# API Reference

The firmware C code is documented with Doxygen.

## Key Headers

| Header | What it does |
|--------|--------------|
| `app_context.h` | Global state struct (`AppContext_S`) |
| `motor_map.h` | Motor IDs and CAN bus assignments |
| `can_interface.h` | Low-level CAN communication |
| `scheduler.h` | Thread scheduling utilities |
| `seqlock.h` | Lock-free read/write for shared data |
| `onnx.h` | ONNX model inference |

## Building the Docs

```bash
cd docs
doxygen Doxyfile
# Output is in output/html/index.html
```

## Regenerating After Code Changes

If you add new functions or modify headers:

```bash
# Rebuild Doxygen
doxygen Doxyfile
```