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Update Doxygen to 1.9.8
It appears that 1.9.7 had some regressions which broke subpage section labels. Upgrading to 1.9.8 should fix the issue and restore the missing device subpages.
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.github/workflows/docs.yml

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- name: Install Doxygen
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env:
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DOXYGEN_VERSION: 1.9.7
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DOXYGEN_VERSION: 1.9.8
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run: |
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wget -q https://www.doxygen.nl/files/doxygen-${{ env.DOXYGEN_VERSION }}.linux.bin.tar.gz
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tar -xf doxygen-${{ env.DOXYGEN_VERSION }}.linux.bin.tar.gz

docs/Doxyfile

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# Doxyfile 1.9.7
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# Doxyfile 1.9.8
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# This file describes the settings to be used by the documentation system
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# doxygen (www.doxygen.org) for a project.
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# The MARKDOWN_ID_STYLE tag can be used to specify the algorithm used to
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# generate identifiers for the Markdown headings. Note: Every identifier is
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# unique.
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# Possible values are: DOXYGEN Use a fixed 'autotoc_md' string followed by a
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# sequence number starting at 0. and GITHUB Use the lower case version of title
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# with any whitespace replaced by '-' and punctations characters removed..
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# Possible values are: DOXYGEN use a fixed 'autotoc_md' string followed by a
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# sequence number starting at 0 and GITHUB use the lower case version of title
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# with any whitespace replaced by '-' and punctuation characters removed.
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# The default value is: DOXYGEN.
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# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
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# Note the list of default checked file patterns might differ from the list of
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# default file extension mappings.
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#
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# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
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# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
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# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml,
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# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C
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# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd,
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# *.vhdl, *.ucf, *.qsf and *.ice.
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# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cxxm,
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# *.cpp, *.cppm, *.c++, *.c++m, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl,
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# *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, *.h++, *.ixx, *.l, *.cs, *.d, *.php,
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# *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be
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# provided as doxygen C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
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# *.f18, *.f, *.for, *.vhd, *.vhdl, *.ucf, *.qsf and *.ice.
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FILE_PATTERNS = *.c \
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*.cc \
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HTML_DYNAMIC_SECTIONS = NO
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# If the HTML_CODE_FOLDING tag is set to YES then classes and functions can be
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# dynamically folded and expanded in the generated HTML source code.
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# The default value is: YES.
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# This tag requires that the tag GENERATE_HTML is set to YES.
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HTML_CODE_FOLDING = YES
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# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
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# shown in the various tree structured indices initially; the user can expand
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# and collapse entries dynamically later on. Doxygen will expand the tree to
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USE_PDFLATEX = YES
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# The LATEX_BATCHMODE tag ignals the behavior of LaTeX in case of an error.
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# The LATEX_BATCHMODE tag signals the behavior of LaTeX in case of an error.
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# Possible values are: NO same as ERROR_STOP, YES same as BATCH, BATCH In batch
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# mode nothing is printed on the terminal, errors are scrolled as if <return> is
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# hit at every error; missing files that TeX tries to input or request from
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GENERATE_AUTOGEN_DEF = NO
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#---------------------------------------------------------------------------
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# Configuration options related to Sqlite3 output
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#---------------------------------------------------------------------------
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# If the GENERATE_SQLITE3 tag is set to YES doxygen will generate a Sqlite3
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# database with symbols found by doxygen stored in tables.
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# The default value is: NO.
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GENERATE_SQLITE3 = NO
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# The SQLITE3_OUTPUT tag is used to specify where the Sqlite3 database will be
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# put. If a relative path is entered the value of OUTPUT_DIRECTORY will be put
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# in front of it.
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# The default directory is: sqlite3.
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# This tag requires that the tag GENERATE_SQLITE3 is set to YES.
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SQLITE3_OUTPUT = sqlite3
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# The SQLITE3_OVERWRITE_DB tag is set to YES, the existing doxygen_sqlite3.db
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# database file will be recreated with each doxygen run. If set to NO, doxygen
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# will warn if an a database file is already found and not modify it.
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# The default value is: YES.
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# This tag requires that the tag GENERATE_SQLITE3 is set to YES.
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SQLITE3_RECREATE_DB = YES
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#---------------------------------------------------------------------------
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# Configuration options related to the Perl module output
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#---------------------------------------------------------------------------
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GENERATE_TAGFILE =
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# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
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# the class index. If set to NO, only the inherited external classes will be
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# listed.
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# If the ALLEXTERNALS tag is set to YES, all external classes and namespaces
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# will be listed in the class and namespace index. If set to NO, only the
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# inherited external classes will be listed.
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# The default value is: NO.
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ALLEXTERNALS = NO
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# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
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# in the modules index. If set to NO, only the current project's groups will be
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# in the topic index. If set to NO, only the current project's groups will be
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# listed.
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# The default value is: YES.
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# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
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# graph for each documented class showing the direct and indirect implementation
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# dependencies (inheritance, containment, and class references variables) of the
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# class with other documented classes.
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# class with other documented classes. Explicit enabling a collaboration graph,
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# when COLLABORATION_GRAPH is set to NO, can be accomplished by means of the
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# command \collaborationgraph. Disabling a collaboration graph can be
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# accomplished by means of the command \hidecollaborationgraph.
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# The default value is: YES.
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# This tag requires that the tag HAVE_DOT is set to YES.
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COLLABORATION_GRAPH = YES
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# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
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# groups, showing the direct groups dependencies. See also the chapter Grouping
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# in the manual.
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# groups, showing the direct groups dependencies. Explicit enabling a group
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# dependency graph, when GROUP_GRAPHS is set to NO, can be accomplished by means
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# of the command \groupgraph. Disabling a directory graph can be accomplished by
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# means of the command \hidegroupgraph. See also the chapter Grouping in the
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# manual.
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# The default value is: YES.
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# This tag requires that the tag HAVE_DOT is set to YES.
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# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
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# YES then doxygen will generate a graph for each documented file showing the
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# direct and indirect include dependencies of the file with other documented
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# files.
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# files. Explicit enabling an include graph, when INCLUDE_GRAPH is is set to NO,
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# can be accomplished by means of the command \includegraph. Disabling an
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# include graph can be accomplished by means of the command \hideincludegraph.
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# The default value is: YES.
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# This tag requires that the tag HAVE_DOT is set to YES.
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# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
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# set to YES then doxygen will generate a graph for each documented file showing
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# the direct and indirect include dependencies of the file with other documented
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# files.
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# files. Explicit enabling an included by graph, when INCLUDED_BY_GRAPH is set
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# to NO, can be accomplished by means of the command \includedbygraph. Disabling
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# an included by graph can be accomplished by means of the command
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# \hideincludedbygraph.
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# The default value is: YES.
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# This tag requires that the tag HAVE_DOT is set to YES.
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# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
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# dependencies a directory has on other directories in a graphical way. The
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# dependency relations are determined by the #include relations between the
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# files in the directories.
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# files in the directories. Explicit enabling a directory graph, when
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# DIRECTORY_GRAPH is set to NO, can be accomplished by means of the command
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# \directorygraph. Disabling a directory graph can be accomplished by means of
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# the command \hidedirectorygraph.
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# The default value is: YES.
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# This tag requires that the tag HAVE_DOT is set to YES.
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