(NBUS_SET_ERR_RESPONSE(_pdu.fc));
+	_default_frame.AddUint8(error_code);
+	_default_frame.Commit();
+
+	return &_default_frame;
+}
 
-	case FC_STORE:			/* 0xA => 10 */
-		break;
+DataFrame* NbusBridge::_rspSetStatus(Nbus_SC_e status_code)
+{
+	_default_frame.Init();
+	_default_frame.AddUint8(_pdu.ma);
+	_default_frame.AddUint8(_pdu.sa);
+	_default_frame.AddUint8(_pdu.fc);
+	_default_frame.AddUint8(status_code);
+	_default_frame.Commit();
+
+	return &_default_frame;
+}
 
-	case FC_DATA:			/* 0xB => 11 */
-		// NO NEED TO IMPLEMENT on NBUS BRIDGE
-		break;
+DataFrame* NbusBridge::_makePacket(Nbus_PDU_t pdu, uint8_t *data, uint8_t size)
+{
+	_default_frame.Init();
+	_default_frame.AddUint8(pdu.ma);
+	_default_frame.AddUint8(pdu.sa);
+	_default_frame.AddUint8((Nbus_FC_e)pdu.fc);
+	_default_frame.AddArray(data, size);
+	_default_frame.Commit();
+
+	return &_default_frame;
+}
 
-	case FC_SYNC:			/* 0xC => 12 */
-		break;
+DataFrame* NbusBridge::_makeBridgeDataPacket()
+{
 
-	case FC_SENSOR_TYPE:	/* 0xD => 13 */
-		_frame_nbus_internal = selected_slave->nbus_sensor_type(SENSOR_ADDRESS(rxFrame));
-		break;
+	_bridge_cast_frame.Init();
+	_bridge_cast_frame.AddArray(_bridge_cast_header, NBUS_BRIDGE_HEADER_SIZE);		// add header
+	_addDataPayload(&_bridge_cast_frame);
+	_bridge_cast_frame.AddUint8(_crc8x_fast(_bridge_cast_frame.GetFrame() + NBUS_BRIDGE_HEADER_SIZE, _bridge_cast_frame.GetLength() - NBUS_BRIDGE_HEADER_SIZE)); // add crc8
 
-	case FC_INFO:			/* 0xE => 14 */
-		_frame_nbus_internal = selected_slave->nbus_module_info();
-		break;
+	return &_bridge_cast_frame;
+}
 
-	case FC_SENSOR_FORMAT: 	/* 0xF => 15 */
-		_frame_nbus_internal = selected_slave->nbus_sensor_format(SENSOR_ADDRESS(rxFrame));
-		break;
-	default:
-		send_reponse = 0;
-	}
 
-	if (send_reponse == 1){
-		sendResponseToMaster(_frame_nbus_internal);
-	}
+DataFrame* NbusBridge::_forwardPacket(uint8_t *data, uint8_t size)
+{
+	_raw_data_frame.Init();
+	_raw_data_frame.AddUint8(size);
+	_raw_data_frame.AddArray(data, size);
 
+	return &_raw_data_frame;
 }
 
-void NbusBridge::processRunningState(){
+void NbusBridge::_addDataPayload(DataFrame * data_frame)
+{
+	NbusSlave *slave_ptr = nullptr;
 
-	if (_run_state == STATE_STOPPED){
-		return;
-	}
+	data_frame->AddUint32(HAL_GetTick());
 
-	if (_run_state == STATE_TO_STOP){
-		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);
-		_run_state = STATE_STOPPED;
-		return;
-	}
+	for (uint32_t i = 0; i < _num_slaves; i++)
+	{
+		slave_ptr = _getSlave(_slave_adress[i]);
 
-	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
-	NbusSlave *slave = NULL;
-	uint8_t *slaveFrameResponse;
-	_dataFrame->Init();
-	_dataFrame->AddHeader(TYPE_HEADER_2B);
-	_dataFrame->AddInt32(HAL_GetTick());
-
-
-	for(uint32_t i=0; i< _num_slaves; i++){
-		slave = getSlave(_slave_adress[i]);
-		if(slave != NULL && slave->isActive()){
-			for(uint32_t k = 1 ; k <= slave->nbus_get_sensor_count(false) ; k++){
-				_dataFrame->AddInt8(slave->getModuleAddress());
-				_workerFrame = slave->nbus_sensor_getData(k);
-				slaveFrameResponse = _workerFrame->GetFrame();
-				_dataFrame->AddInt8(slave->getSensorAddress());
-				_dataFrame->AddArray(&slaveFrameResponse[3], _workerFrame->GetLength()-3);
+		if (slave_ptr != nullptr)
+		{
+			data_frame->AddUint8(slave_ptr->getModuleAddress());
+			_worker_frame_ptr = slave_ptr->cmdGetData();
+
+			// check error state
+			if (_worker_frame_ptr->GetLength() < (NBUS_RX_META_SIZE + 1) || NBUS_CHECK_ERR_RESPONSE(_worker_frame_ptr->GetFrame() + 1))
+			{
+				continue;
 			}
-		}
-	}
 
-	_dataFrame->AddInt8(0xFF);
-	_dataFrame->AddInt8(0xFF);
-	_dataFrame->Commit();
-	// TODO problem: v stavi RUNNING pride STOP prikaz, ale ten sa nespracuje, pretoze bezi obsluha tejto funkcie.
-	if(_run_state == STATE_RUNNING){
-		sendResponseToMaster(_dataFrame);
+			data_frame->AddArray(&NBUS_RX_DATA0(_worker_frame_ptr->GetFrame() + 1), _worker_frame_ptr->GetLength() - (NBUS_RX_META_SIZE + 1)); // add without length byte
+		}
 	}
-
-	HAL_Delay(50);	// TREBA VYSKUSAT
 }

+ 46 - 85
Core/Src/NbusCommunicator.cpp

@@ -1,106 +1,67 @@
-/*
+/**
  * @file NbusCommunicator.cpp
- * @brief Implemetnácia komunikačnej vrstvy: 1) internej 2) externej
- * @date Mar 7, 2025
- * @author Juraj Dudak
+ * @brief Implementation of hardware communication interface.
+ * @date Nov 27, 2025
+ * @author Juraj Dudak, Matus Necas
  */
 
 #include "NbusCommunicator.h"
 
-NbusCommunicator::NbusCommunicator(UART_HandleTypeDef* uartUbus, UART_HandleTypeDef *uartMaster) {
-	_packet_tx = new DataFrame(_data_packet_tx, sizeof(_data_packet_tx), TYPE_PLAIN, CRC_ON);
-	if(_packet_tx == NULL)
-	{
-		while(1){
-			__NOP();
-		}
-	}
+NbusCommunicator::NbusCommunicator(UART_HandleTypeDef *uartNbus, UART_HandleTypeDef *uartMaster)
+: _uart_nbus{uartNbus}, _uart_master{uartMaster}
+{
 
-	_packet_rx = new DataFrame(_data_packet_rx, sizeof(_data_packet_rx), TYPE_PLAIN, CRC_OFF);
-	if(_packet_rx == NULL)
-	{
-		while(1){
-			__NOP();
-		}
-	}
+}
 
-	if(uartUbus == NULL)
-	{
-		while(1){
-			__NOP();
-		}
-	}
-	_uart_nbus = uartUbus;
+void NbusCommunicator::sendToMaster(DataFrame *master_frame)
+{
+	if (master_frame == nullptr || master_frame->IsEmpty())
+		return;
 
-	if(uartMaster == NULL)
-	{
-		while(1){
-			__NOP();
-		}
-	}
-	_uart_master = uartMaster;
+	while (_uart_master->gState != HAL_UART_STATE_READY)
+    {
+        __NOP(); // cakanie na ukoncenie prebiehajuceho odosielania
+                 // tu to moze byt vcelku tesno odoslany dalsi paket. je tam pauza o dlzke 1.2bit
+    }
 
+    HAL_UART_Transmit_DMA(_uart_master, master_frame->GetFrame(), master_frame->GetLength());
 }
 
-NbusCommunicator::~NbusCommunicator() {
-	// empty
+void NbusCommunicator::sendToSlave(DataFrame *slaveFrame)
+{
+    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
+    HAL_UART_Transmit(_uart_nbus, slaveFrame->GetFrame(), slaveFrame->GetLength(), NBUS_COMM_UART_TX_TIMEOUT);
+    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);
 }
 
-
-void NbusCommunicator::_receive(){
-	uint16_t received_size;
-	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
-
-	memset(_data_packet_comm, 0, NBUS_MAX_FRAME_SIZE);
-	// komunikacia v DMA musi byt spracovana aj tak ako blokujuca
-	// takto je tu menej rezie. Timeout je 2ms
-	HAL_StatusTypeDef status = HAL_UARTEx_ReceiveToIdle(_uart_nbus, _data_packet_comm, NBUS_MAX_FRAME_SIZE, &received_size, 2);
-
-	_packet_rx->Init();
-
-	if (status == HAL_OK){
-		if(received_size > 0){
-			_packet_rx->FromArray(_data_packet_comm, received_size);
-		}
-	}
-
-	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);
-
-	_packet_rx->Commit();
-
+DataFrame* NbusCommunicator::sendAndReceiveSlave(DataFrame *slave_frame)
+{
+    this->sendToSlave(slave_frame);
+    this->_receiveFromSlave();
+    return &_packet_rx;
 }
 
+void NbusCommunicator::_receiveFromSlave()
+{
+    uint16_t received_size;
+    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
 
-DataFrame* NbusCommunicator::sendAndReceive(Nbus_pdu *pdu, uint8_t *data, uint8_t data_len){
-	this->send(pdu, data, data_len);
-	this->_receive();
-	return _packet_rx;
+    memset(_data_packet_comm, 0, NBUS_COMM_MAX_FRAME_SIZE);
+    // DMA communication must be in blocking mode for less overhead
+    HAL_StatusTypeDef status = HAL_UARTEx_ReceiveToIdle(_uart_nbus, _data_packet_comm, NBUS_COMM_MAX_FRAME_SIZE,
+                                                        &received_size, NBUS_COMM_UART_RX_TIMEOUT);
 
-}
+    _packet_rx.Init();
 
-void NbusCommunicator::send(Nbus_pdu *pdu, uint8_t *data, uint8_t data_len){
-	_packet_tx->Init();
-	_packet_tx->AddInt8(pdu->ma);	// Module address
-	_packet_tx->AddInt8(pdu->sa);	// Slave address
-	_packet_tx->AddInt8(pdu->fc);	// Function Code
-	for(int i = 0 ; i< data_len ; i++){
-		_packet_tx->AddInt8(data[i]);
-	}
-	int length = _packet_tx->Commit();
+    if (status == HAL_OK)
+    {
+        if (received_size > 0)
+        {
+            _packet_rx.FromArray(_data_packet_comm, received_size);
+        }
+    }
 
-	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
-	HAL_UART_Transmit(_uart_nbus, _packet_tx->GetFrame(), length, 10);
-	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);
 
+    _packet_rx.Commit();
 }
-
-void NbusCommunicator::sendToMaster(DataFrame *master_frame){
-
-	while (_uart_master->gState != HAL_UART_STATE_READY) {
-		__NOP(); // cakanie na ukoncenie prebiehajuceho odosielania
-				// tu to moze byt vcelku tesno odoslany dalsi paket. je tam pauza o dlzke 1.2bit
-	}
-	HAL_UART_Transmit_DMA(_uart_master, master_frame->GetFrame(), master_frame->GetLength());
-}
-
-

+ 41 - 86
Core/Src/NbusSlave.cpp

@@ -1,112 +1,67 @@
 /*
  * @file AppBridge.cpp
- * @brief Implemetnácia modulu nBus Slave z pohľadu nBus Bridge
- * @date Mar 2, 2025
- * @author Juraj Dudak
+ * @brief Implementation of nBus Slave.
+ * @date Nov 27, 2025
+ * @author Juraj Dudak, Matus Necas
  */
 
-
 #include <NbusSlave.h>
 
-NbusSlave::NbusSlave() {
-	_communicator = NULL;
-	_pdu.ma = 0;
-	_pdu.sa = 0;
-}
-
-NbusSlave::NbusSlave(uint8_t address, NbusCommunicator *comm) {
-	_communicator = comm;
-	_pdu.ma = address;
-}
-
-NbusSlave::~NbusSlave() {
-	// empty
+void NbusSlave::setCommunicator(NbusCommunicator *nbus_comm)
+{
+    _communicator = nbus_comm;
 }
 
-void NbusSlave::setCommunicator(NbusCommunicator* comm){
-	_communicator = comm;
+void NbusSlave::setModuleAddress(uint8_t addr)
+{
+    _pdu.ma = addr;
 }
 
-void NbusSlave::setAddress(uint8_t address){
-	_pdu.ma = address;
+uint8_t NbusSlave::getModuleAddress()
+{
+    return _pdu.ma;
 }
 
-uint8_t NbusSlave::getModuleAddress(){
-	return _pdu.ma;
+bool NbusSlave::isActive()
+{
+    return _communicator != nullptr && _pdu.ma != 0;
 }
 
-uint8_t NbusSlave::getSensorAddress(){
-	return _pdu.sa;
+DataFrame *NbusSlave::cmdProcessAnyRequest(DataFrame *slave_frame)
+{
+	return _communicator->sendAndReceiveSlave(slave_frame);
 }
 
-bool NbusSlave::isActive(){
-//	return _communicator != NULL;
-	return _communicator != NULL && _pdu.ma != 0;
+DataFrame *NbusSlave::cmdGetData()
+{
+	return _communicator->sendAndReceiveSlave(_makePacket(FC_DATA));
 }
 
-DataFrame* NbusSlave::nbus_echo(uint8_t *echo_data, uint8_t size) {
-	_pdu.sa = SLAVE_ADDRESS_MODULE;
-	_pdu.fc = FC_ECHO;
-	for(uint32_t i=0;i<size;i++){
-		_sensor_cache[i] = echo_data[i];
-	}
-
-	_sensor_count = 0;
-	return _communicator->sendAndReceive(&_pdu, _sensor_cache, 4);
-}
-
-uint8_t NbusSlave::nbus_get_sensor_count(bool check_hw) {
-	if (_sensor_count == 0 || check_hw == true) {
-		nbus_sensor_count();
-	}
-	return _sensor_count;
+DataFrame *NbusSlave::cmdGetFormat()
+{
+	return _communicator->sendAndReceiveSlave(_makePacket(FC_SENSOR_FORMAT));
 }
 
-DataFrame* NbusSlave::nbus_sensor_count() {
-	_pdu.sa = SLAVE_ADDRESS_MODULE;
-	_pdu.fc = FC_SENSOR_CNT;
-	DataFrame* df = _communicator->sendAndReceive(&_pdu, _sensor_cache, 0);
-	_sensor_count = df->GetFrame()[3];
-	return df;
+Nbus_SensorCnt_t NbusSlave::cmdGetSensorCnt(bool check_hw)
+{
+    if (check_hw == true)
+    {
+		DataFrame *df = _communicator->sendAndReceiveSlave(_makePacket(FC_SENSOR_CNT));
+		_sensor_count.read_only_count = NBUS_RX_DATA0(df->GetFrame()  + 1); 	// without length byte
+		_sensor_count.read_write_count = NBUS_RX_DATA0(df->GetFrame() + 2);
+    }
 
+    return _sensor_count;
 }
 
-DataFrame* NbusSlave::nbus_sensor_type(uint8_t sensor_index) {
-	_pdu.sa = sensor_index;
-	_pdu.fc = FC_SENSOR_TYPE;
-	return _communicator->sendAndReceive(&_pdu, _sensor_cache, 0);
-}
 
+DataFrame* NbusSlave::_makePacket(Nbus_FC_e fc)
+{
+	_cache_frame.Init();
+	_cache_frame.AddUint8(_pdu.ma);
+	_cache_frame.AddUint8(NBUS_BROADCAST_ADDRESS);
+	_cache_frame.AddUint8(fc);
+	_cache_frame.Commit();
 
-DataFrame* NbusSlave::nbus_module_info() {
-	_pdu.sa = SLAVE_ADDRESS_MODULE;
-	_pdu.fc = FC_INFO;
-	return _communicator->sendAndReceive(&_pdu, _sensor_cache, 0);
+	return &_cache_frame;
 }
-
-DataFrame* NbusSlave::nbus_sensor_format(uint8_t sensor_index) {
-	_pdu.sa = sensor_index;
-	_pdu.fc = FC_SENSOR_FORMAT;
-	return _communicator->sendAndReceive(&_pdu, _sensor_cache, 0);
-}
-
-DataFrame* NbusSlave::nbus_sensor_getData(uint8_t sensor_address) {
-	_pdu.sa = sensor_address;
-	_pdu.fc = FC_DATA;
-	return _communicator->sendAndReceive(&_pdu, _sensor_cache, 0);
-}
-
-DataFrame* NbusSlave::nbus_sensor_parameter(uint8_t sensor_address, uint8_t  parameter) {
-	_pdu.sa = sensor_address;
-	_pdu.fc = FC_PARAM;
-	_sensor_cache[0] = parameter;
-	return _communicator->sendAndReceive(&_pdu, _sensor_cache, 1);
-}
-
-DataFrame* NbusSlave::nbus_sensor_parameters(uint8_t sensor_address) {
-	_pdu.sa = sensor_address;
-	_pdu.fc = FC_PARAM;
-	return _communicator->sendAndReceive(&_pdu, _sensor_cache, 0);
-}
-
-

+ 2866 - 0
Doxyfile

@@ -0,0 +1,2866 @@
+# Doxyfile 1.9.8
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a double hash (##) is considered a comment and is placed in
+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# 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 or CMake type
+# replacement variables:
+# doxygen -x_noenv [configFile]
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the configuration
+# file that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
+# The default value is: UTF-8.
+
+DOXYFILE_ENCODING      = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
+# double-quotes, unless you are using Doxywizard) that should identify the
+# project for which the documentation is generated. This name is used in the
+# title of most generated pages and in a few other places.
+# The default value is: My Project.
+
+PROJECT_NAME           = "nBus Bridge"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
+# could be handy for archiving the generated documentation or if some version
+# control system is used.
+
+PROJECT_NUMBER         = v1
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer a
+# quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF          = nBUS
+
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
+# in the documentation. The maximum height of the logo should not exceed 55
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
+# the logo to the output directory.
+
+PROJECT_LOGO           =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
+# into which the generated documentation will be written. If a relative path is
+# entered, it will be relative to the location where doxygen was started. If
+# left blank the current directory will be used.
+
+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
+# 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.
+# 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
+# number 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
+# U+3044.
+# The default value is: NO.
+
+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.
+# The default value is: English.
+
+OUTPUT_LANGUAGE        = English
+
+# 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.
+# The default value is: YES.
+
+BRIEF_MEMBER_DESC      = YES
+
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
+# description of a member or function before the detailed description
+#
+# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+# The default value is: YES.
+
+REPEAT_BRIEF           = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator that is
+# used to form the text in various listings. Each string in this list, if found
+# as the leading text of the brief description, will be stripped from the text
+# and the result, after processing the whole list, is used as the annotated
+# text. Otherwise, the brief description is used as-is. If left blank, the
+# following values are used ($name is automatically replaced with the name of
+# the entity):The $name class, The $name widget, The $name file, is, provides,
+# specifies, contains, represents, a, an and the.
+
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# doxygen will generate a detailed section even if there is only a brief
+# description.
+# The default value is: NO.
+
+ALWAYS_DETAILED_SEC    = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+# The default value is: NO.
+
+INLINE_INHERITED_MEMB  = NO
+
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
+# before files name in the file list and in the header files. If set to NO the
+# shortest path that makes the file name unique will be used
+# The default value is: YES.
+
+FULL_PATH_NAMES        = YES
+
+# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
+# Stripping is only done if one of the specified strings matches the left-hand
+# part of the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the path to
+# strip.
+#
+# Note that you can specify absolute paths here, but also relative paths, which
+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
+
+STRIP_FROM_PATH        =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
+# path mentioned in the documentation of a class, which tells the reader which
+# header file to include in order to use a class. If left blank only the name of
+# the header file containing the class definition is used. Otherwise one should
+# specify the list of include paths that are normally passed to the compiler
+# using the -I flag.
+
+STRIP_FROM_INC_PATH    =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
+# less readable) file names. This can be useful is your file systems doesn't
+# support long names like on DOS, Mac, or CD-ROM.
+# The default value is: NO.
+
+SHORT_NAMES            = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
+# first line (until the first dot) of a Javadoc-style comment as the brief
+# description. If set to NO, the Javadoc-style will behave just like regular Qt-
+# style comments (thus requiring an explicit @brief command for a brief
+# description.)
+# The default value is: NO.
+
+JAVADOC_AUTOBRIEF      = NO
+
+# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line
+# such as
+# /***************
+# as being the beginning of a Javadoc-style comment "banner". If set to NO, the
+# Javadoc-style will behave just like regular comments and it will not be
+# interpreted by doxygen.
+# The default value is: NO.
+
+JAVADOC_BANNER         = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
+# line (until the first dot) of a Qt-style comment as the brief description. If
+# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
+# requiring an explicit \brief command for a brief description.)
+# The default value is: NO.
+
+QT_AUTOBRIEF           = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
+# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
+# a brief description. This used to be the default behavior. The new default is
+# to treat a multi-line C++ comment block as a detailed description. Set this
+# tag to YES if you prefer the old behavior instead.
+#
+# Note that setting this tag to YES also means that rational rose comments are
+# not recognized any more.
+# The default value is: NO.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# By default Python docstrings are displayed as preformatted text and doxygen's
+# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the
+# doxygen's special commands can be used and the contents of the docstring
+# documentation blocks is shown as doxygen documentation.
+# The default value is: YES.
+
+PYTHON_DOCSTRING       = YES
+
+# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
+# documentation from any documented member that it re-implements.
+# The default value is: YES.
+
+INHERIT_DOCS           = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
+# page for each member. If set to NO, the documentation of a member will be part
+# of the file/class/namespace that contains it.
+# The default value is: NO.
+
+SEPARATE_MEMBER_PAGES  = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
+# uses this value to replace tabs by spaces in code fragments.
+# Minimum value: 1, maximum value: 16, default value: 4.
+
+TAB_SIZE               = 4
+
+# This tag can be used to specify a number of aliases that act as commands in
+# the documentation. An alias has the form:
+# name=value
+# For example adding
+# "sideeffect=@par Side Effects:^^"
+# 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 \\})
+
+#ALIASES                =
+ALIASES = mermaid{1}="@htmlonly <div class=\"mermaid\"> ^^ @endhtmlonly @htmlinclude \"\1.mmd\" @htmlonly ^^ </div> @endhtmlonly"
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C. For
+# instance, some of the names that are used will be different. The list of all
+# members will be omitted, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_FOR_C  = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_JAVA   = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+OPTIMIZE_FOR_FORTRAN   = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_VHDL   = NO
+
+# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice
+# sources only. Doxygen will then generate output that is more tailored for that
+# language. For instance, namespaces will be presented as modules, types will be
+# separated into more groups, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_SLICE  = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# 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:
+# 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
+# as Fortran files (default is PHP), and .f files as C (default is Fortran),
+# use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen. When specifying no_extension you should add
+# * to the FILE_PATTERNS.
+#
+# Note see also the list of default file extension mappings.
+
+EXTENSION_MAPPING      =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See https://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT       = YES
+
+# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
+# to that level are automatically included in the table of contents, even if
+# they do not have an id attribute.
+# Note: This feature currently applies only to Markdown headings.
+# Minimum value: 0, maximum value: 99, default value: 5.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+TOC_INCLUDE_HEADINGS   = 5
+
+# The MARKDOWN_ID_STYLE tag can be used to specify the algorithm used to
+# generate identifiers for the Markdown headings. Note: Every identifier is
+# unique.
+# Possible values are: DOXYGEN use a fixed 'autotoc_md' string followed by a
+# sequence number starting at 0 and GITHUB use the lower case version of title
+# with any whitespace replaced by '-' and punctuation characters removed.
+# The default value is: DOXYGEN.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+MARKDOWN_ID_STYLE      = DOXYGEN
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT       = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT    = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT        = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
+
+SIP_SUPPORT            = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
+
+IDL_PROPERTY_SUPPORT   = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
+
+SUBGROUPING            = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS  = NO
+
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT   = NO
+
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE      = 0
+
+# The NUM_PROC_THREADS specifies the number of 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
+# encounter. Generating dot graphs in parallel is controlled by the
+# DOT_NUM_THREADS setting.
+# Minimum value: 0, maximum value: 32, default value: 1.
+
+NUM_PROC_THREADS       = 1
+
+# If the TIMESTAMP tag is set different from NO then each generated page will
+# contain the date or date and time when the page was generated. Setting this to
+# NO can help when comparing the output of multiple runs.
+# Possible values are: YES, NO, DATETIME and DATE.
+# The default value is: NO.
+
+TIMESTAMP              = NO
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL            = NO
+
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual
+# methods of a class will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIV_VIRTUAL   = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC         = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES   = NO
+
+# If this flag is set to YES, the name of an unnamed parameter in a declaration
+# will be determined by the corresponding definition. By default unnamed
+# parameters remain unnamed in the output.
+# The default value is: YES.
+
+RESOLVE_UNNAMED_PARAMS = YES
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# will also hide undocumented C++ concepts if enabled. This option has no effect
+# if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# declarations. If set to NO, these declarations will be included in the
+# documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS  = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS          = NO
+
+# With the correct setting of option CASE_SENSE_NAMES doxygen will better be
+# able to match the capabilities of the underlying filesystem. In case the
+# 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
+# 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
+# Windows (including Cygwin) and MacOS, users should typically set this option
+# to NO, whereas on Linux or other Unix flavors it should typically be set to
+# YES.
+# Possible values are: SYSTEM, NO and YES.
+# The default value is: SYSTEM.
+
+CASE_SENSE_NAMES       = SYSTEM
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: 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.
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC  = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING  = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST      = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST       = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS       =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES  = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
+# list will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES        = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# 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.
+#
+# 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
+# tag is left empty.
+
+LAYOUT_FILE            =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
+
+CITE_BIB_FILES         =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS               = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: 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.
+# 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
+# The default value is: NO.
+
+WARN_NO_PARAMDOC       = NO
+
+# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about
+# undocumented enumeration values. If set to NO, doxygen will accept
+# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: NO.
+
+WARN_IF_UNDOC_ENUM_VAL = NO
+
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
+# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
+# at the end of the doxygen process doxygen will return with a non-zero status.
+# If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS_PRINT then doxygen behaves
+# like FAIL_ON_WARNINGS but in case no WARN_LOGFILE is defined doxygen will not
+# write the warning messages in between other messages but write them at the end
+# of a run, in case a WARN_LOGFILE is defined the warning messages will be
+# besides being in the defined file also be shown at the end of a run, unless
+# the WARN_LOGFILE is defined as - i.e. standard output (stdout) in that case
+# the behavior will remain as with the setting FAIL_ON_WARNINGS.
+# Possible values are: NO, YES, FAIL_ON_WARNINGS and FAIL_ON_WARNINGS_PRINT.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
+# 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
+# will be replaced by the file and line number from which the warning originated
+# 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).
+
+WARN_LOGFILE           =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
+
+INPUT                  = Core/Src \
+                         Core/Inc \
+                         README.md
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see:
+# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
+# See also: INPUT_FILE_ENCODING
+# The default value is: UTF-8.
+
+INPUT_ENCODING         = UTF-8
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify
+# character encoding on a per file pattern basis. Doxygen will compare the file
+# name with each pattern and apply the encoding instead of the default
+# INPUT_ENCODING) if there is a match. The character encodings are a list of the
+# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding
+# "INPUT_ENCODING" for further information on supported encodings.
+
+INPUT_FILE_ENCODING    =
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# Note the list of default checked file patterns might differ from the list of
+# default file extension mappings.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cxxm,
+# *.cpp, *.cppm, *.c++, *.c++m, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl,
+# *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, *.h++, *.ixx, *.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.
+
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cxxm \
+                         *.cpp \
+                         *.cppm \
+                         *.c++ \
+                         *.c++m \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.ixx \
+                         *.l \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.pyw \
+                         *.f90 \
+                         *.f95 \
+                         *.f03 \
+                         *.f08 \
+                         *.f18 \
+                         *.f \
+                         *.for \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.ice
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE              = NO
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE                =
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (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
+
+EXCLUDE_SYMBOLS        =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH           = graphs
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS       = *
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH             =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that doxygen will use the data processed and written to standard output
+# for further processing, therefore nothing else, like debug statements or used
+# commands (so in case of a Windows batch file always use @echo OFF), should be
+# written to standard output.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+FILTER_PATTERNS        =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES    = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE = README.md
+
+# The Fortran standard specifies that for fixed formatted Fortran code all
+# characters from position 72 are to be considered as comment. A common
+# extension is to allow longer lines before the automatic comment starts. The
+# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can
+# be processed before the automatic comment starts.
+# Minimum value: 7, maximum value: 10000, default value: 72.
+
+FORTRAN_COMMENT_AFTER  = 72
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER         = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# entity all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS        = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see https://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS       = YES
+
+# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
+# clang parser (see:
+# http://clang.llvm.org/) for more accurate parsing at the cost of reduced
+# performance. This can be particularly helpful with template rich C++ code for
+# which doxygen's built-in parser lacks the necessary type information.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse_libclang=ON option for CMake.
+# The default value is: 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.
+# The default value is: YES.
+# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
+
+CLANG_ADD_INC_PATHS    = YES
+
+# If clang assisted parsing is enabled you can provide the compiler with command
+# line options that you would normally use when invoking the compiler. Note that
+# the include paths will already be set by doxygen for the files and directories
+# specified with INPUT and INCLUDE_PATH.
+# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
+
+CLANG_OPTIONS          =
+
+# If clang assisted parsing is enabled you can provide the clang parser with the
+# path to the directory containing a file called compile_commands.json. This
+# file is the compilation database (see:
+# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the
+# options used when the source files were built. This is equivalent to
+# specifying the -p option to a clang tool, such as clang-check. These options
+# will then be passed to the parser. Any options specified with CLANG_OPTIONS
+# will be added as well.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse_libclang=ON option for CMake.
+
+CLANG_DATABASE_PATH    =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX     = YES
+
+# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes)
+# that should be ignored while generating the index headers. The IGNORE_PREFIX
+# tag works for classes, function and member names. The entity will be placed in
+# the alphabetical list under the first letter of the entity name that remains
+# after removing the prefix.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX          =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT            = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER            = graphs/header.html
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_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.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER            = graphs/footer.html
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET        = graphs/custom_stylesheet.css
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# Note: Since the styling of scrollbars can currently not be overruled in
+# Webkit/Chromium, the styling will be left out of the default doxygen.css if
+# one or more extra stylesheets have been specified. So if scrollbar
+# customization is desired it has to be added explicitly. For an example see the
+# documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET  =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES       =
+
+# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output
+# should be rendered with a dark or light theme.
+# Possible values are: LIGHT always generate light mode output, DARK always
+# generate dark mode output, AUTO_LIGHT automatically set the mode according to
+# the user preference, use light mode if no preference is set (the default),
+# AUTO_DARK automatically set the mode according to the user preference, use
+# dark mode if no preference is set and TOGGLE allow to user to switch between
+# light and dark mode via a button.
+# The default value is: AUTO_LIGHT.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE        = AUTO_LIGHT
+
+# 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
+# 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.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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
+# 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.
+
+HTML_COLORSTYLE_SAT    = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA  = 80
+
+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via JavaScript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have JavaScript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_MENUS     = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS  = NO
+
+# If the HTML_CODE_FOLDING tag is set to YES then classes and functions can be
+# dynamically folded and expanded in the generated HTML source code.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_CODE_FOLDING      = YES
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see:
+# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To
+# create a documentation set, doxygen will generate a Makefile in the HTML
+# output directory. Running make will produce the docset in that directory and
+# running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
+# genXcode/_index.html for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET        = NO
+
+# This tag determines the name 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.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+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.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+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).
+#
+# 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
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP      = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE               =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION           =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the main .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI           = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING     =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND             = NO
+
+# The SITEMAP_URL tag is used to specify the full URL of the place where the
+# generated documentation will be placed on the server by the user during the
+# deployment of the documentation. The generated sitemap is called sitemap.xml
+# and placed on the directory specified by HTML_OUTPUT. In case no SITEMAP_URL
+# is specified no sitemap is generated. For information about the sitemap
+# protocol see https://www.sitemaps.org
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SITEMAP_URL            =
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE               =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME   =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS  =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS  =
+
+# The QHG_LOCATION tag can be used to specify the location (absolute path
+# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to
+# run qhelpgenerator on the generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION           =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX          = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# 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.
+# 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.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH         = 250
+
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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
+# the HTML output. These images will generally look nicer at scaled resolutions.
+# Possible values are: png (the default) and svg (looks nicer but requires the
+# pdf2svg or inkscape tool).
+# The default value is: png.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FORMULA_FORMAT    = png
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE       = 10
+
+# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
+# to create new LaTeX commands to be used in formulas as building blocks. See
+# the section "Including formulas" for details.
+
+FORMULA_MACROFILE      =
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# https://www.mathjax.org) which uses client side JavaScript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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).
+# 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.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT         = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# 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
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH        =
+
+# 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     =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE       =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE           = NO
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using JavaScript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH    = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH        = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/). See the section "External Indexing and Searching" for
+# details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL       =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE        = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID     =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX         = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when not enabling USE_PDFLATEX the default is latex when enabling
+# USE_PDFLATEX the default is pdflatex and when in the later case latex is
+# chosen this is overwritten by pdflatex. For specific output languages the
+# default can have been set differently, this depends on the implementation of
+# the output language.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME         =
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# Note: This tag is used in the Makefile / make.bat.
+# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file
+# (.tex).
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to
+# generate index for LaTeX. In case there is no backslash (\) as first character
+# it will be automatically added in the LaTeX code.
+# Note: This tag is used in the generated output file (.tex).
+# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat.
+# The default value is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_MAKEINDEX_CMD    = makeindex
+
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE             = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+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.
+#
+# 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.
+# 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
+# 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!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER           =
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES      =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as
+# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX
+# files. Set this option to YES, to get a higher quality PDF documentation.
+#
+# See also section LATEX_CMD_NAME for selecting the engine.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX           = YES
+
+# The LATEX_BATCHMODE tag signals the behavior of LaTeX in case of an error.
+# Possible values are: NO same as ERROR_STOP, YES same as BATCH, BATCH In batch
+# mode nothing is printed on the terminal, errors are scrolled as if <return> is
+# hit at every error; missing files that TeX tries to input or request from
+# keyboard input (\read on a not open input stream) cause the job to abort,
+# NON_STOP In nonstop mode the diagnostic message will appear on the terminal,
+# but there is no possibility of user interaction just like in batch mode,
+# SCROLL In scroll mode, TeX will stop only for missing files to input or if
+# keyboard input is necessary and ERROR_STOP In errorstop mode, TeX will stop at
+# each error, asking for user intervention.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE        = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES     = 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.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE        = plain
+
+# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
+# path from which the emoji images will be read. If a relative path is entered,
+# it will be relative to the LATEX_OUTPUT directory. If left blank the
+# LATEX_OUTPUT directory will be used.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EMOJI_DIRECTORY  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# configuration file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE    =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's configuration file. A template extensions file can be
+# generated using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE    =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION          = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR             =
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS              = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML           = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT             = xml
+
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING     = YES
+
+# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include
+# namespace members in file scope as well, matching the HTML output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_NS_MEMB_FILE_SCOPE = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK       = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT         = docbook
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
+# AutoGen Definitions (see https://autogen.sourceforge.net/) file that captures
+# the structure of the code including all documentation. Note that this feature
+# is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF   = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to Sqlite3 output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_SQLITE3 tag is set to YES doxygen will generate a Sqlite3
+# database with symbols found by doxygen stored in tables.
+# The default value is: NO.
+
+GENERATE_SQLITE3       = NO
+
+# The SQLITE3_OUTPUT tag is used to specify where the Sqlite3 database will be
+# put. If a relative path is entered the value of OUTPUT_DIRECTORY will be put
+# in front of it.
+# The default directory is: sqlite3.
+# This tag requires that the tag GENERATE_SQLITE3 is set to YES.
+
+SQLITE3_OUTPUT         = sqlite3
+
+# The SQLITE3_OVERWRITE_DB tag is set to YES, the existing doxygen_sqlite3.db
+# database file will be recreated with each doxygen run. If set to NO, doxygen
+# will warn if an a database file is already found and not modify it.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_SQLITE3 is set to YES.
+
+SQLITE3_RECREATE_DB    = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD       = NO
+
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX          = NO
+
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO, the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY         = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING   = YES
+
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
+# in the source code. If set to NO, only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION        = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_ONLY_PREDEF     = NO
+
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+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.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
+
+INCLUDE_PATH           =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+INCLUDE_FILE_PATTERNS  =
+
+# The PREDEFINED tag can be used to specify one or more macro names that are
+# defined before the preprocessor is started (similar to the -D option of e.g.
+# gcc). The argument of the tag is a list of macros of the form: name or
+# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
+# is assumed. To prevent a macro definition from being undefined via #undef or
+# recursively expanded use the := operator instead of the = operator.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+PREDEFINED             =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
+# tag can be used to specify a list of macro names that should be expanded. The
+# macro definition that is found in the sources will be used. Use the PREDEFINED
+# tag if you want to use a different macro definition that overrules the
+# definition found in the source code.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_AS_DEFINED      =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
+# remove all references to function-like macros that are alone on a line, have
+# an all uppercase name, and do not end with a semicolon. Such function macros
+# are typically used for boiler-plate code, and will confuse the parser if not
+# removed.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SKIP_FUNCTION_MACROS   = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tag files. For each tag
+# file the location of the external documentation should be added. The format of
+# a tag file without this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where loc1 and loc2 can be relative or absolute paths or URLs. See the
+# section "Linking to external documentation" for more information about the use
+# of tag files.
+# Note: Each tag file must have a unique name (where the name does NOT include
+# the path). If a tag file is not located in the directory in which doxygen is
+# run, you must also specify the path to the tagfile here.
+
+TAGFILES               =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
+# tag file that is based on the input files it reads. See section "Linking to
+# external documentation" for more information about the usage of tag files.
+
+GENERATE_TAGFILE       =
+
+# If the ALLEXTERNALS tag is set to YES, all external classes and namespaces
+# will be listed in the class and namespace index. If set to NO, only the
+# inherited external classes will be listed.
+# The default value is: NO.
+
+ALLEXTERNALS           = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
+# in the topic index. If set to NO, only the current project's groups will be
+# listed.
+# The default value is: YES.
+
+EXTERNAL_GROUPS        = YES
+
+# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
+# the related pages index. If set to NO, only the current project's pages will
+# be listed.
+# The default value is: YES.
+
+EXTERNAL_PAGES         = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to diagram generator tools
+#---------------------------------------------------------------------------
+
+# If set to YES the inheritance and collaboration graphs will hide inheritance
+# and usage relations if the target is undocumented or is not a class.
+# The default value is: YES.
+
+HIDE_UNDOC_RELATIONS   = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz (see:
+# https://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# Bell Labs. The other options in this section have no effect if this option is
+# set to NO
+# The default value is: YES.
+
+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
+# processors available in the system. You can set it explicitly to a value
+# larger than 0 to get control over the balance between CPU load and processing
+# speed.
+# Minimum value: 0, maximum value: 32, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NUM_THREADS        = 0
+
+# DOT_COMMON_ATTR is common attributes for nodes, edges and labels of
+# subgraphs. When you want a differently looking font in the dot files that
+# doxygen generates you can specify fontname, fontcolor and fontsize attributes.
+# For details please see <a href=https://graphviz.org/doc/info/attrs.html>Node,
+# Edge and Graph Attributes specification</a> You need to make sure dot is able
+# to find the font, which can be done by putting it in a standard location or by
+# setting the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
+# directory containing the font. Default graphviz fontsize is 14.
+# The default value is: fontname=Helvetica,fontsize=10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_COMMON_ATTR        = "fontname=Helvetica,fontsize=10"
+
+# DOT_EDGE_ATTR is concatenated with DOT_COMMON_ATTR. For elegant style you can
+# add 'arrowhead=open, arrowtail=open, arrowsize=0.5'. <a
+# href=https://graphviz.org/doc/info/arrows.html>Complete documentation about
+# arrows shapes.</a>
+# The default value is: labelfontname=Helvetica,labelfontsize=10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_EDGE_ATTR          = "labelfontname=Helvetica,labelfontsize=10"
+
+# DOT_NODE_ATTR is concatenated with DOT_COMMON_ATTR. For view without boxes
+# around nodes set 'shape=plain' or 'shape=plaintext' <a
+# href=https://www.graphviz.org/doc/info/shapes.html>Shapes specification</a>
+# The default value is: shape=box,height=0.2,width=0.4.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NODE_ATTR          = "shape=box,height=0.2,width=0.4"
+
+# You can set the path where dot can find font specified with fontname in
+# DOT_COMMON_ATTR and others dot attributes.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTPATH           =
+
+# If the CLASS_GRAPH tag is set to YES or GRAPH or BUILTIN then doxygen will
+# generate a graph for each documented class showing the direct and indirect
+# inheritance relations. In case the CLASS_GRAPH tag is set to YES or GRAPH and
+# HAVE_DOT is enabled as well, then dot will be used to draw the graph. In case
+# the CLASS_GRAPH tag is set to YES and HAVE_DOT is disabled or if the
+# CLASS_GRAPH tag is set to BUILTIN, then 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, GRAPH and BUILTIN.
+# The default value is: YES.
+
+CLASS_GRAPH            = YES
+
+# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
+# graph for each documented class showing the direct and indirect implementation
+# dependencies (inheritance, containment, and class references variables) of the
+# class with other documented classes. Explicit enabling a collaboration graph,
+# when COLLABORATION_GRAPH is set to NO, can be accomplished by means of the
+# command \collaborationgraph. Disabling a collaboration graph can be
+# accomplished by means of the command \hidecollaborationgraph.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+COLLABORATION_GRAPH    = YES
+
+# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
+# groups, showing the direct groups dependencies. Explicit enabling a group
+# dependency graph, when GROUP_GRAPHS is set to NO, can be accomplished by means
+# of the command \groupgraph. Disabling a directory graph can be accomplished by
+# means of the command \hidegroupgraph. See also the chapter Grouping in the
+# manual.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GROUP_GRAPHS           = YES
+
+# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LOOK               = NO
+
+# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
+# class node. If there are many fields or methods and many nodes the graph may
+# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
+# number of items for each type to make the size more manageable. Set this to 0
+# for no limit. Note that the threshold may be exceeded by 50% before the limit
+# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
+# but if the number exceeds 15, the total amount of fields shown is limited to
+# 10.
+# Minimum value: 0, maximum value: 100, default value: 10.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+UML_LIMIT_NUM_FIELDS   = 10
+
+# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and
+# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS
+# tag is set to YES, doxygen will add type and arguments for attributes and
+# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen
+# will not generate fields with class member information in the UML graphs. The
+# class diagrams will look similar to the default class diagrams but using UML
+# notation for the relationships.
+# Possible values are: NO, YES and NONE.
+# The default value is: NO.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+DOT_UML_DETAILS        = NO
+
+# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters
+# to display on a single line. If the actual line length exceeds this threshold
+# significantly it will wrapped across multiple lines. Some heuristics are apply
+# to avoid ugly line breaks.
+# Minimum value: 0, maximum value: 1000, default value: 17.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_WRAP_THRESHOLD     = 17
+
+# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
+# collaboration graphs will show the relations between templates and their
+# instances.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+TEMPLATE_RELATIONS     = NO
+
+# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
+# YES then doxygen will generate a graph for each documented file showing the
+# direct and indirect include dependencies of the file with other documented
+# files. Explicit enabling an include graph, when INCLUDE_GRAPH is is set to NO,
+# can be accomplished by means of the command \includegraph. Disabling an
+# include graph can be accomplished by means of the command \hideincludegraph.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDE_GRAPH          = YES
+
+# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
+# set to YES then doxygen will generate a graph for each documented file showing
+# the direct and indirect include dependencies of the file with other documented
+# files. Explicit enabling an included by graph, when INCLUDED_BY_GRAPH is set
+# to NO, can be accomplished by means of the command \includedbygraph. Disabling
+# an included by graph can be accomplished by means of the command
+# \hideincludedbygraph.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDED_BY_GRAPH      = YES
+
+# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command. Disabling a call graph can be
+# accomplished by means of the command \hidecallgraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALL_GRAPH             = NO
+
+# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable caller graphs for selected
+# functions only using the \callergraph command. Disabling a caller graph can be
+# accomplished by means of the command \hidecallergraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALLER_GRAPH           = NO
+
+# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
+# hierarchy of all classes instead of a textual one.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GRAPHICAL_HIERARCHY    = YES
+
+# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
+# dependencies a directory has on other directories in a graphical way. The
+# dependency relations are determined by the #include relations between the
+# files in the directories. Explicit enabling a directory graph, when
+# DIRECTORY_GRAPH is set to NO, can be accomplished by means of the command
+# \directorygraph. Disabling a directory graph can be accomplished by means of
+# the command \hidedirectorygraph.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to 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:
+# https://www.graphviz.org/)).
+# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
+# to make the SVG files visible in IE 9+ (other browsers do not have this
+# requirement).
+# Possible values are: png, jpg, jpg:cairo, jpg:cairo:gd, jpg:gd, jpg:gd:gd,
+# gif, gif:cairo, gif:cairo:gd, gif:gd, gif:gd:gd, svg, png:gd, png:gd:gd,
+# png:cairo, png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
+# png:gdiplus:gdiplus.
+# The default value is: png.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_IMAGE_FORMAT       = png
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+#
+# Note that this requires a modern browser other than Internet Explorer. Tested
+# and working are Firefox, Chrome, Safari, and Opera.
+# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make
+# the SVG files visible. Older versions of IE do not have SVG support.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INTERACTIVE_SVG        = NO
+
+# The DOT_PATH tag can be used to specify the path where the dot tool can be
+# 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               =
+
+# 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
+# command).
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOTFILE_DIRS           =
+
+# 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.
+# If left empty dia is assumed to be found in the default search path.
+
+DIA_PATH               =
+
+# The DIAFILE_DIRS tag can be used to specify one or more directories that
+# contain dia files that are included in the documentation (see the \diafile
+# command).
+
+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.
+
+PLANTUML_JAR_PATH      =
+
+# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
+# configuration file for plantuml.
+
+PLANTUML_CFG_FILE      =
+
+# When using plantuml, the specified paths are searched for files specified by
+# the !include statement in a plantuml block.
+
+PLANTUML_INCLUDE_PATH  =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
+# that will be shown in the graph. If the number of nodes in a graph becomes
+# larger than this value, doxygen will truncate the graph, which is visualized
+# by representing a node as a red box. Note that doxygen if the number of direct
+# children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that
+# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+# Minimum value: 0, maximum value: 10000, default value: 50.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_GRAPH_MAX_NODES    = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs
+# generated by dot. A depth value of 3 means that only nodes reachable from the
+# root by following a path via at most 3 edges will be shown. Nodes that lay
+# further from the root node will be omitted. Note that setting this option to 1
+# or 2 may greatly reduce the computation time needed for large code bases. Also
+# note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+# Minimum value: 0, maximum value: 1000, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+MAX_DOT_GRAPH_DEPTH    = 0
+
+# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10) support
+# this, this feature is disabled by default.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+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.
+
+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.
+# The default value is: YES.
+
+DOT_CLEANUP            = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. If the MSCGEN_TOOL tag is left empty (the default), then doxygen will
+# use a built-in version of mscgen tool to produce the charts. Alternatively,
+# the MSCGEN_TOOL tag can also specify the name an external tool. For instance,
+# specifying prog as the value, doxygen will call the tool as prog -T
+# <outfile_format> -o <outputfile> <inputfile>. The external tool should support
+# output file formats "png", "eps", "svg", and "ismap".
+
+MSCGEN_TOOL            =
+
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the \mscfile
+# command).
+
+MSCFILE_DIRS           =

+ 3 - 3
Makefile

@@ -5,13 +5,13 @@ check:
 	cppcheck .
 
 cs:
-	clang-format -style=file:./.clang-format -n ./src/* ./include/*
+	clang-format -style=file:./.clang-format -n ./Core/Src/*.cpp 
 
 csf:
-	clang-format -style=file:./.clang-format -i ./src/* ./include/*
+	clang-format -style=file:./.clang-format -i ./Core/Src/*.cpp 
 
 cs-v14:
-	docker run --rm -v ${PWD}:/src xianpengshen/clang-tools:14 clang-format -style=file:./.clang-format -n ./src/* ./include/*
+	docker run --rm -v ${PWD}:/src xianpengshen/clang-tools:14 clang-format -style=file:./.clang-format -n ./Core/Src/* ./Core/include/*
 
 csf-v14:
 	docker run --rm -v ${PWD}:/src xianpengshen/clang-tools:14 clang-format -style=file:./.clang-format -i ./src/* ./include/*

+ 34 - 1
README.md

@@ -1,3 +1,36 @@
 # nBus-bridge
 
-nBus client API pre MCU (bridge)
+nBus klient pre MCU vo funkcii bridge. Modul podporuje 2 typu komunikácie
+- komunikácia s modulom nBusBridge
+- komunikácia s modulmi v internej sieti nBus
+
+## Protokol
+
+### Dátový rámec
+
+Požiadavka
+@mermaid{packet_rq}
+
+Odpoveď OK
+@mermaid{packet_rs}
+
+Odpoveď ERR
+@mermaid{packet_rs_err}
+
+- Len - počet bajtov v pakete
+- MA - Module address
+- SA - Sensor address
+- FC - Function code
+  - FC+E - Error flag: FC+0x80
+- DATA - Payload
+- CRC8 - CRC checksum
+
+### Adresovanie
+
+| Name | MA | SA |
+|------|----|----|
+|Broadcast global|0|0|
+|Broadcast local|0|y|
+|Unicast global|x|0|
+|Unicast local|x|y|
+|to Bridge|0|0xFF|

+ 3020 - 0
graphs/custom_stylesheet.css

@@ -0,0 +1,3020 @@
+/* SPDX-License-Identifier: MIT */
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+Copyright (c) 2021 - 2025 jothepro
+
+*/
+
+html {
+    /* primary theme color. This will affect the entire websites color scheme: links, arrows, labels, ... */
+    --primary-color: #1779c4;
+    --primary-dark-color: #335c80;
+    --primary-light-color: #70b1e9;
+    --on-primary-color: #ffffff;
+
+    --link-color: var(--primary-color);
+
+    /* page base colors */
+    --page-background-color: #ffffff;
+    --page-foreground-color: #2f4153;
+    --page-secondary-foreground-color: #6f7e8e;
+
+    /* color for all separators on the website: hr, borders, ... */
+    --separator-color: #dedede;
+
+    /* border radius for all rounded components. Will affect many components, like dropdowns, memitems, codeblocks, ... */
+    --border-radius-large: 10px;
+    --border-radius-small: 5px;
+    --border-radius-medium: 8px;
+
+    /* default spacings. Most components reference these values for spacing, to provide uniform spacing on the page. */
+    --spacing-small: 5px;
+    --spacing-medium: 10px;
+    --spacing-large: 16px;
+    --spacing-xlarge: 20px;
+
+    /* default box shadow used for raising an element above the normal content. Used in dropdowns, search result, ... */
+    --box-shadow: 0 2px 8px 0 rgba(0,0,0,.075);
+
+    --odd-color: rgba(0,0,0,.028);
+
+    /* font-families. will affect all text on the website
+     * font-family: the normal font for text, headlines, menus
+     * font-family-monospace: used for preformatted text in memtitle, code, fragments
+     */
+    --font-family: -apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen,Ubuntu,Cantarell,Fira Sans,Droid Sans,Helvetica Neue,sans-serif;
+    --font-family-monospace: ui-monospace,SFMono-Regular,SF Mono,Menlo,Consolas,Liberation Mono,monospace;
+
+    /* font sizes */
+    --page-font-size: 15.6px;
+    --navigation-font-size: 14.4px;
+    --toc-font-size: 13.4px;
+    --code-font-size: 14px; /* affects code, fragment */
+    --title-font-size: 22px;
+
+    /* content text properties. These only affect the page content, not the navigation or any other ui elements */
+    --content-line-height: 27px;
+    /* The content is centered and constraint in it's width. To make the content fill the whole page, set the variable to auto.*/
+    --content-maxwidth: 1050px;
+    --table-line-height: 24px;
+    --toc-sticky-top: var(--spacing-medium);
+    --toc-width: 200px;
+    --toc-max-height: calc(100vh - 2 * var(--spacing-medium) - 85px);
+
+    /* colors for various content boxes: @warning, @note, @deprecated @bug */
+    --warning-color: #faf3d8;
+    --warning-color-dark: #f3a600;
+    --warning-color-darker: #5f4204;
+    --note-color: #e4f3ff;
+    --note-color-dark: #1879C4;
+    --note-color-darker: #274a5c;
+    --todo-color: #e4dafd;
+    --todo-color-dark: #5b2bdd;
+    --todo-color-darker: #2a0d72;
+    --deprecated-color: #ecf0f3;
+    --deprecated-color-dark: #5b6269;
+    --deprecated-color-darker: #43454a;
+    --bug-color: #f8d1cc;
+    --bug-color-dark: #b61825;
+    --bug-color-darker: #75070f;
+    --invariant-color: #d8f1e3;
+    --invariant-color-dark: #44b86f;
+    --invariant-color-darker: #265532;
+
+    /* blockquote colors */
+    --blockquote-background: #f8f9fa;
+    --blockquote-foreground: #636568;
+
+    /* table colors */
+    --tablehead-background: #f1f1f1;
+    --tablehead-foreground: var(--page-foreground-color);
+
+    /* menu-display: block | none
+     * Visibility of the top navigation on screens >= 768px. On smaller screen the menu is always visible.
+     * `GENERATE_TREEVIEW` MUST be enabled!
+     */
+    --menu-display: block;
+
+    --menu-focus-foreground: var(--on-primary-color);
+    --menu-focus-background: var(--primary-color);
+    --menu-selected-background: rgba(0,0,0,.05);
+
+
+    --header-background: var(--page-background-color);
+    --header-foreground: var(--page-foreground-color);
+
+    /* searchbar colors */
+    --searchbar-background: var(--side-nav-background);
+    --searchbar-foreground: var(--page-foreground-color);
+
+    /* searchbar size
+     * (`searchbar-width` is only applied on screens >= 768px.
+     * on smaller screens the searchbar will always fill the entire screen width) */
+    --searchbar-height: 33px;
+    --searchbar-width: 210px;
+    --searchbar-border-radius: var(--searchbar-height);
+
+    /* code block colors */
+    --code-background: #f5f5f5;
+    --code-foreground: var(--page-foreground-color);
+
+    /* fragment colors */
+    --fragment-background: #F8F9FA;
+    --fragment-foreground: #37474F;
+    --fragment-keyword: #bb6bb2;
+    --fragment-keywordtype: #8258b3;
+    --fragment-keywordflow: #d67c3b;
+    --fragment-token: #438a59;
+    --fragment-comment: #969696;
+    --fragment-link: #5383d6;
+    --fragment-preprocessor: #46aaa5;
+    --fragment-linenumber-color: #797979;
+    --fragment-linenumber-background: #f4f4f5;
+    --fragment-linenumber-border: #e3e5e7;
+    --fragment-lineheight: 20px;
+
+    /* sidebar navigation (treeview) colors */
+    --side-nav-background: #fbfbfb;
+    --side-nav-foreground: var(--page-foreground-color);
+    --side-nav-arrow-opacity: 0;
+    --side-nav-arrow-hover-opacity: 0.9;
+
+    --toc-background: var(--side-nav-background);
+    --toc-foreground: var(--side-nav-foreground);
+
+    /* height of an item in any tree / collapsible table */
+    --tree-item-height: 30px;
+
+    --memname-font-size: var(--code-font-size);
+    --memtitle-font-size: 18px;
+
+    --webkit-scrollbar-size: 7px;
+    --webkit-scrollbar-padding: 4px;
+    --webkit-scrollbar-color: var(--separator-color);
+
+    --animation-duration: .12s
+}
+
+@media screen and (max-width: 767px) {
+    html {
+        --page-font-size: 16px;
+        --navigation-font-size: 16px;
+        --toc-font-size: 15px;
+        --code-font-size: 15px; /* affects code, fragment */
+        --title-font-size: 22px;
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) {
+        color-scheme: dark;
+
+        --primary-color: #1982d2;
+        --primary-dark-color: #86a9c4;
+        --primary-light-color: #4779ac;
+
+        --box-shadow: 0 2px 8px 0 rgba(0,0,0,.35);
+
+        --odd-color: rgba(100,100,100,.06);
+
+        --menu-selected-background: rgba(0,0,0,.4);
+
+        --page-background-color: #1C1D1F;
+        --page-foreground-color: #d2dbde;
+        --page-secondary-foreground-color: #859399;
+        --separator-color: #38393b;
+        --side-nav-background: #252628;
+
+        --code-background: #2a2c2f;
+
+        --tablehead-background: #2a2c2f;
+    
+        --blockquote-background: #222325;
+        --blockquote-foreground: #7e8c92;
+
+        --warning-color: #3b2e04;
+        --warning-color-dark: #f1b602;
+        --warning-color-darker: #ceb670;
+        --note-color: #163750;
+        --note-color-dark: #1982D2;
+        --note-color-darker: #dcf0fa;
+        --todo-color: #2a2536;
+        --todo-color-dark: #7661b3;
+        --todo-color-darker: #ae9ed6;
+        --deprecated-color: #2e323b;
+        --deprecated-color-dark: #738396;
+        --deprecated-color-darker: #abb0bd;
+        --bug-color: #2e1917;
+        --bug-color-dark: #ad2617;
+        --bug-color-darker: #f5b1aa;
+        --invariant-color: #303a35;
+        --invariant-color-dark: #76ce96;
+        --invariant-color-darker: #cceed5;
+
+        --fragment-background: #282c34;
+        --fragment-foreground: #dbe4eb;
+        --fragment-keyword: #cc99cd;
+        --fragment-keywordtype: #ab99cd;
+        --fragment-keywordflow: #e08000;
+        --fragment-token: #7ec699;
+        --fragment-comment: #999999;
+        --fragment-link: #98c0e3;
+        --fragment-preprocessor: #65cabe;
+        --fragment-linenumber-color: #cccccc;
+        --fragment-linenumber-background: #35393c;
+        --fragment-linenumber-border: #1f1f1f;
+    }
+}
+
+/* dark mode variables are defined twice, to support both the dark-mode without and with doxygen-awesome-darkmode-toggle.js */
+html.dark-mode {
+    color-scheme: dark;
+
+    --primary-color: #1982d2;
+    --primary-dark-color: #86a9c4;
+    --primary-light-color: #4779ac;
+
+    --box-shadow: 0 2px 8px 0 rgba(0,0,0,.30);
+
+    --odd-color: rgba(100,100,100,.06);
+
+    --menu-selected-background: rgba(0,0,0,.4);
+
+    --page-background-color: #1C1D1F;
+    --page-foreground-color: #d2dbde;
+    --page-secondary-foreground-color: #859399;
+    --separator-color: #38393b;
+    --side-nav-background: #252628;
+
+    --code-background: #2a2c2f;
+
+    --tablehead-background: #2a2c2f;
+
+    --blockquote-background: #222325;
+    --blockquote-foreground: #7e8c92;
+
+    --warning-color: #3b2e04;
+    --warning-color-dark: #f1b602;
+    --warning-color-darker: #ceb670;
+    --note-color: #163750;
+    --note-color-dark: #1982D2;
+    --note-color-darker: #dcf0fa;
+    --todo-color: #2a2536;
+    --todo-color-dark: #7661b3;
+    --todo-color-darker: #ae9ed6;
+    --deprecated-color: #2e323b;
+    --deprecated-color-dark: #738396;
+    --deprecated-color-darker: #abb0bd;
+    --bug-color: #2e1917;
+    --bug-color-dark: #ad2617;
+    --bug-color-darker: #f5b1aa;
+    --invariant-color: #303a35;
+    --invariant-color-dark: #76ce96;
+    --invariant-color-darker: #cceed5;
+
+    --fragment-background: #282c34;
+    --fragment-foreground: #dbe4eb;
+    --fragment-keyword: #cc99cd;
+    --fragment-keywordtype: #ab99cd;
+    --fragment-keywordflow: #e08000;
+    --fragment-token: #7ec699;
+    --fragment-comment: #999999;
+    --fragment-link: #98c0e3;
+    --fragment-preprocessor: #65cabe;
+    --fragment-linenumber-color: #cccccc;
+    --fragment-linenumber-background: #35393c;
+    --fragment-linenumber-border: #1f1f1f;
+}
+
+body {
+    color: var(--page-foreground-color);
+    background-color: var(--page-background-color);
+    font-size: var(--page-font-size);
+}
+
+body, table, div, p, dl, #nav-tree .label, #nav-tree a, .title,
+.sm-dox a, .sm-dox a:hover, .sm-dox a:focus, #projectname,
+.SelectItem, #MSearchField, .navpath li.navelem a,
+.navpath li.navelem a:hover, p.reference, p.definition, div.toc li, div.toc h3,
+#page-nav ul.page-outline li a {
+    font-family: var(--font-family);
+}
+
+h1, h2, h3, h4, h5 {
+    margin-top: 1em;
+    font-weight: 600;
+    line-height: initial;
+}
+
+p, div, table, dl, p.reference, p.definition {
+    font-size: var(--page-font-size);
+}
+
+p.reference, p.definition {
+    color: var(--page-secondary-foreground-color);
+}
+
+a:link, a:visited, a:hover, a:focus, a:active {
+    color: var(--link-color) !important;
+    font-weight: 500;
+    background: none;
+}
+
+a:hover {
+    text-decoration: underline;
+}
+
+a.anchor {
+    scroll-margin-top: var(--spacing-large);
+    display: block;
+}
+
+/*
+ Title and top navigation
+ */
+
+#top {
+    background: var(--header-background);
+    border-bottom: 1px solid var(--separator-color);
+    position: relative;
+    z-index: 99;
+}
+
+@media screen and (min-width: 768px) {
+    #top {
+        display: flex;
+        flex-wrap: wrap;
+        justify-content: space-between;
+        align-items: center;
+    }
+}
+
+#main-nav {
+    flex-grow: 5;
+    padding: var(--spacing-small) var(--spacing-medium);
+    border-bottom: 0;
+}
+
+#titlearea {
+    width: auto;
+    padding: var(--spacing-medium) var(--spacing-large);
+    background: none;
+    color: var(--header-foreground);
+    border-bottom: none;
+}
+
+@media screen and (max-width: 767px) {
+    #titlearea {
+        padding-bottom: var(--spacing-small);
+    }
+}
+
+#titlearea table tbody tr {
+    height: auto !important;
+}
+
+#projectname {
+    font-size: var(--title-font-size);
+    font-weight: 600;
+}
+
+#projectnumber {
+    font-family: inherit;
+    font-size: 60%;
+}
+
+#projectbrief {
+    font-family: inherit;
+    font-size: 80%;
+}
+
+#projectlogo {
+    vertical-align: middle;
+}
+
+#projectlogo img {
+    max-height: calc(var(--title-font-size) * 2);
+    margin-right: var(--spacing-small);
+}
+
+.sm-dox, .tabs, .tabs2, .tabs3 {
+    background: none;
+    padding: 0;
+}
+
+.tabs, .tabs2, .tabs3 {
+    border-bottom: 1px solid var(--separator-color);
+    margin-bottom: -1px;
+}
+
+.main-menu-btn-icon, .main-menu-btn-icon:before, .main-menu-btn-icon:after {
+    background: var(--page-secondary-foreground-color);
+}
+
+@media screen and (max-width: 767px) {
+    .sm-dox a span.sub-arrow {
+        background: var(--code-background);
+    }
+
+    #main-menu a.has-submenu span.sub-arrow {
+        color: var(--page-secondary-foreground-color);
+        border-radius: var(--border-radius-medium);
+    }
+
+    #main-menu a.has-submenu:hover span.sub-arrow {
+        color: var(--page-foreground-color);
+    }
+}
+
+@media screen and (min-width: 768px) {
+    .sm-dox li, .tablist li {
+        display: var(--menu-display);
+    }
+
+    .sm-dox a span.sub-arrow {
+        top: 15px;
+        right: 10px;
+        box-sizing: content-box;
+        padding: 0;
+        margin: 0;
+        display: inline-block;
+        width: 5px;
+        height: 5px;
+        transform: rotate(45deg);
+        border-width: 0;
+        border-right: 2px solid var(--header-foreground);
+        border-bottom: 2px solid var(--header-foreground);
+        background: none;
+    }
+
+    .sm-dox a:hover span.sub-arrow {
+        border-color: var(--menu-focus-foreground);
+        background: none;
+    }
+
+    .sm-dox ul a span.sub-arrow {
+        transform: rotate(-45deg);
+        border-width: 0;
+        border-right: 2px solid var(--header-foreground);
+        border-bottom: 2px solid var(--header-foreground);
+    }
+
+    .sm-dox ul a:hover span.sub-arrow {
+        border-color: var(--menu-focus-foreground);
+        background: none;
+    }
+}
+
+.sm-dox ul {
+    background: var(--page-background-color);
+    box-shadow: var(--box-shadow);
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium) !important;
+    padding: var(--spacing-small);
+    animation: ease-out 150ms slideInMenu;
+}
+
+@keyframes slideInMenu {
+    from {
+        opacity: 0;
+        transform: translate(0px, -2px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0px, 0px);
+    }
+}
+
+.sm-dox ul a {
+    color: var(--page-foreground-color) !important;
+    background: none;
+    font-size: var(--navigation-font-size);
+}
+
+.sm-dox>li>ul:after {
+    border-bottom-color: var(--page-background-color) !important;
+}
+
+.sm-dox>li>ul:before {
+    border-bottom-color: var(--separator-color) !important;
+}
+
+.sm-dox ul a:hover, .sm-dox ul a:active, .sm-dox ul a:focus {
+    font-size: var(--navigation-font-size) !important;
+    color: var(--menu-focus-foreground) !important;
+    text-shadow: none;
+    background-color: var(--menu-focus-background);
+    border-radius: var(--border-radius-small) !important;
+}
+
+.sm-dox a, .sm-dox a:focus, .tablist li, .tablist li a, .tablist li.current a {
+    text-shadow: none;
+    background: transparent;
+    background-image: none !important;
+    color: var(--header-foreground) !important;
+    font-weight: normal;
+    font-size: var(--navigation-font-size);
+    border-radius: var(--border-radius-small) !important;
+}
+
+.sm-dox a:focus {
+    outline: auto;
+}
+
+.sm-dox a:hover, .sm-dox a:active, .tablist li a:hover {
+    text-shadow: none;
+    font-weight: normal;
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+    border-radius: var(--border-radius-small) !important;
+    font-size: var(--navigation-font-size);
+}
+
+.tablist li.current {
+    border-radius: var(--border-radius-small);
+    background: var(--menu-selected-background);
+}
+
+.tablist li {
+    margin: var(--spacing-small) 0 var(--spacing-small) var(--spacing-small);
+}
+
+.tablist a {
+    padding: 0 var(--spacing-large);
+}
+
+
+/*
+ Search box
+ */
+
+#MSearchBox {
+    height: var(--searchbar-height);
+    background: var(--searchbar-background);
+    border-radius: var(--searchbar-border-radius);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    width: var(--searchbar-width);
+    position: relative;
+    box-shadow: none;
+    display: block;
+    margin-top: 0;
+    margin-right: 0;
+}
+
+@media (min-width: 768px) {
+    .sm-dox li {
+        padding: 0;
+    }
+}
+
+/* until Doxygen 1.9.4 */
+.left img#MSearchSelect {
+    left: 0;
+    user-select: none;
+    padding-left: 8px;
+}
+
+/* Doxygen 1.9.5 */
+.left span#MSearchSelect {
+    left: 0;
+    user-select: none;
+    margin-left: 8px;
+    padding: 0;
+}
+
+.left #MSearchSelect[src$=".png"] {
+    padding-left: 0
+}
+
+/* Doxygen 1.14.0 */
+.search-icon::before {
+    background: none;
+    top: 5px;
+}
+
+.search-icon::after {
+    background: none;
+    top: 12px;
+}
+
+.SelectionMark {
+    user-select: none;
+}
+
+.tabs .left #MSearchSelect {
+    padding-left: 0;
+}
+
+.tabs #MSearchBox {
+    position: absolute;
+    right: var(--spacing-medium);
+}
+
+@media screen and (max-width: 767px) {
+    .tabs #MSearchBox {
+        position: relative;
+        right: 0;
+        margin-left: var(--spacing-medium);
+        margin-top: 0;
+    }
+}
+
+#MSearchSelectWindow, #MSearchResultsWindow {
+    z-index: 9999;
+}
+
+#MSearchBox.MSearchBoxActive {
+    border-color: var(--primary-color);
+    box-shadow: inset 0 0 0 1px var(--primary-color);
+}
+
+#main-menu > li:last-child {
+    margin-right: 0;
+}
+
+@media screen and (max-width: 767px) {
+    #main-menu > li:last-child {
+        height: 50px;
+    }
+}
+
+#MSearchField {
+    font-size: var(--navigation-font-size);
+    height: calc(var(--searchbar-height) - 2px);
+    background: transparent;
+    width: calc(var(--searchbar-width) - 64px);
+}
+
+.MSearchBoxActive #MSearchField {
+    color: var(--searchbar-foreground);
+}
+
+#MSearchSelect {
+    top: calc(calc(var(--searchbar-height) / 2) - 11px);
+}
+
+#MSearchBox span.left, #MSearchBox span.right {
+    background: none;
+    background-image: none;
+}
+
+#MSearchBox span.right {
+    padding-top: calc(calc(var(--searchbar-height) / 2) - 12px);
+    position: absolute;
+    right: var(--spacing-small);
+}
+
+.tabs #MSearchBox span.right {
+    top: calc(calc(var(--searchbar-height) / 2) - 12px);
+}
+
+@keyframes slideInSearchResults {
+    from {
+        opacity: 0;
+        transform: translate(0, 15px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0, 20px);
+    }
+}
+
+#MSearchResultsWindow {
+    left: auto !important;
+    right: var(--spacing-medium);
+    border-radius: var(--border-radius-large);
+    border: 1px solid var(--separator-color);
+    transform: translate(0, 20px);
+    box-shadow: var(--box-shadow);
+    animation: ease-out 280ms slideInSearchResults;
+    background: var(--page-background-color);
+}
+
+iframe#MSearchResults {
+    margin: 4px;
+}
+
+iframe {
+    color-scheme: normal;
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) iframe#MSearchResults {
+        filter: invert() hue-rotate(180deg);
+    }
+}
+
+html.dark-mode iframe#MSearchResults {
+    filter: invert() hue-rotate(180deg);
+}
+
+#MSearchResults .SRPage {
+    background-color: transparent;
+}
+
+#MSearchResults .SRPage .SREntry {
+    font-size: 10pt;
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+#MSearchSelectWindow {
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium);
+    box-shadow: var(--box-shadow);
+    background: var(--page-background-color);
+    padding-top: var(--spacing-small);
+    padding-bottom: var(--spacing-small);
+}
+
+#MSearchSelectWindow a.SelectItem {
+    font-size: var(--navigation-font-size);
+    line-height: var(--content-line-height);
+    margin: 0 var(--spacing-small);
+    border-radius: var(--border-radius-small);
+    color: var(--page-foreground-color) !important;
+    font-weight: normal;
+}
+
+#MSearchSelectWindow a.SelectItem:hover {
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+}
+
+@media screen and (max-width: 767px) {
+    #MSearchBox {
+        margin-top: var(--spacing-medium);
+        margin-bottom: var(--spacing-medium);
+        width: calc(100vw - 30px);
+    }
+
+    #main-menu > li:last-child {
+        float: none !important;
+    }
+
+    #MSearchField {
+        width: calc(100vw - 110px);
+    }
+
+    @keyframes slideInSearchResultsMobile {
+        from {
+            opacity: 0;
+            transform: translate(0, 15px);
+        }
+
+        to {
+            opacity: 1;
+            transform: translate(0, 20px);
+        }
+    }
+
+    #MSearchResultsWindow {
+        left: var(--spacing-medium) !important;
+        right: var(--spacing-medium);
+        overflow: auto;
+        transform: translate(0, 20px);
+        animation: ease-out 280ms slideInSearchResultsMobile;
+        width: auto !important;
+    }
+
+    /*
+     * Overwrites for fixing the searchbox on mobile in doxygen 1.9.2
+     */
+    label.main-menu-btn ~ #searchBoxPos1 {
+        top: 3px !important;
+        right: 6px !important;
+        left: 45px;
+        display: flex;
+    }
+
+    label.main-menu-btn ~ #searchBoxPos1 > #MSearchBox {
+        margin-top: 0;
+        margin-bottom: 0;
+        flex-grow: 2;
+        float: left;
+    }
+}
+
+/*
+ Tree view
+ */
+
+#side-nav {
+    min-width: 8px;
+    max-width: 50vw;
+}
+
+
+#nav-tree, #top {
+    border-right: 1px solid var(--separator-color);
+}
+
+@media screen and (max-width: 767px) {
+    #side-nav {
+        display: none;
+    }
+
+    #doc-content {
+        margin-left: 0 !important;
+    }
+
+    #top {
+        border-right: none;
+    }
+}
+
+#nav-tree {
+    background: var(--side-nav-background);
+    margin-right: -1px;
+    padding: 0;
+}
+
+#nav-tree .label {
+    font-size: var(--navigation-font-size);
+    line-height: var(--tree-item-height);
+}
+
+#nav-tree span.label a:hover {
+    background: none;
+}
+
+#nav-tree .item {
+    height: var(--tree-item-height);
+    line-height: var(--tree-item-height);
+    overflow: hidden;
+    text-overflow: ellipsis;
+    margin: 0;
+    padding: 0;
+}
+
+#nav-tree-contents {
+    margin: 0;
+}
+
+#main-menu > li:last-child {
+    height: auto;
+}
+
+#nav-tree .item > a:focus {
+    outline: none;
+}
+
+#nav-sync {
+    bottom: var(--spacing-medium);
+    right: var(--spacing-medium) !important;
+    top: auto !important;
+    user-select: none;
+}
+
+div.nav-sync-icon {
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium);
+    background: var(--page-background-color);
+    width: 30px;
+    height: 20px;
+}
+
+div.nav-sync-icon:hover {
+    background: var(--page-background-color);
+}
+
+span.sync-icon-left, div.nav-sync-icon:hover span.sync-icon-left {
+    border-left: 2px solid var(--primary-color);
+    border-top: 2px solid var(--primary-color);
+    top: 5px;
+    left: 6px;
+}
+span.sync-icon-right, div.nav-sync-icon:hover span.sync-icon-right {
+    border-right: 2px solid var(--primary-color);
+    border-bottom: 2px solid var(--primary-color);
+    top: 5px;
+    left: initial;
+    right: 6px;
+}
+
+div.nav-sync-icon.active::after, div.nav-sync-icon.active:hover::after {
+    border-top: 2px solid var(--primary-color);
+    top: 9px;
+    left: 6px;
+    width: 19px;
+}
+
+#nav-tree .selected {
+    text-shadow: none;
+    background-image: none;
+    background-color: transparent;
+    position: relative;
+    color: var(--primary-color) !important;
+    font-weight: 500;
+}
+
+#nav-tree .selected::after {
+    content: "";
+    position: absolute;
+    top: 1px;
+    bottom: 1px;
+    left: 0;
+    width: 4px;
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+    background: var(--primary-color);
+}
+
+
+#nav-tree a {
+    color: var(--side-nav-foreground) !important;
+    font-weight: normal;
+}
+
+#nav-tree a:focus {
+    outline-style: auto;
+}
+
+#nav-tree .arrow {
+    opacity: var(--side-nav-arrow-opacity);
+    background: none;
+}
+
+#nav-tree span.arrowhead {
+    margin: 0 0 1px 2px;
+}
+
+span.arrowhead {
+    border-color: var(--primary-light-color);
+}
+
+.selected span.arrowhead {
+    border-color: var(--primary-color);
+}
+
+#nav-tree-contents > ul > li:first-child > div > a {
+    opacity: 0;
+    pointer-events: none;
+}
+
+.contents .arrow {
+    color: inherit;
+    cursor: pointer;
+    font-size: 45%;
+    vertical-align: middle;
+    margin-right: 2px;
+    font-family: serif;
+    height: auto;
+    padding-bottom: 4px;
+}
+
+#nav-tree div.item:hover .arrow, #nav-tree a:focus .arrow {
+    opacity: var(--side-nav-arrow-hover-opacity);
+}
+
+#nav-tree .selected a {
+    color: var(--primary-color) !important;
+    font-weight: bolder;
+    font-weight: 600;
+}
+
+.ui-resizable-e {
+    background: none;
+}
+
+.ui-resizable-e:hover {
+    background: var(--separator-color);
+}
+
+/*
+ Contents
+ */
+
+div.header {
+    border-bottom: 1px solid var(--separator-color);
+    background: none;
+    background-image: none;
+}
+
+@media screen and (min-width: 1000px) {
+    #doc-content > div > div.contents,
+    .PageDoc > div.contents {
+        display: flex;
+        flex-direction: row-reverse;
+        flex-wrap: nowrap;
+        align-items: flex-start;
+    }
+    
+    div.contents .textblock {
+        min-width: 200px;
+        flex-grow: 1;
+    }
+}
+
+div.contents, div.header .title, div.header .summary {
+    max-width: var(--content-maxwidth);
+}
+
+div.contents, div.header .title  {
+    line-height: initial;
+    margin: calc(var(--spacing-medium) + .2em) auto var(--spacing-medium) auto;
+}
+
+div.header .summary {
+    margin: var(--spacing-medium) auto 0 auto;
+}
+
+div.headertitle {
+    padding: 0;
+}
+
+div.header .title {
+    font-weight: 600;
+    font-size: 225%;
+    padding: var(--spacing-medium) var(--spacing-xlarge);
+    word-break: break-word;
+}
+
+div.header .summary {
+    width: auto;
+    display: block;
+    float: none;
+    padding: 0 var(--spacing-large);
+}
+
+td.memSeparator {
+    border-color: var(--separator-color);
+}
+
+span.mlabel {
+    background: var(--primary-color);
+    color: var(--on-primary-color);
+    border: none;
+    padding: 4px 9px;
+    border-radius: var(--border-radius-large);
+    margin-right: var(--spacing-medium);
+}
+
+span.mlabel:last-of-type {
+    margin-right: 2px;
+}
+
+div.contents {
+    padding: 0 var(--spacing-xlarge);
+}
+
+div.contents p, div.contents li {
+    line-height: var(--content-line-height);
+}
+
+div.contents div.dyncontent {
+    margin: var(--spacing-medium) 0;
+}
+
+@media screen and (max-width: 767px) {
+    div.contents {
+        padding: 0 var(--spacing-large);
+    }
+
+    div.header .title {
+        padding: var(--spacing-medium) var(--spacing-large);
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) div.contents div.dyncontent img,
+    html:not(.light-mode) div.contents center img,
+    html:not(.light-mode) div.contents > table img,
+    html:not(.light-mode) div.contents div.dyncontent iframe,
+    html:not(.light-mode) div.contents center iframe,
+    html:not(.light-mode) div.contents table iframe,
+    html:not(.light-mode) div.contents .dotgraph iframe {
+        filter: brightness(89%) hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode div.contents div.dyncontent img,
+html.dark-mode div.contents center img,
+html.dark-mode div.contents > table img,
+html.dark-mode div.contents div.dyncontent iframe,
+html.dark-mode div.contents center iframe,
+html.dark-mode div.contents table iframe,
+html.dark-mode div.contents .dotgraph iframe
+ {
+    filter: brightness(89%) hue-rotate(180deg) invert();
+}
+
+td h2.groupheader, h2.groupheader {
+    border-bottom: 0px;
+    color: var(--page-foreground-color);
+    box-shadow: 
+        100px 0 var(--page-background-color), 
+        -100px 0 var(--page-background-color),
+        100px 0.75px var(--separator-color),
+        -100px 0.75px var(--separator-color),
+        500px 0 var(--page-background-color), 
+        -500px 0 var(--page-background-color),
+        500px 0.75px var(--separator-color),
+        -500px 0.75px var(--separator-color),
+        900px 0 var(--page-background-color), 
+        -900px 0 var(--page-background-color),
+        900px 0.75px var(--separator-color),
+        -900px 0.75px var(--separator-color),
+        1400px 0 var(--page-background-color),
+        -1400px 0 var(--page-background-color), 
+        1400px 0.75px var(--separator-color),
+        -1400px 0.75px var(--separator-color),
+        1900px 0 var(--page-background-color),
+        -1900px 0 var(--page-background-color),
+        1900px 0.75px var(--separator-color),
+        -1900px 0.75px var(--separator-color);
+}
+
+blockquote {
+    margin: 0 var(--spacing-medium) 0 var(--spacing-medium);
+    padding: var(--spacing-small) var(--spacing-large);
+    background: var(--blockquote-background);
+    color: var(--blockquote-foreground);
+    border-left: 0;
+    overflow: visible;
+    border-radius: var(--border-radius-medium);
+    overflow: visible;
+    position: relative;
+}
+
+blockquote::before, blockquote::after {
+    font-weight: bold;
+    font-family: serif;
+    font-size: 360%;
+    opacity: .15;
+    position: absolute;
+}
+
+blockquote::before {
+    content: "“";
+    left: -10px;
+    top: 4px;
+}
+
+blockquote::after {
+    content: "”";
+    right: -8px;
+    bottom: -25px;
+}
+
+blockquote p {
+    margin: var(--spacing-small) 0 var(--spacing-medium) 0;
+}
+.paramname, .paramname em {
+    font-weight: 600;
+    color: var(--primary-dark-color);
+}
+
+.paramname > code {
+    border: 0;
+}
+
+table.params .paramname {
+    font-weight: 600;
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+    padding-right: var(--spacing-small);
+    line-height: var(--table-line-height);
+}
+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+    text-shadow: 0 0 15px var(--primary-light-color);
+}
+
+.alphachar a {
+    color: var(--page-foreground-color);
+}
+
+.dotgraph {
+    max-width: 100%;
+    overflow-x: scroll;
+}
+
+.dotgraph .caption {
+    position: sticky;
+    left: 0;
+}
+
+/* Wrap Graphviz graphs with the `interactive_dotgraph` class if `INTERACTIVE_SVG = YES` */
+.interactive_dotgraph .dotgraph iframe {
+    max-width: 100%;
+}
+
+/*
+ Table of Contents
+ */
+
+div.contents .toc {
+    max-height: var(--toc-max-height);
+    min-width: var(--toc-width);
+    border: 0;
+    border-left: 1px solid var(--separator-color);
+    border-radius: 0;
+    background-color: var(--page-background-color);
+    box-shadow: none;
+    position: sticky;
+    top: var(--toc-sticky-top);
+    padding: 0 var(--spacing-large);
+    margin: var(--spacing-small) 0 var(--spacing-large) var(--spacing-large);
+}
+
+div.toc h3 {
+    color: var(--toc-foreground);
+    font-size: var(--navigation-font-size);
+    margin: var(--spacing-large) 0 var(--spacing-medium) 0;
+}
+
+div.toc li {
+    padding: 0;
+    background: none;
+    line-height: var(--toc-font-size);
+    margin: var(--toc-font-size) 0 0 0;
+}
+
+div.toc li::before {
+    display: none;
+}
+
+div.toc ul {
+    margin-top: 0
+}
+
+div.toc li a {
+    font-size: var(--toc-font-size);
+    color: var(--page-foreground-color) !important;
+    text-decoration: none;
+}
+
+div.toc li a:hover, div.toc li a.active {
+    color: var(--primary-color) !important;
+}
+
+div.toc li a.aboveActive {
+    color: var(--page-secondary-foreground-color) !important;
+}
+
+
+@media screen and (max-width: 999px) {
+    div.contents .toc {
+        max-height: 45vh;
+        float: none;
+        width: auto;
+        margin: 0 0 var(--spacing-medium) 0;
+        position: relative;
+        top: 0;
+        position: relative;
+        border: 1px solid var(--separator-color);
+        border-radius: var(--border-radius-medium);
+        background-color: var(--toc-background);
+        box-shadow: var(--box-shadow);
+    }
+
+    div.contents .toc.interactive {
+        max-height: calc(var(--navigation-font-size) + 2 * var(--spacing-large));
+        overflow: hidden;
+    }
+
+    div.contents .toc > h3 {
+        -webkit-tap-highlight-color: transparent;
+        cursor: pointer;
+        position: sticky;
+        top: 0;
+        background-color: var(--toc-background);
+        margin: 0;
+        padding: var(--spacing-large) 0;
+        display: block;
+    }
+
+    div.contents .toc.interactive > h3::before {
+        content: "";
+        width: 0; 
+        height: 0; 
+        border-left: 4px solid transparent;
+        border-right: 4px solid transparent;
+        border-top: 5px solid var(--primary-color);
+        display: inline-block;
+        margin-right: var(--spacing-small);
+        margin-bottom: calc(var(--navigation-font-size) / 4);
+        transform: rotate(-90deg);
+        transition: transform var(--animation-duration) ease-out;
+    }
+
+    div.contents .toc.interactive.open > h3::before {
+        transform: rotate(0deg);
+    }
+
+    div.contents .toc.interactive.open {
+        max-height: 45vh;
+        overflow: auto;
+        transition: max-height 0.2s ease-in-out;
+    }
+
+    div.contents .toc a, div.contents .toc a.active {
+        color: var(--primary-color) !important;
+    }
+
+    div.contents .toc a:hover {
+        text-decoration: underline;
+    }
+}
+
+/*
+ Page Outline (Doxygen >= 1.14.0)
+*/
+
+#page-nav {
+    background: var(--page-background-color);
+    border-left: 1px solid var(--separator-color);
+}
+
+#page-nav #page-nav-resize-handle {
+    background: var(--separator-color);
+}
+
+#page-nav #page-nav-resize-handle::after {
+    border-left: 1px solid var(--primary-color);
+    border-right: 1px solid var(--primary-color);
+}
+
+#page-nav #page-nav-tree #page-nav-contents {
+    top: var(--spacing-large);
+}
+
+#page-nav ul.page-outline {
+    margin: 0;
+    padding: 0;
+}
+
+#page-nav ul.page-outline li a {
+    font-size: var(--toc-font-size) !important;
+    color: var(--page-secondary-foreground-color) !important;
+    display: inline-block;
+    line-height: calc(2 * var(--toc-font-size));
+}
+
+#page-nav ul.page-outline li a a.anchorlink {
+    display: none;
+}
+
+#page-nav ul.page-outline li.vis ~ * a {
+    color: var(--page-foreground-color) !important;
+}
+
+#page-nav ul.page-outline li.vis:not(.vis ~ .vis) a, #page-nav ul.page-outline li a:hover {
+    color: var(--primary-color) !important;
+}
+
+#page-nav ul.page-outline .vis {
+    background: var(--page-background-color);
+    position: relative;
+}
+
+#page-nav ul.page-outline .vis::after {
+    content: "";
+    position: absolute;
+    top: 0;
+    bottom: 0;
+    left: 0;
+    width: 4px;
+    background: var(--page-secondary-foreground-color);
+}
+
+#page-nav ul.page-outline .vis:not(.vis ~ .vis)::after {
+    top: 1px;
+    border-top-right-radius: var(--border-radius-small);
+}
+
+#page-nav ul.page-outline .vis:not(:has(~ .vis))::after {
+    bottom: 1px;
+    border-bottom-right-radius: var(--border-radius-small);
+}
+
+
+#page-nav ul.page-outline .arrow {
+    display: inline-block;
+}
+
+#page-nav ul.page-outline .arrow span {
+    display: none;
+}
+
+@media screen and (max-width: 767px) {
+    #container {
+        grid-template-columns: initial !important;
+    }
+
+    #page-nav {
+        display: none;
+    }
+}
+
+/*
+ Code & Fragments
+ */
+
+code, div.fragment, pre.fragment, span.tt {
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+}
+
+code, span.tt {
+    display: inline;
+    background: var(--code-background);
+    color: var(--code-foreground);
+    padding: 2px 6px;
+    border-radius: var(--border-radius-small);
+}
+
+div.fragment, pre.fragment {
+    border-radius: var(--border-radius-medium);
+    margin: var(--spacing-medium) 0;
+    padding: calc(var(--spacing-large) - (var(--spacing-large) / 6)) var(--spacing-large);
+    background: var(--fragment-background);
+    color: var(--fragment-foreground);
+    overflow-x: auto;
+}
+
+@media screen and (max-width: 767px) {
+    div.fragment, pre.fragment {
+        border-top-right-radius: 0;
+        border-bottom-right-radius: 0;
+        border-right: 0;
+    }
+
+    .contents > div.fragment,
+    .textblock > div.fragment,
+    .textblock > pre.fragment,
+    .textblock > .tabbed > ul > li > div.fragment,
+    .textblock > .tabbed > ul > li > pre.fragment,
+    .contents > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .doxygen-awesome-fragment-wrapper > pre.fragment,
+    .textblock > .tabbed > ul > li > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .tabbed > ul > li > .doxygen-awesome-fragment-wrapper > pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+        border-radius: 0;
+        border-left: 0;
+    }
+
+    .textblock li > .fragment,
+    .textblock li > .doxygen-awesome-fragment-wrapper > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+    }
+
+    .memdoc li > .fragment,
+    .memdoc li > .doxygen-awesome-fragment-wrapper > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+    }
+
+    .textblock ul, .memdoc ul {
+        overflow: initial;
+    }
+
+    .memdoc > div.fragment,
+    .memdoc > pre.fragment,
+    dl dd > div.fragment,
+    dl dd pre.fragment,
+    .memdoc > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .memdoc > .doxygen-awesome-fragment-wrapper > pre.fragment,
+    dl dd > .doxygen-awesome-fragment-wrapper > div.fragment,
+    dl dd .doxygen-awesome-fragment-wrapper > pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+        border-radius: 0;
+        border-left: 0;
+    }
+}
+
+code, code a, pre.fragment, div.fragment, div.fragment .line, div.fragment span, div.fragment .line a, div.fragment .line span, span.tt {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size) !important;
+}
+
+div.line:after {
+    margin-right: var(--spacing-medium);
+}
+
+div.fragment .line, pre.fragment {
+    white-space: pre;
+    word-wrap: initial;
+    line-height: var(--fragment-lineheight);
+}
+
+div.fragment span.keyword {
+    color: var(--fragment-keyword);
+}
+
+div.fragment span.keywordtype {
+    color: var(--fragment-keywordtype);
+}
+
+div.fragment span.keywordflow {
+    color: var(--fragment-keywordflow);
+}
+
+div.fragment span.stringliteral {
+    color: var(--fragment-token)
+}
+
+div.fragment span.comment {
+    color: var(--fragment-comment);
+}
+
+div.fragment a.code {
+    color: var(--fragment-link) !important;
+}
+
+div.fragment span.preprocessor {
+    color: var(--fragment-preprocessor);
+}
+
+div.fragment span.lineno {
+    display: inline-block;
+    width: 27px;
+    border-right: none;
+    background: var(--fragment-linenumber-background);
+    color: var(--fragment-linenumber-color);
+}
+
+div.fragment span.lineno a {
+    background: none;
+    color: var(--fragment-link) !important;
+}
+
+div.fragment > .line:first-child .lineno {
+    box-shadow: -999999px 0px 0 999999px var(--fragment-linenumber-background), -999998px 0px 0 999999px var(--fragment-linenumber-border);
+    background-color: var(--fragment-linenumber-background) !important;
+}
+
+div.line {
+    border-radius: var(--border-radius-small);
+}
+
+div.line.glow {
+    background-color: var(--primary-light-color);
+    box-shadow: none;
+}
+
+/*
+ dl warning, attention, note, deprecated, bug, ...
+ */
+
+dl {
+    line-height: calc(1.65 * var(--page-font-size));
+}
+
+dl.bug dt a, dl.deprecated dt a, dl.todo dt a {
+    font-weight: bold !important;
+}
+
+dl.warning, dl.attention, dl.note, dl.deprecated, dl.bug, dl.invariant, dl.pre, dl.post, dl.todo, dl.remark {
+    padding: var(--spacing-medium);
+    margin: var(--spacing-medium) 0;
+    color: var(--page-background-color);
+    overflow: hidden;
+    margin-left: 0;
+    border-radius: var(--border-radius-small);
+}
+
+dl.section dd {
+    margin-bottom: 2px;
+}
+
+dl.warning, dl.attention {
+    background: var(--warning-color);
+    border-left: 8px solid var(--warning-color-dark);
+    color: var(--warning-color-darker);
+}
+
+dl.warning dt, dl.attention dt {
+    color: var(--warning-color-dark);
+}
+
+dl.note, dl.remark {
+    background: var(--note-color);
+    border-left: 8px solid var(--note-color-dark);
+    color: var(--note-color-darker);
+}
+
+dl.note dt, dl.remark dt {
+    color: var(--note-color-dark);
+}
+
+dl.todo {
+    background: var(--todo-color);
+    border-left: 8px solid var(--todo-color-dark);
+    color: var(--todo-color-darker);
+}
+
+dl.todo dt a {
+    color: var(--todo-color-dark) !important;
+}
+
+dl.bug dt a {
+    color: var(--todo-color-dark) !important;
+}
+
+dl.bug {
+    background: var(--bug-color);
+    border-left: 8px solid var(--bug-color-dark);
+    color: var(--bug-color-darker);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-dark) !important;
+}
+
+dl.deprecated {
+    background: var(--deprecated-color);
+    border-left: 8px solid var(--deprecated-color-dark);
+    color: var(--deprecated-color-darker);
+}
+
+dl.deprecated dt a {
+    color: var(--deprecated-color-dark) !important;
+}
+
+dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd {
+    margin-inline-start: 0px;
+}
+
+dl.invariant, dl.pre, dl.post {
+    background: var(--invariant-color);
+    border-left: 8px solid var(--invariant-color-dark);
+    color: var(--invariant-color-darker);
+}
+
+dl.invariant dt, dl.pre dt, dl.post dt {
+    color: var(--invariant-color-dark);
+}
+
+/*
+ memitem
+ */
+
+div.memdoc, div.memproto, h2.memtitle {
+    box-shadow: none;
+    background-image: none;
+    border: none;
+}
+
+div.memdoc {
+    padding: 0 var(--spacing-medium);
+    background: var(--page-background-color);
+}
+
+h2.memtitle, div.memitem {
+    border: 1px solid var(--separator-color);
+    box-shadow: var(--box-shadow);
+}
+
+h2.memtitle {
+    box-shadow: 0px var(--spacing-medium) 0 -1px var(--fragment-background), var(--box-shadow);
+}
+
+div.memitem {
+    transition: none;
+}
+
+div.memproto, h2.memtitle {
+    background: var(--fragment-background);
+}
+
+h2.memtitle {
+    font-weight: 500;
+    font-size: var(--memtitle-font-size);
+    font-family: var(--font-family-monospace);
+    border-bottom: none;
+    border-top-left-radius: var(--border-radius-medium);
+    border-top-right-radius: var(--border-radius-medium);
+    word-break: break-all;
+    position: relative;
+}
+
+h2.memtitle:after {
+    content: "";
+    display: block;
+    background: var(--fragment-background);
+    height: var(--spacing-medium);
+    bottom: calc(0px - var(--spacing-medium));
+    left: 0;
+    right: -14px;
+    position: absolute;
+    border-top-right-radius: var(--border-radius-medium);
+}
+
+h2.memtitle > span.permalink {
+    font-size: inherit;
+}
+
+h2.memtitle > span.permalink > a {
+    text-decoration: none;
+    padding-left: 3px;
+    margin-right: -4px;
+    user-select: none;
+    display: inline-block;
+    margin-top: -6px;
+}
+
+h2.memtitle > span.permalink > a:hover {
+    color: var(--primary-dark-color) !important;
+}
+
+a:target + h2.memtitle, a:target + h2.memtitle + div.memitem {
+    border-color: var(--primary-light-color);
+}
+
+div.memitem {
+    border-top-right-radius: var(--border-radius-medium);
+    border-bottom-right-radius: var(--border-radius-medium);
+    border-bottom-left-radius: var(--border-radius-medium);
+    border-top-left-radius: 0;
+    overflow: hidden;
+    display: block !important;
+}
+
+div.memdoc {
+    border-radius: 0;
+}
+
+div.memproto {
+    border-radius: 0 var(--border-radius-small) 0 0;
+    overflow: auto;
+    border-bottom: 1px solid var(--separator-color);
+    padding: var(--spacing-medium);
+    margin-bottom: -1px;
+}
+
+div.memtitle {
+    border-top-right-radius: var(--border-radius-medium);
+    border-top-left-radius: var(--border-radius-medium);
+}
+
+div.memproto table.memname {
+    font-family: var(--font-family-monospace);
+    color: var(--page-foreground-color);
+    font-size: var(--memname-font-size);
+    text-shadow: none;
+}
+
+div.memproto div.memtemplate {
+    font-family: var(--font-family-monospace);
+    color: var(--primary-dark-color);
+    font-size: var(--memname-font-size);
+    margin-left: 2px;
+    text-shadow: none;
+}
+
+table.mlabels, table.mlabels > tbody {
+    display: block;
+}
+
+td.mlabels-left {
+    width: auto;
+}
+
+td.mlabels-right {
+    margin-top: 3px;
+    position: sticky;
+    left: 0;
+}
+
+table.mlabels > tbody > tr:first-child {
+    display: flex;
+    justify-content: space-between;
+    flex-wrap: wrap;
+}
+
+.memname, .memitem span.mlabels {
+    margin: 0
+}
+
+/*
+ reflist
+ */
+
+dl.reflist {
+    box-shadow: var(--box-shadow);
+    border-radius: var(--border-radius-medium);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    padding: 0;
+}
+
+
+dl.reflist dt, dl.reflist dd {
+    box-shadow: none;
+    text-shadow: none;
+    background-image: none;
+    border: none;
+    padding: 12px;
+}
+
+
+dl.reflist dt {
+    font-weight: 500;
+    border-radius: 0;
+    background: var(--code-background);
+    border-bottom: 1px solid var(--separator-color);
+    color: var(--page-foreground-color)
+}
+
+
+dl.reflist dd {
+    background: none;
+}
+
+/*
+ Table
+ */
+
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname),
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody {
+    display: inline-block;
+    max-width: 100%;
+}
+
+.contents > table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname):not(.classindex) {
+    margin-left: calc(0px - var(--spacing-large));
+    margin-right: calc(0px - var(--spacing-large));
+    max-width: calc(100% + 2 * var(--spacing-large));
+}
+
+table.fieldtable,
+table.markdownTable tbody,
+table.doxtable tbody {
+    border: none;
+    margin: var(--spacing-medium) 0;
+    box-shadow: 0 0 0 1px var(--separator-color);
+    border-radius: var(--border-radius-small);
+}
+
+table.markdownTable, table.doxtable, table.fieldtable {
+    padding: 1px;
+}
+
+table.doxtable caption {
+    display: block;
+}
+
+table.fieldtable {
+    border-collapse: collapse;
+    width: 100%;
+}
+
+th.markdownTableHeadLeft,
+th.markdownTableHeadRight,
+th.markdownTableHeadCenter,
+th.markdownTableHeadNone,
+table.doxtable th {
+    background: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+    font-weight: 600;
+    font-size: var(--page-font-size);
+}
+
+th.markdownTableHeadLeft:first-child,
+th.markdownTableHeadRight:first-child,
+th.markdownTableHeadCenter:first-child,
+th.markdownTableHeadNone:first-child,
+table.doxtable tr th:first-child {
+    border-top-left-radius: var(--border-radius-small);
+}
+
+th.markdownTableHeadLeft:last-child,
+th.markdownTableHeadRight:last-child,
+th.markdownTableHeadCenter:last-child,
+th.markdownTableHeadNone:last-child,
+table.doxtable tr th:last-child {
+    border-top-right-radius: var(--border-radius-small);
+}
+
+table.markdownTable td,
+table.markdownTable th,
+table.fieldtable td,
+table.fieldtable th,
+table.doxtable td,
+table.doxtable th {
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+table.markdownTable td:last-child,
+table.markdownTable th:last-child,
+table.fieldtable td:last-child,
+table.fieldtable th:last-child,
+table.doxtable td:last-child,
+table.doxtable th:last-child {
+    border-right: none;
+}
+
+table.markdownTable td:first-child,
+table.markdownTable th:first-child,
+table.fieldtable td:first-child,
+table.fieldtable th:first-child,
+table.doxtable td:first-child,
+table.doxtable th:first-child {
+    border-left: none;
+}
+
+table.markdownTable tr:first-child td,
+table.markdownTable tr:first-child th,
+table.fieldtable tr:first-child td,
+table.fieldtable tr:first-child th,
+table.doxtable tr:first-child td,
+table.doxtable tr:first-child th {
+    border-top: none;
+}
+
+table.markdownTable tr:last-child td,
+table.markdownTable tr:last-child th,
+table.fieldtable tr:last-child td,
+table.fieldtable tr:last-child th,
+table.doxtable tr:last-child td,
+table.doxtable tr:last-child th {
+    border-bottom: none;
+}
+
+table.markdownTable tr, table.doxtable tr {
+    border-bottom: 1px solid var(--separator-color);
+}
+
+table.markdownTable tr:last-child, table.doxtable tr:last-child {
+    border-bottom: none;
+}
+
+.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) {
+    display: block;
+}
+
+.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody {
+    display: table;
+    width: 100%;
+}
+
+table.fieldtable th {
+    font-size: var(--page-font-size);
+    font-weight: 600;
+    background-image: none;
+    background-color: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+}
+
+table.fieldtable td.fieldtype, .fieldtable td.fieldname, .fieldtable td.fieldinit, .fieldtable td.fielddoc, .fieldtable th {
+    border-bottom: 1px solid var(--separator-color);
+    border-right: 1px solid var(--separator-color);
+}
+
+table.fieldtable tr:last-child td:first-child {
+    border-bottom-left-radius: var(--border-radius-small);
+}
+
+table.fieldtable tr:last-child td:last-child {
+    border-bottom-right-radius: var(--border-radius-small);
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+    background-color: var(--primary-light-color);
+    box-shadow: none;
+}
+
+table.memberdecls {
+    display: block;
+    -webkit-tap-highlight-color: transparent;
+}
+
+table.memberdecls tr[class^='memitem'] {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+}
+
+table.memberdecls tr[class^='memitem'] .memTemplParams {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+    color: var(--primary-dark-color);
+    white-space: normal;
+}
+
+table.memberdecls tr.heading + tr[class^='memitem'] td.memItemLeft,
+table.memberdecls tr.heading + tr[class^='memitem'] td.memItemRight,
+table.memberdecls td.memItemLeft,
+table.memberdecls td.memItemRight,
+table.memberdecls .memTemplItemLeft,
+table.memberdecls .memTemplItemRight,
+table.memberdecls .memTemplParams {
+    transition: none;
+    padding-top: var(--spacing-small);
+    padding-bottom: var(--spacing-small);
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    background-color: var(--fragment-background);
+}
+
+@media screen and (min-width: 768px) {
+
+    tr.heading + tr[class^='memitem'] td.memItemRight, tr.groupHeader + tr[class^='memitem'] td.memItemRight, tr.inherit_header + tr[class^='memitem'] td.memItemRight {
+        border-top-right-radius: var(--border-radius-small);
+    }
+
+    table.memberdecls tr:last-child td.memItemRight, table.memberdecls tr:last-child td.mdescRight, table.memberdecls tr[class^='memitem']:has(+ tr.groupHeader) td.memItemRight, table.memberdecls tr[class^='memitem']:has(+ tr.inherit_header) td.memItemRight, table.memberdecls tr[class^='memdesc']:has(+ tr.groupHeader) td.mdescRight, table.memberdecls tr[class^='memdesc']:has(+ tr.inherit_header) td.mdescRight {
+        border-bottom-right-radius: var(--border-radius-small);
+    }
+
+    table.memberdecls tr:last-child td.memItemLeft, table.memberdecls tr:last-child td.mdescLeft, table.memberdecls tr[class^='memitem']:has(+ tr.groupHeader) td.memItemLeft, table.memberdecls tr[class^='memitem']:has(+ tr.inherit_header) td.memItemLeft, table.memberdecls tr[class^='memdesc']:has(+ tr.groupHeader) td.mdescLeft, table.memberdecls tr[class^='memdesc']:has(+ tr.inherit_header) td.mdescLeft {
+        border-bottom-left-radius: var(--border-radius-small);
+    }
+
+    tr.heading + tr[class^='memitem'] td.memItemLeft, tr.groupHeader + tr[class^='memitem'] td.memItemLeft, tr.inherit_header + tr[class^='memitem'] td.memItemLeft {
+        border-top-left-radius: var(--border-radius-small);
+    }
+
+}
+
+table.memname td.memname {
+    font-size: var(--memname-font-size);
+}
+
+table.memberdecls .memTemplItemLeft,
+table.memberdecls .template .memItemLeft,
+table.memberdecls .memTemplItemRight,
+table.memberdecls .template .memItemRight {
+    padding-top: 2px;
+}
+
+table.memberdecls .memTemplParams {
+    border-bottom: 0;
+    border-left: 1px solid var(--separator-color);
+    border-right: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-small) var(--border-radius-small) 0 0;
+    padding-bottom: var(--spacing-small);
+}
+
+table.memberdecls .memTemplItemLeft, table.memberdecls .template .memItemLeft {
+    border-radius: 0 0 0 var(--border-radius-small);
+    border-left: 1px solid var(--separator-color);
+    border-top: 0;
+}
+
+table.memberdecls .memTemplItemRight, table.memberdecls .template .memItemRight {
+    border-radius: 0 0 var(--border-radius-small) 0;
+    border-right: 1px solid var(--separator-color);
+    padding-left: 0;
+    border-top: 0;
+}
+
+table.memberdecls .memItemLeft {
+    border-radius: var(--border-radius-small) 0 0 var(--border-radius-small);
+    border-left: 1px solid var(--separator-color);
+    padding-left: var(--spacing-medium);
+    padding-right: 0;
+}
+
+table.memberdecls .memItemRight  {
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+    border-right: 1px solid var(--separator-color);
+    padding-right: var(--spacing-medium);
+    padding-left: 0;
+
+}
+
+table.memberdecls .mdescLeft, table.memberdecls .mdescRight {
+    background: none;
+    color: var(--page-foreground-color);
+    padding: var(--spacing-small) 0;
+    border: 0;
+}
+
+table.memberdecls [class^="memdesc"] {
+    box-shadow: none;
+}
+
+
+table.memberdecls .memItemLeft,
+table.memberdecls .memTemplItemLeft {
+    padding-right: var(--spacing-medium);
+}
+
+table.memberdecls .memSeparator {
+    background: var(--page-background-color);
+    height: var(--spacing-large);
+    border: 0;
+    transition: none;
+}
+
+table.memberdecls .groupheader {
+    margin-bottom: var(--spacing-large);
+}
+
+table.memberdecls .inherit_header td {
+    padding: 0 0 var(--spacing-medium) 0;
+    text-indent: -12px;
+    color: var(--page-secondary-foreground-color);
+}
+
+table.memberdecls span.dynarrow {
+    left: 10px;
+}
+
+table.memberdecls img[src="closed.png"],
+table.memberdecls img[src="open.png"],
+div.dynheader img[src="open.png"],
+div.dynheader img[src="closed.png"] {
+    width: 0; 
+    height: 0; 
+    border-left: 4px solid transparent;
+    border-right: 4px solid transparent;
+    border-top: 5px solid var(--primary-color);
+    margin-top: 8px;
+    display: block;
+    float: left;
+    margin-left: -10px;
+    transition: transform var(--animation-duration) ease-out;
+}
+
+tr.heading + tr[class^='memitem'] td.memItemLeft, tr.groupHeader + tr[class^='memitem'] td.memItemLeft, tr.inherit_header + tr[class^='memitem'] td.memItemLeft, tr.heading + tr[class^='memitem'] td.memItemRight, tr.groupHeader + tr[class^='memitem'] td.memItemRight, tr.inherit_header + tr[class^='memitem'] td.memItemRight {
+    border-top: 1px solid var(--separator-color);
+}
+
+table.memberdecls img {
+    margin-right: 10px;
+}
+
+table.memberdecls img[src="closed.png"],
+div.dynheader img[src="closed.png"] {
+    transform: rotate(-90deg);
+    
+}
+
+.compoundTemplParams {
+    font-family: var(--font-family-monospace);
+    color: var(--primary-dark-color);
+    font-size: var(--code-font-size);
+}
+
+@media screen and (max-width: 767px) {
+
+    table.memberdecls .memItemLeft,
+    table.memberdecls .memItemRight,
+    table.memberdecls .mdescLeft,
+    table.memberdecls .mdescRight,
+    table.memberdecls .memTemplItemLeft,
+    table.memberdecls .memTemplItemRight,
+    table.memberdecls .memTemplParams,
+    table.memberdecls .template .memItemLeft,
+    table.memberdecls .template .memItemRight,
+    table.memberdecls .template .memParams {
+        display: block;
+        text-align: left;
+        padding-left: var(--spacing-large);
+        margin: 0 calc(0px - var(--spacing-large)) 0 calc(0px - var(--spacing-large));
+        border-right: none;
+        border-left: none;
+        border-radius: 0;
+        white-space: normal;
+    }
+
+    table.memberdecls .memItemLeft,
+    table.memberdecls .mdescLeft,
+    table.memberdecls .memTemplItemLeft,
+    table.memberdecls .template .memItemLeft {
+        border-bottom: 0 !important;
+        padding-bottom: 0 !important;
+    }
+
+    table.memberdecls .memTemplItemLeft,
+    table.memberdecls .template .memItemLeft {
+        padding-top: 0;
+    }
+
+    table.memberdecls .mdescLeft {
+        margin-bottom: calc(0px - var(--page-font-size));
+    }
+
+    table.memberdecls .memItemRight, 
+    table.memberdecls .mdescRight,
+    table.memberdecls .memTemplItemRight,
+    table.memberdecls .template .memItemRight {
+        border-top: 0 !important;
+        padding-top: 0 !important;
+        padding-right: var(--spacing-large);
+        padding-bottom: var(--spacing-medium);
+        overflow-x: auto;
+    }
+
+    table.memberdecls tr[class^='memitem']:not(.inherit) {
+        display: block;
+        width: calc(100vw - 2 * var(--spacing-large));
+    }
+
+    table.memberdecls .mdescRight {
+        color: var(--page-foreground-color);
+    }
+
+    table.memberdecls tr.inherit {
+        visibility: hidden;
+    }
+
+    table.memberdecls tr[style="display: table-row;"] {
+        display: block !important;
+        visibility: visible;
+        width: calc(100vw - 2 * var(--spacing-large));
+        animation: fade .5s;
+    }
+
+    @keyframes fade {
+        0% {
+            opacity: 0;
+            max-height: 0;
+        }
+
+        100% {
+            opacity: 1;
+            max-height: 200px;
+        }
+    }
+
+    tr.heading + tr[class^='memitem'] td.memItemRight, tr.groupHeader + tr[class^='memitem'] td.memItemRight, tr.inherit_header + tr[class^='memitem'] td.memItemRight {
+        border-top-right-radius: 0;
+    }
+
+    table.memberdecls tr:last-child td.memItemRight, table.memberdecls tr:last-child td.mdescRight, table.memberdecls tr[class^='memitem']:has(+ tr.groupHeader) td.memItemRight, table.memberdecls tr[class^='memitem']:has(+ tr.inherit_header) td.memItemRight, table.memberdecls tr[class^='memdesc']:has(+ tr.groupHeader) td.mdescRight, table.memberdecls tr[class^='memdesc']:has(+ tr.inherit_header) td.mdescRight {
+        border-bottom-right-radius: 0;
+    }
+
+    table.memberdecls tr:last-child td.memItemLeft, table.memberdecls tr:last-child td.mdescLeft, table.memberdecls tr[class^='memitem']:has(+ tr.groupHeader) td.memItemLeft, table.memberdecls tr[class^='memitem']:has(+ tr.inherit_header) td.memItemLeft, table.memberdecls tr[class^='memdesc']:has(+ tr.groupHeader) td.mdescLeft, table.memberdecls tr[class^='memdesc']:has(+ tr.inherit_header) td.mdescLeft {
+        border-bottom-left-radius: 0;
+    }
+
+    tr.heading + tr[class^='memitem'] td.memItemLeft, tr.groupHeader + tr[class^='memitem'] td.memItemLeft, tr.inherit_header + tr[class^='memitem'] td.memItemLeft {
+        border-top-left-radius: 0;
+    }
+}
+
+
+/*
+ Horizontal Rule
+ */
+
+hr {
+    margin-top: var(--spacing-large);
+    margin-bottom: var(--spacing-large);
+    height: 1px;
+    background-color: var(--separator-color);
+    border: 0;
+}
+
+.contents hr {
+    box-shadow: 100px 0 var(--separator-color),
+                -100px 0 var(--separator-color),
+                500px 0 var(--separator-color),
+                -500px 0 var(--separator-color),
+                900px 0 var(--separator-color),
+                -900px 0 var(--separator-color),
+                1400px 0 var(--separator-color),
+                -1400px 0 var(--separator-color),
+                1900px 0 var(--separator-color),
+                -1900px 0 var(--separator-color);       
+}
+
+.contents img, .contents .center, .contents center, .contents div.image object {
+    max-width: 100%;
+    overflow: auto;
+}
+
+@media screen and (max-width: 767px) {
+    .contents .dyncontent > .center, .contents > center {
+        margin-left: calc(0px - var(--spacing-large));
+        margin-right: calc(0px - var(--spacing-large));
+        max-width: calc(100% + 2 * var(--spacing-large));
+    }
+}
+
+/*
+ Directories
+ */
+div.directory {
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    width: auto;
+}
+
+table.directory {
+    font-family: var(--font-family);
+    font-size: var(--page-font-size);
+    font-weight: normal;
+    width: 100%;
+}
+
+table.directory td.entry, table.directory td.desc {
+    padding: calc(var(--spacing-small) / 2) var(--spacing-small);
+    line-height: var(--table-line-height);
+}
+
+table.directory tr.even td:last-child {
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+}
+
+table.directory tr.even td:first-child {
+    border-radius: var(--border-radius-small) 0 0 var(--border-radius-small);
+}
+
+table.directory tr.even:last-child td:last-child {
+    border-radius: 0 var(--border-radius-small) 0 0;
+}
+
+table.directory tr.even:last-child td:first-child {
+    border-radius: var(--border-radius-small) 0 0 0;
+}
+
+table.directory td.desc {
+    min-width: 250px;
+}
+
+table.directory tr.even {
+    background-color: var(--odd-color);
+}
+
+table.directory tr.odd {
+    background-color: transparent;
+}
+
+.icona {
+    width: auto;
+    height: auto;
+    margin: 0 var(--spacing-small);
+}
+
+.icon {
+    background: var(--primary-color);
+    border-radius: var(--border-radius-small);
+    font-size: var(--page-font-size);
+    padding: calc(var(--page-font-size) / 5);
+    line-height: var(--page-font-size);
+    transform: scale(0.8);
+    height: auto;
+    width: var(--page-font-size);
+    user-select: none;
+}
+
+.iconfopen, .icondoc, .iconfclosed {
+    background-position: center;
+    margin-bottom: 0;
+    height: var(--table-line-height);
+}
+
+.icondoc {
+    filter: saturate(0.2);
+}
+
+@media screen and (max-width: 767px) {
+    div.directory {
+        margin-left: calc(0px - var(--spacing-large));
+        margin-right: calc(0px - var(--spacing-large));
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) .iconfopen, html:not(.light-mode) .iconfclosed {
+        filter: hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode .iconfopen, html.dark-mode .iconfclosed {
+    filter: hue-rotate(180deg) invert();
+}
+
+/*
+ Class list
+ */
+
+.classindex dl.odd {
+    background: var(--odd-color);
+    border-radius: var(--border-radius-small);
+}
+
+.classindex dl.even {
+    background-color: transparent;
+}
+
+/* 
+ Class Index Doxygen 1.8 
+*/
+
+table.classindex {
+    margin-left: 0;
+    margin-right: 0;
+    width: 100%;
+}
+
+table.classindex table div.ah {
+    background-image: none;
+    background-color: initial;
+    border-color: var(--separator-color);
+    color: var(--page-foreground-color);
+    box-shadow: var(--box-shadow);
+    border-radius: var(--border-radius-large);
+    padding: var(--spacing-small);
+}
+
+div.qindex {
+    background-color: var(--odd-color);
+    border-radius: var(--border-radius-small);
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-small) 0;
+}
+
+/*
+  Footer and nav-path
+ */
+
+#nav-path {
+    width: 100%;
+}
+
+#nav-path ul {
+    background-image: none;
+    background: var(--page-background-color);
+    border: none;
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 0;
+    font-size: var(--navigation-font-size);
+}
+
+img.footer {
+    width: 60px;
+}
+
+.navpath li.footer {
+    color: var(--page-secondary-foreground-color);
+}
+
+address.footer {
+    color: var(--page-secondary-foreground-color);
+    margin-bottom: var(--spacing-large);
+}
+
+#nav-path li.navelem {
+    background-image: none;
+    display: flex;
+    align-items: center;
+}
+
+.navpath li.navelem a {
+    text-shadow: none;
+    display: inline-block;
+    color: var(--primary-color) !important;
+}
+
+.navpath li.navelem a:hover {
+    text-shadow: none;
+}
+
+.navpath li.navelem b {
+    color: var(--primary-dark-color);
+    font-weight: 500;
+}
+
+li.navelem {
+    padding: 0;
+    margin-left: -8px;
+}
+
+li.navelem:first-child {
+    margin-left: var(--spacing-large);
+}
+
+li.navelem:first-child:before {
+    display: none;
+}
+
+#nav-path ul {
+    padding-left: 0;
+}
+
+#nav-path li.navelem:has(.el):after {
+    content: '';
+    border: 5px solid var(--page-background-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: translateY(-1px) scaleY(4.2);
+    z-index: 10;
+    margin-left: 6px;
+}
+
+#nav-path li.navelem:not(:has(.el)):after {
+    background: var(--page-background-color);
+    box-shadow: 1px -1px 0 1px var(--separator-color);
+    border-radius: 0 var(--border-radius-medium) 0 50px;
+}
+
+#nav-path li.navelem:not(:has(.el)) {
+    margin-left: 0;
+}
+
+#nav-path li.navelem:not(:has(.el)):hover, #nav-path li.navelem:not(:has(.el)):hover:after {
+    background-color: var(--separator-color);
+}
+
+#nav-path li.navelem:has(.el):before {
+    content: '';
+    border: 5px solid var(--separator-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: translateY(-1px) scaleY(3.2);
+    margin-right: var(--spacing-small);
+}
+
+.navpath li.navelem a:hover {
+    color: var(--primary-color);
+}
+
+/*
+ Scrollbars for Webkit
+*/
+
+#nav-tree::-webkit-scrollbar,
+div.fragment::-webkit-scrollbar,
+pre.fragment::-webkit-scrollbar,
+div.memproto::-webkit-scrollbar,
+.contents center::-webkit-scrollbar,
+.contents .center::-webkit-scrollbar,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar,
+div.contents .toc::-webkit-scrollbar,
+.contents .dotgraph::-webkit-scrollbar,
+.contents .tabs-overview-container::-webkit-scrollbar {
+    background: transparent;
+    width: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+    height: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+}
+
+#nav-tree::-webkit-scrollbar-thumb,
+div.fragment::-webkit-scrollbar-thumb,
+pre.fragment::-webkit-scrollbar-thumb,
+div.memproto::-webkit-scrollbar-thumb,
+.contents center::-webkit-scrollbar-thumb,
+.contents .center::-webkit-scrollbar-thumb,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-thumb,
+div.contents .toc::-webkit-scrollbar-thumb,
+.contents .dotgraph::-webkit-scrollbar-thumb,
+.contents .tabs-overview-container::-webkit-scrollbar-thumb {
+    background-color: transparent;
+    border: var(--webkit-scrollbar-padding) solid transparent;
+    border-radius: calc(var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+    background-clip: padding-box;  
+}
+
+#nav-tree:hover::-webkit-scrollbar-thumb,
+div.fragment:hover::-webkit-scrollbar-thumb,
+pre.fragment:hover::-webkit-scrollbar-thumb,
+div.memproto:hover::-webkit-scrollbar-thumb,
+.contents center:hover::-webkit-scrollbar-thumb,
+.contents .center:hover::-webkit-scrollbar-thumb,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody:hover::-webkit-scrollbar-thumb,
+div.contents .toc:hover::-webkit-scrollbar-thumb,
+.contents .dotgraph:hover::-webkit-scrollbar-thumb,
+.contents .tabs-overview-container:hover::-webkit-scrollbar-thumb {
+    background-color: var(--webkit-scrollbar-color);
+}
+
+#nav-tree::-webkit-scrollbar-track,
+div.fragment::-webkit-scrollbar-track,
+pre.fragment::-webkit-scrollbar-track,
+div.memproto::-webkit-scrollbar-track,
+.contents center::-webkit-scrollbar-track,
+.contents .center::-webkit-scrollbar-track,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-track,
+div.contents .toc::-webkit-scrollbar-track,
+.contents .dotgraph::-webkit-scrollbar-track,
+.contents .tabs-overview-container::-webkit-scrollbar-track {
+    background: transparent;
+}
+
+#nav-tree::-webkit-scrollbar-corner {
+    background-color: var(--side-nav-background);
+}
+
+#nav-tree,
+div.fragment,
+pre.fragment,
+div.memproto,
+.contents center,
+.contents .center,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody,
+div.contents .toc {
+    overflow-x: auto;
+    overflow-x: overlay;
+}
+
+#nav-tree {
+    overflow-x: auto;
+    overflow-y: auto;
+    overflow-y: overlay;
+}
+
+/*
+ Scrollbars for Firefox
+*/
+
+#nav-tree,
+div.fragment,
+pre.fragment,
+div.memproto,
+.contents center,
+.contents .center,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody,
+div.contents .toc,
+.contents .dotgraph,
+.contents .tabs-overview-container {
+    scrollbar-width: thin;
+}
+
+/*
+  Optional Dark mode toggle button
+*/
+
+doxygen-awesome-dark-mode-toggle {
+    display: inline-block;
+    margin: 0 0 0 var(--spacing-small);
+    padding: 0;
+    width: var(--searchbar-height);
+    height: var(--searchbar-height);
+    background: none;
+    border: none;
+    border-radius: var(--searchbar-border-radius);
+    vertical-align: middle;
+    text-align: center;
+    line-height: var(--searchbar-height);
+    font-size: 22px;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    user-select: none;
+    cursor: pointer;
+}
+
+doxygen-awesome-dark-mode-toggle > svg {
+    transition: transform var(--animation-duration) ease-in-out;
+}
+
+doxygen-awesome-dark-mode-toggle:active > svg {
+    transform: scale(.5);
+}
+
+doxygen-awesome-dark-mode-toggle:hover {
+    background-color: rgba(0,0,0,.03);
+}
+
+html.dark-mode doxygen-awesome-dark-mode-toggle:hover {
+    background-color: rgba(0,0,0,.18);
+}
+
+/*
+ Optional fragment copy button
+*/
+.doxygen-awesome-fragment-wrapper {
+    position: relative;
+}
+
+doxygen-awesome-fragment-copy-button {
+    opacity: 0;
+    background: var(--fragment-background);
+    width: 28px;
+    height: 28px;
+    position: absolute;
+    right: calc(var(--spacing-large) - (var(--spacing-large) / 2.5));
+    top: calc(var(--spacing-large) - (var(--spacing-large) / 2.5));
+    border: 1px solid var(--fragment-foreground);
+    cursor: pointer;
+    border-radius: var(--border-radius-small);
+    display: flex;
+    justify-content: center;
+    align-items: center;
+}
+
+.doxygen-awesome-fragment-wrapper:hover doxygen-awesome-fragment-copy-button, doxygen-awesome-fragment-copy-button.success {
+    opacity: .28;
+}
+
+doxygen-awesome-fragment-copy-button:hover, doxygen-awesome-fragment-copy-button.success {
+    opacity: 1 !important;
+}
+
+doxygen-awesome-fragment-copy-button:active:not([class~=success]) svg {
+    transform: scale(.91);
+}
+
+doxygen-awesome-fragment-copy-button svg {
+    fill: var(--fragment-foreground);
+    width: 18px;
+    height: 18px;
+}
+
+doxygen-awesome-fragment-copy-button.success svg {
+    fill: rgb(14, 168, 14);
+}
+
+doxygen-awesome-fragment-copy-button.success {
+    border-color: rgb(14, 168, 14);
+}
+
+@media screen and (max-width: 767px) {
+    .textblock > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .textblock li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .memdoc li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .memdoc > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    dl dd > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button {
+        right: 0;
+    }
+}
+
+/*
+ Optional paragraph link button
+*/
+
+a.anchorlink {
+    font-size: 90%;
+    margin-left: var(--spacing-small);
+    color: var(--page-foreground-color) !important;
+    text-decoration: none;
+    opacity: .15;
+    display: none;
+    transition: opacity var(--animation-duration) ease-in-out, color var(--animation-duration) ease-in-out;
+}
+
+a.anchorlink svg {
+    fill: var(--page-foreground-color);
+}
+
+h3 a.anchorlink svg, h4 a.anchorlink svg {
+    margin-bottom: -3px;
+    margin-top: -4px;
+}
+
+a.anchorlink:hover {
+    opacity: .45;
+}
+
+h2:hover a.anchorlink, h1:hover a.anchorlink, h3:hover a.anchorlink, h4:hover a.anchorlink  {
+    display: inline-block;
+}
+
+/*
+ Optional tab feature
+*/
+
+.tabbed > ul {
+    padding-inline-start: 0px;
+    margin: 0;
+    padding: var(--spacing-small) 0;
+}
+
+.tabbed > ul > li {
+    display: none;
+}
+
+.tabbed > ul > li.selected {
+    display: block;
+}
+
+.tabs-overview-container {
+    overflow-x: auto;
+    display: block;
+    overflow-y: visible;
+}
+
+.tabs-overview {
+    border-bottom: 1px solid var(--separator-color);
+    display: flex;
+    flex-direction: row;
+}
+
+@media screen and (max-width: 767px) {
+    .tabs-overview-container {
+        margin: 0 calc(0px - var(--spacing-large));
+    }
+    .tabs-overview {
+        padding: 0 var(--spacing-large)
+    }
+}
+
+.tabs-overview button.tab-button {
+    color: var(--page-foreground-color);
+    margin: 0;
+    border: none;
+    background: transparent;
+    padding: calc(var(--spacing-large) / 2) 0;
+    display: inline-block;
+    font-size: var(--page-font-size);
+    cursor: pointer;
+    box-shadow: 0 1px 0 0 var(--separator-color);
+    position: relative;
+    
+    -webkit-tap-highlight-color: transparent;
+}
+
+.tabs-overview button.tab-button .tab-title::before {
+    display: block;
+    content: attr(title);
+    font-weight: 600;
+    height: 0;
+    overflow: hidden;
+    visibility: hidden;
+}
+
+.tabs-overview button.tab-button .tab-title {
+    float: left;
+    white-space: nowrap;
+    font-weight: normal;
+    font-family: var(--font-family);
+    padding: calc(var(--spacing-large) / 2) var(--spacing-large);
+    border-radius: var(--border-radius-medium);
+    transition: background-color var(--animation-duration) ease-in-out, font-weight var(--animation-duration) ease-in-out;
+}
+
+.tabs-overview button.tab-button:not(:last-child) .tab-title {
+    box-shadow: 8px 0 0 -7px var(--separator-color);
+}
+
+.tabs-overview button.tab-button:hover .tab-title {
+    background: var(--separator-color);
+    box-shadow: none;
+}
+
+.tabs-overview button.tab-button.active .tab-title {
+    font-weight: 600;
+}
+
+.tabs-overview button.tab-button::after {
+    content: '';
+    display: block;
+    position: absolute;
+    left: 0;
+    bottom: 0;
+    right: 0;
+    height: 0;
+    width: 0%;
+    margin: 0 auto;
+    border-radius: var(--border-radius-small) var(--border-radius-small) 0 0;
+    background-color: var(--primary-color);
+    transition: width var(--animation-duration) ease-in-out, height var(--animation-duration) ease-in-out;
+}
+
+.tabs-overview button.tab-button.active::after {
+    width: 100%;
+    box-sizing: border-box;
+    height: 3px;
+}
+
+
+/*
+ Navigation Buttons
+*/
+
+.section_buttons:not(:empty) {
+    margin-top: calc(var(--spacing-large) * 3);
+}
+
+.section_buttons table.markdownTable {
+    display: block;
+    width: 100%;
+}
+
+.section_buttons table.markdownTable tbody {
+    display: table !important;
+    width: 100%;
+    box-shadow: none;
+    border-spacing: 10px;
+}
+
+.section_buttons table.markdownTable td {
+    padding: 0;
+}
+
+.section_buttons table.markdownTable th {
+    display: none;
+}
+
+.section_buttons table.markdownTable tr.markdownTableHead {
+    border: none;
+}
+
+.section_buttons tr th, .section_buttons tr td {
+    background: none;
+    border: none;
+    padding: var(--spacing-large) 0 var(--spacing-small);
+}
+
+.section_buttons a {
+    display: inline-block;
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium);
+    color: var(--page-secondary-foreground-color) !important;
+    text-decoration: none;
+    transition: color var(--animation-duration) ease-in-out, background-color var(--animation-duration) ease-in-out;
+}
+
+.section_buttons a:hover {
+    color: var(--page-foreground-color) !important;
+    background-color: var(--odd-color);
+}
+
+.section_buttons tr td.markdownTableBodyLeft a {
+    padding: var(--spacing-medium) var(--spacing-large) var(--spacing-medium) calc(var(--spacing-large) / 2);
+}
+
+.section_buttons tr td.markdownTableBodyRight a {
+    padding: var(--spacing-medium) calc(var(--spacing-large) / 2) var(--spacing-medium) var(--spacing-large);
+}
+
+.section_buttons tr td.markdownTableBodyLeft a::before,
+.section_buttons tr td.markdownTableBodyRight a::after {
+    color: var(--page-secondary-foreground-color) !important;
+    display: inline-block;
+    transition: color .08s ease-in-out, transform .09s ease-in-out;
+}
+
+.section_buttons tr td.markdownTableBodyLeft a::before {
+    content: '〈';
+    padding-right: var(--spacing-large);
+}
+
+
+.section_buttons tr td.markdownTableBodyRight a::after {
+    content: '〉';
+    padding-left: var(--spacing-large);
+}
+
+
+.section_buttons tr td.markdownTableBodyLeft a:hover::before {
+    color: var(--page-foreground-color) !important;
+    transform: translateX(-3px);
+}
+
+.section_buttons tr td.markdownTableBodyRight a:hover::after {
+    color: var(--page-foreground-color) !important;
+    transform: translateX(3px);
+}
+
+@media screen and (max-width: 450px) {
+    .section_buttons a {
+        width: 100%;
+        box-sizing: border-box;
+    }
+
+    .section_buttons tr td:nth-of-type(1).markdownTableBodyLeft a {
+        border-radius: var(--border-radius-medium) 0 0 var(--border-radius-medium);
+        border-right: none;
+    }
+
+    .section_buttons tr td:nth-of-type(2).markdownTableBodyRight a {
+        border-radius: 0 var(--border-radius-medium) var(--border-radius-medium) 0;
+    }
+}
+
+/* 
+ Bordered image
+*/
+
+html.dark-mode .darkmode_inverted_image img, /* < doxygen 1.9.3 */
+html.dark-mode .darkmode_inverted_image object[type="image/svg+xml"] /* doxygen 1.9.3 */ {
+    filter: brightness(89%) hue-rotate(180deg) invert();
+}
+
+.bordered_image {
+    border-radius: var(--border-radius-small);
+    border: 1px solid var(--separator-color);
+    display: inline-block;
+    overflow: hidden;
+}
+
+.bordered_image:empty {
+    border: none;
+}
+
+html.dark-mode .bordered_image img, /* < doxygen 1.9.3 */
+html.dark-mode .bordered_image object[type="image/svg+xml"] /* doxygen 1.9.3 */ {
+    border-radius: var(--border-radius-small);
+}
+
+/*
+ Button
+*/
+
+.primary-button {
+    display: inline-block;
+    cursor: pointer;
+    background: var(--primary-color);
+    color: var(--page-background-color) !important;
+    border-radius: var(--border-radius-medium);
+    padding: var(--spacing-small) var(--spacing-medium);
+    text-decoration: none;
+}
+
+.primary-button:hover {
+    background: var(--primary-dark-color);
+}

+ 28 - 0
graphs/footer.html

@@ -0,0 +1,28 @@
+<!-- HTML footer for doxygen 1.9.4-->
+<!-- start footer part -->
+<!--BEGIN GENERATE_TREEVIEW-->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    $navpath
+    <li class="footer">$generatedby <a href="https://www.doxygen.org/index.html"><img class="footer" src="$relpath^doxygen.svg" width="104" height="31" alt="doxygen"/></a> $doxygenversion </li>
+  </ul>
+</div>
+<!--END GENERATE_TREEVIEW-->
+<!--BEGIN !GENERATE_TREEVIEW-->
+<hr class="footer"/><address class="footer"><small>
+$generatedby&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="$relpath^doxygen.svg" width="104" height="31" alt="doxygen"/></a> $doxygenversion
+</small></address>
+<!--END !GENERATE_TREEVIEW-->
+<script>
+  mermaid.initialize({
+    startOnLoad: true,
+    theme: 'base', 
+    themeVariables: {
+      primaryColor: '#f4f4ff',
+      secondaryColor: 'rgba(244,244,255,0.9)',
+      tertiaryColor: '#F9FAFC',
+    },
+  });
+</script>
+</body>
+</html>

+ 75 - 0
graphs/header.html

@@ -0,0 +1,75 @@
+<!-- HTML header for doxygen 1.9.4-->
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen $doxygenversion"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
+<!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
+<link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
+<!--BEGIN DISABLE_INDEX-->
+  <!--BEGIN FULL_SIDEBAR-->
+<script type="text/javascript">var page_layout=1;</script>
+  <!--END FULL_SIDEBAR-->
+<!--END DISABLE_INDEX-->
+<script type="text/javascript" src="$relpath^jquery.js"></script>
+<script type="text/javascript" src="$relpath^dynsections.js"></script>
+$treeview
+$search
+$mathjax
+<link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
+<link href="https://fonts.googleapis.com/css2?family=Roboto:wght@300&family=Roboto:wght@400&family=Roboto:wght@500&display=swap" rel="stylesheet">
+$extrastylesheet
+</head>
+<body>
+<script src="https://cdn.jsdelivr.net/npm/mermaid/dist/mermaid.min.js"></script>
+<!--BEGIN DISABLE_INDEX-->
+  <!--BEGIN FULL_SIDEBAR-->
+<div id="side-nav" class="ui-resizable side-nav-resizable"><!-- do not remove this div, it is closed by doxygen! -->
+  <!--END FULL_SIDEBAR-->
+<!--END DISABLE_INDEX-->
+
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+
+<!--BEGIN TITLEAREA-->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <!--BEGIN PROJECT_LOGO-->
+  <td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"/></td>
+  <!--END PROJECT_LOGO-->
+  <!--BEGIN PROJECT_NAME-->
+  <td id="projectalign">
+   <div id="projectname">$projectname<!--BEGIN PROJECT_NUMBER--><span id="projectnumber">&#160;<code><a href="/doxygen-mermaid/index.html">$projectnumber</a></code></span><!--END PROJECT_NUMBER-->
+   </div>
+   <!--BEGIN PROJECT_BRIEF--><div id="projectbrief">$projectbrief</div><!--END PROJECT_BRIEF-->
+  </td>
+  <!--END PROJECT_NAME-->
+  <!--BEGIN !PROJECT_NAME-->
+   <!--BEGIN PROJECT_BRIEF-->
+    <td>
+    <div id="projectbrief">$projectbrief</div>
+    </td>
+   <!--END PROJECT_BRIEF-->
+  <!--END !PROJECT_NAME-->
+  <!--BEGIN DISABLE_INDEX-->
+   <!--BEGIN SEARCHENGINE-->
+     <!--BEGIN !FULL_SIDEBAR-->
+    <td>$searchbox</td>
+     <!--END !FULL_SIDEBAR-->
+   <!--END SEARCHENGINE-->
+  <!--END DISABLE_INDEX-->
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+  <!--BEGIN SEARCHENGINE-->
+   <!--BEGIN FULL_SIDEBAR-->
+   <tr><td colspan="2">$searchbox</td></tr>
+   <!--END FULL_SIDEBAR-->
+  <!--END SEARCHENGINE-->
+ </tbody>
+</table>
+</div>
+<!--END TITLEAREA-->
+<!-- end header part -->

+ 17 - 0
graphs/packet_rq.mmd

@@ -0,0 +1,17 @@
+---
+config:
+    packet: #with default value
+        rowHeight: 24
+        bitWidth: 48
+        bitsPerRow: 8
+        showBits: true
+        paddingX: 2
+        paddingY: 0
+---
+packet
+0: "Len"
+1: "MA"
+2: "SA"
+3: "FC"
++3: "DATA"
++1: "CRC8"

+ 17 - 0
graphs/packet_rs.mmd

@@ -0,0 +1,17 @@
+---
+config:
+    packet: #with default value
+        rowHeight: 24
+        bitWidth: 48
+        bitsPerRow: 8
+        showBits: true
+        paddingX: 2
+        paddingY: 0
+---
+packet
+0: "Len"
++1: "MA"
++1: "SA"
++1: "FC"
++3: "DATA"
++1: "CRC8"

+ 17 - 0
graphs/packet_rs_err.mmd

@@ -0,0 +1,17 @@
+---
+config:
+    packet: #with default value
+        rowHeight: 24
+        bitWidth: 48
+        bitsPerRow: 8
+        showBits: true
+        paddingX: 2
+        paddingY: 0
+---
+packet
+0: "Len"
++1: "MA"
++1: "SA"
++1: "FC+E"
++1: "EC"
++1: "CRC8"

+ 3 - 2
nbus-bridge.launch

@@ -11,6 +11,7 @@
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
     <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.incremental_flashing" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
@@ -37,12 +38,12 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="/home/juraj/Programming/gogs/nbus-bridge/Debug/st-link_gdbserver_log.txt"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="connect_under_reset"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="system_reset"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
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     <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/>