diff --git a/Pipfile b/Pipfile
index 2cf24e9cc7..5879ce09a9 100644
--- a/Pipfile
+++ b/Pipfile
@@ -29,6 +29,7 @@ reverse_geocoder = "*"
 scipy = "*"
 sphinx = "*"
 sphinx-rtd-theme = "*"
+breathe = "*"
 subprocess32 = "*"
 tenacity = "*"
 
diff --git a/Pipfile.lock b/Pipfile.lock
index 67ea043bba..bd7b9085af 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "3b697db3796ed6f0954ee08eda0b01913add0b5aa83f9f0e484182923fdbc3c2"
+            "sha256": "c9e828f81e737214b3b61a090c34abac03486acf95e461e20f3ba1c08af1aa23"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -998,7 +998,7 @@
                 "sha256:4ca091dea149f945ec56afb48dae714f21e8692ef22a395223bcd328961b6a0e",
                 "sha256:7f001e5ac290a0c0401508864c7ec868be4e701886d5b573a9528ed3973d9d3b"
             ],
-            "markers": "python_version >= '3.6'",
+            "markers": "python_version < '3.10'",
             "version": "==4.0.1"
         },
         "urllib3": {
@@ -1135,6 +1135,14 @@
             "markers": "python_version >= '3.6'",
             "version": "==3.2.0"
         },
+        "breathe": {
+            "hashes": [
+                "sha256:19faef9d63c39acb3026eeaf6e6fdc5edb95334ed36fe0c627b358d6a2d5e0da",
+                "sha256:925eeff96c6640cd857e4ddeae6f75464a1d5e2e08ee56dccce4043583ae2050"
+            ],
+            "index": "pypi",
+            "version": "==4.31.0"
+        },
         "certifi": {
             "hashes": [
                 "sha256:78884e7c1d4b00ce3cea67b44566851c4343c120abd683433ce934a68ea58872",
@@ -1615,6 +1623,14 @@
             "markers": "python_version ~= '3.6'",
             "version": "==0.2.8"
         },
+        "mdurl": {
+            "hashes": [
+                "sha256:40654d6dcb8d21501ed13c21cc0bd6fc42ff07ceb8be30029e5ae63ebc2ecfda",
+                "sha256:94873a969008ee48880fb21bad7de0349fef529f3be178969af5817239e9b990"
+            ],
+            "markers": "python_version >= '3.6'",
+            "version": "==0.1.0"
+        },
         "mypy": {
             "hashes": [
                 "sha256:088cd9c7904b4ad80bec811053272986611b84221835e079be5bcad029e79dd9",
@@ -2202,7 +2218,7 @@
                 "sha256:4ca091dea149f945ec56afb48dae714f21e8692ef22a395223bcd328961b6a0e",
                 "sha256:7f001e5ac290a0c0401508864c7ec868be4e701886d5b573a9528ed3973d9d3b"
             ],
-            "markers": "python_version >= '3.6'",
+            "markers": "python_version < '3.10'",
             "version": "==4.0.1"
         },
         "urllib3": {
diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile
index 3444e31a61..124feb1bfc 100644
--- a/docs/docker/Dockerfile
+++ b/docs/docker/Dockerfile
@@ -34,6 +34,7 @@ COPY ./*.md ${OPENPILOT_PATH}/
 
 RUN scons -j$(nproc)
 
+RUN apt update && apt install doxygen -y
 COPY ./docs ${OPENPILOT_PATH}/docs
 RUN git init .
 WORKDIR ${OPENPILOT_PATH}/docs
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 1072c1caaf..9c8606022a 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -27,6 +27,7 @@ brew "openssl"
 brew "pyenv"
 brew "qt@5"
 brew "zeromq"
+brew "doxygen"
 cask "gcc-arm-embedded"
 EOS
 
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 6ad7931b56..b64c7cac3e 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -69,7 +69,8 @@ function install_ubuntu_common_requirements() {
     libqt5svg5-dev \
     libqt5x11extras5-dev \
     libreadline-dev \
-    libdw1
+    libdw1 \
+    doxygen
 }
 
 # Install Ubuntu 21.10 packages