diff --git a/docs/c_docs.rst b/docs/c_docs.rst
new file mode 100644
index 0000000000..6527a569d5
--- /dev/null
+++ b/docs/c_docs.rst
@@ -0,0 +1,108 @@
+openpilot
+==========
+
+
+opendbc
+------
+.. autodoxygenindex::
+   :project: can
+
+
+
+cereal
+------
+
+messaging
+^^^^^^^^^
+.. autodoxygenindex::
+   :project: messaging
+
+visionipc
+^^^^^^^^^
+.. autodoxygenindex::
+   :project: visionipc
+
+
+
+selfdrive
+---------
+
+camerad
+^^^^^^^
+.. autodoxygenindex::
+   :project: cameras
+.. autodoxygenindex::
+   :project: transforms
+.. autodoxygenindex::
+   :project: imgproc
+.. autodoxygenindex::
+   :project: test
+
+locationd
+^^^^^^^^^
+.. autodoxygenindex::
+   :project: locationd
+.. autodoxygenindex::
+   :project: models
+
+ui
+^^
+.. autodoxygenindex::
+   :project: ui
+.. autodoxygenindex::
+   :project: soundd
+.. autodoxygenindex::
+   :project: navd
+.. autodoxygenindex::
+   :project: installer
+.. autodoxygenindex::
+   :project: replay
+
+qt
+""
+
+.. autodoxygenindex::
+   :project: setup
+
+.. autodoxygenindex::
+   :project: offroad
+.. autodoxygenindex::
+   :project: maps
+
+proclogd
+^^^^^^^^
+.. autodoxygenindex::
+   :project: proclogd
+
+modeld
+^^^^^^
+.. autodoxygenindex::
+   :project: transforms
+.. autodoxygenindex::
+   :project: models
+.. autodoxygenindex::
+   :project: thneed
+.. autodoxygenindex::
+   :project: runners
+
+common
+^^^^^^
+.. autodoxygenindex::
+   :project: common
+
+sensorsd
+^^^^^^^^
+.. autodoxygenindex::
+   :project: sensors
+
+boardd
+^^^^^^
+.. autodoxygenindex::
+   :project: boardd
+
+
+
+rednose
+-------
+.. autodoxygenindex::
+   :project: helpers
\ No newline at end of file
diff --git a/docs/conf.py b/docs/conf.py
index 0d33637a14..4f692c9277 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -14,10 +14,11 @@
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 #
 import os
+from os.path import exists
 import sys
 sys.path.insert(0, os.path.abspath('.'))
 sys.path.insert(0, os.path.abspath('..'))
-
+OPENPILOT_ROOT = os.path.abspath(r'../../') # from openpilot/build/docs
 
 
 # -- Project information -----------------------------------------------------
@@ -37,6 +38,7 @@ extensions = [
         'sphinx.ext.viewcode',  # Add view code link to modules
         'sphinx_rtd_theme',     # Read The Docs theme
         'myst_parser',          # Markdown parsing
+        'breathe',              # Doxygen C/C++ integration
 ]
 
 # Add any paths that contain templates here, relative to this directory.
@@ -48,6 +50,51 @@ templates_path = ['_templates']
 exclude_patterns = []
 
 
+# -- c docs configuration ---------------------------------------------------
+
+# Breathe Configuration
+# breathe_default_project = "c_docs"
+breathe_build_directory = f"{OPENPILOT_ROOT}/build/docs/html/xml"
+breathe_separate_member_pages = True
+breathe_default_members = ('members', 'private-members', 'undoc-members')
+breathe_domain_by_extension = {
+        "h" : "cc",
+        }
+breathe_implementation_filename_extensions = ['.c', '.cc', '.cpp']
+breathe_doxygen_config_options = {}
+breathe_projects_source  = {
+        # "loggerd" : ("../../../selfdrive/loggerd", ["logger.h"])
+        }
+
+# only document files that have accompanying .cc files next to them
+print("searching for c_docs...")
+for root, dirs, files in os.walk(OPENPILOT_ROOT):
+        found = False
+        breath_src = {}
+        breathe_srcs_list = []
+
+        for file in files:
+                ccFile = os.path.join(root, file)[:-2] +".cc"
+
+                if file.endswith(".h") and exists(ccFile):
+                        f = os.path.join(root, file)
+                        parent_dir = os.path.basename(os.path.dirname(f))
+                        parent_dir_abs = os.path.dirname(f)
+                        print(f"\tFOUND: {f} in {parent_dir} ({parent_dir_abs})")
+
+                        breathe_srcs_list.append(file)
+                        # breathe_srcs_list.append(ccFile)
+                        found = True
+
+                # print(f"\tbreathe_srcs_list: {breathe_srcs_list}")
+
+                if found:
+                        breath_src[parent_dir] = (parent_dir_abs, breathe_srcs_list)
+                        breathe_projects_source.update(breath_src)
+
+print(f"breathe_projects_source: {breathe_projects_source.keys()}")
+# input("Press Enter to continue...")
+
 # -- Options for HTML output -------------------------------------------------
 
 # The theme to use for HTML and HTML Help pages.  See the documentation for
diff --git a/docs/index.md b/docs/index.md
index 5a171ae91d..0fb2617a5b 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -28,8 +28,15 @@ overview.rst
 - {ref}`search`
 
 ```{toctree}
-:caption: 'Modules'
+:caption: 'Python API'
 :maxdepth: 2
 
 modules.rst
 ```
+
+```{toctree}
+:caption: 'C/C++ API'
+:maxdepth: 4
+
+c_docs.rst
+```
\ No newline at end of file