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

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

If you add new functions or modify headers:

# Rebuild Doxygen
doxygen Doxyfile