diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index fabde3b0..1a0958f9 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -62,6 +62,6 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - name: Doxygen Action
-        uses: mattnotmitt/doxygen-action@v1.9.5
+        uses: mattnotmitt/doxygen-action@v1.9.8
         with:
           working-directory: 'docs/'
diff --git a/docs/Doxyfile b/docs/Doxyfile
index c67e49f5..11a7527f 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -1,4 +1,4 @@
-# Doxyfile 1.9.5
+# Doxyfile 1.10.0
 
 # This file describes the settings to be used by the documentation system
 # doxygen (www.doxygen.org) for a project.
@@ -48,7 +48,7 @@ PROJECT_NAME           = esp-nimble-cpp
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.4.1
+PROJECT_NUMBER         = 2.0.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
@@ -63,6 +63,12 @@ PROJECT_BRIEF          =
 
 PROJECT_LOGO           =
 
+# With the PROJECT_ICON tag one can specify an icon that is included in the tabs
+# when the HTML document is shown. Doxygen will copy the logo to the output
+# directory.
+
+PROJECT_ICON           =
+
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
 # into which the generated documentation will be written. If a relative path is
 # entered, it will be relative to the location where doxygen was started. If
@@ -86,7 +92,7 @@ CREATE_SUBDIRS         = NO
 # level increment doubles the number of directories, resulting in 4096
 # directories at level 8 which is the default and also the maximum value. The
 # sub-directories are organized in 2 levels, the first level always has a fixed
-# numer of 16 directories.
+# number of 16 directories.
 # Minimum value: 0, maximum value: 8, default value: 8.
 # This tag requires that the tag CREATE_SUBDIRS is set to YES.
 
@@ -363,6 +369,17 @@ MARKDOWN_SUPPORT       = YES
 
 TOC_INCLUDE_HEADINGS   = 5
 
+# The MARKDOWN_ID_STYLE tag can be used to specify the algorithm used to
+# generate identifiers for the Markdown headings. Note: Every identifier is
+# unique.
+# Possible values are: DOXYGEN use a fixed 'autotoc_md' string followed by a
+# sequence number starting at 0 and GITHUB use the lower case version of title
+# with any whitespace replaced by '-' and punctuation characters removed.
+# The default value is: DOXYGEN.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+MARKDOWN_ID_STYLE      = GITHUB
+
 # When enabled doxygen tries to link words that correspond to documented
 # classes, or namespaces to their corresponding documentation. Such a link can
 # be prevented in individual cases by putting a % sign in front of the word or
@@ -487,6 +504,14 @@ LOOKUP_CACHE_SIZE      = 0
 
 NUM_PROC_THREADS       = 1
 
+# If the TIMESTAMP tag is set different from NO then each generated page will
+# contain the date or date and time when the page was generated. Setting this to
+# NO can help when comparing the output of multiple runs.
+# Possible values are: YES, NO, DATETIME and DATE.
+# The default value is: NO.
+
+TIMESTAMP              = NO
+
 #---------------------------------------------------------------------------
 # Build related configuration options
 #---------------------------------------------------------------------------
@@ -568,7 +593,8 @@ HIDE_UNDOC_MEMBERS     = YES
 # If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
 # undocumented classes that are normally visible in the class hierarchy. If set
 # to NO, these classes will be included in the various overviews. This option
-# has no effect if EXTRACT_ALL is enabled.
+# will also hide undocumented C++ concepts if enabled. This option has no effect
+# if EXTRACT_ALL is enabled.
 # The default value is: NO.
 
 HIDE_UNDOC_CLASSES     = YES
@@ -859,14 +885,29 @@ WARN_IF_INCOMPLETE_DOC = YES
 
 WARN_NO_PARAMDOC       = NO
 
+# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about
+# undocumented enumeration values. If set to NO, doxygen will accept
+# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: NO.
+
+WARN_IF_UNDOC_ENUM_VAL = NO
+
 # If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
 # a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
 # then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
 # at the end of the doxygen process doxygen will return with a non-zero status.
-# Possible values are: NO, YES and FAIL_ON_WARNINGS.
+# If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS_PRINT then doxygen behaves
+# like FAIL_ON_WARNINGS but in case no WARN_LOGFILE is defined doxygen will not
+# write the warning messages in between other messages but write them at the end
+# of a run, in case a WARN_LOGFILE is defined the warning messages will be
+# besides being in the defined file also be shown at the end of a run, unless
+# the WARN_LOGFILE is defined as - i.e. standard output (stdout) in that case
+# the behavior will remain as with the setting FAIL_ON_WARNINGS.
+# Possible values are: NO, YES, FAIL_ON_WARNINGS and FAIL_ON_WARNINGS_PRINT.
 # The default value is: NO.
 
-WARN_AS_ERROR          = YES
+WARN_AS_ERROR          = NO
 
 # The WARN_FORMAT tag determines the format of the warning messages that doxygen
 # can produce. The string should contain the $file, $line, and $text tags, which
@@ -943,12 +984,12 @@ INPUT_FILE_ENCODING    =
 # Note the list of default checked file patterns might differ from the list of
 # default file extension mappings.
 #
-# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
-# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
-# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml,
-# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C
-# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd,
-# *.vhdl, *.ucf, *.qsf and *.ice.
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cxxm,
+# *.cpp, *.cppm, *.ccm, *.c++, *.c++m, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl,
+# *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, *.h++, *.ixx, *.l, *.cs, *.d,
+# *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to
+# be provided as doxygen C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
+# *.f18, *.f, *.for, *.vhd, *.vhdl, *.ucf, *.qsf and *.ice.
 
 FILE_PATTERNS          = *.c \
                          *.cc \
@@ -1034,9 +1075,6 @@ EXCLUDE_PATTERNS       =
 # output. The symbol name can be a fully qualified name, a word, or if the
 # wildcard * is used, a substring. Examples: ANamespace, AClass,
 # ANamespace::AClass, ANamespace::*Test
-#
-# Note that the wildcards are matched against the file with absolute path, so to
-# exclude all test directories use the pattern */test/*
 
 EXCLUDE_SYMBOLS        =
 
@@ -1150,7 +1188,8 @@ FORTRAN_COMMENT_AFTER  = 72
 SOURCE_BROWSER         = NO
 
 # Setting the INLINE_SOURCES tag to YES will include the body of functions,
-# classes and enums directly into the documentation.
+# multi-line macros, enums or list initialized variables directly into the
+# documentation.
 # The default value is: NO.
 
 INLINE_SOURCES         = NO
@@ -1222,46 +1261,6 @@ USE_HTAGS              = NO
 
 VERBATIM_HEADERS       = YES
 
-# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
-# clang parser (see:
-# http://clang.llvm.org/) for more accurate parsing at the cost of reduced
-# performance. This can be particularly helpful with template rich C++ code for
-# which doxygen's built-in parser lacks the necessary type information.
-# Note: The availability of this option depends on whether or not doxygen was
-# generated with the -Duse_libclang=ON option for CMake.
-# The default value is: NO.
-
-CLANG_ASSISTED_PARSING = NO
-
-# If the CLANG_ASSISTED_PARSING tag is set to YES and the CLANG_ADD_INC_PATHS
-# tag is set to YES then doxygen will add the directory of each input to the
-# include path.
-# The default value is: YES.
-# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
-
-CLANG_ADD_INC_PATHS    = YES
-
-# If clang assisted parsing is enabled you can provide the compiler with command
-# line options that you would normally use when invoking the compiler. Note that
-# the include paths will already be set by doxygen for the files and directories
-# specified with INPUT and INCLUDE_PATH.
-# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
-
-CLANG_OPTIONS          =
-
-# If clang assisted parsing is enabled you can provide the clang parser with the
-# path to the directory containing a file called compile_commands.json. This
-# file is the compilation database (see:
-# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the
-# options used when the source files were built. This is equivalent to
-# specifying the -p option to a clang tool, such as clang-check. These options
-# will then be passed to the parser. Any options specified with CLANG_OPTIONS
-# will be added as well.
-# Note: The availability of this option depends on whether or not doxygen was
-# generated with the -Duse_libclang=ON option for CMake.
-
-CLANG_DATABASE_PATH    =
-
 #---------------------------------------------------------------------------
 # Configuration options related to the alphabetical class index
 #---------------------------------------------------------------------------
@@ -1273,10 +1272,11 @@ CLANG_DATABASE_PATH    =
 
 ALPHABETICAL_INDEX     = YES
 
-# In case all classes in a project start with a common prefix, all classes will
-# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
-# can be used to specify a prefix (or a list of prefixes) that should be ignored
-# while generating the index headers.
+# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes)
+# that should be ignored while generating the index headers. The IGNORE_PREFIX
+# tag works for classes, function and member names. The entity will be placed in
+# the alphabetical list under the first letter of the entity name that remains
+# after removing the prefix.
 # This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
 
 IGNORE_PREFIX          =
@@ -1355,7 +1355,12 @@ HTML_STYLESHEET        =
 # Doxygen will copy the style sheet files to the output directory.
 # Note: The order of the extra style sheet files is of importance (e.g. the last
 # style sheet in the list overrules the setting of the previous ones in the
-# list). For an example see the documentation.
+# list).
+# Note: Since the styling of scrollbars can currently not be overruled in
+# Webkit/Chromium, the styling will be left out of the default doxygen.css if
+# one or more extra stylesheets have been specified. So if scrollbar
+# customization is desired it has to be added explicitly. For an example see the
+# documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
 HTML_EXTRA_STYLESHEET  =
@@ -1371,17 +1376,13 @@ HTML_EXTRA_STYLESHEET  =
 HTML_EXTRA_FILES       =
 
 # The HTML_COLORSTYLE tag can be used to specify if the generated HTML output
-# should be rendered with a dark or light theme. Default setting AUTO_LIGHT
-# enables light output unless the user preference is dark output. Other options
-# are DARK to always use dark mode, LIGHT to always use light mode, AUTO_DARK to
-# default to dark mode unless the user prefers light mode, and TOGGLE to let the
-# user toggle between dark and light mode via a button.
-# Possible values are: LIGHT Always generate light output., DARK Always generate
-# dark output., AUTO_LIGHT Automatically set the mode according to the user
-# preference, use light mode if no preference is set (the default)., AUTO_DARK
-# Automatically set the mode according to the user preference, use dark mode if
-# no preference is set. and TOGGLE Allow to user to switch between light and
-# dark mode via a button..
+# should be rendered with a dark or light theme.
+# Possible values are: LIGHT always generate light mode output, DARK always
+# generate dark mode output, AUTO_LIGHT automatically set the mode according to
+# the user preference, use light mode if no preference is set (the default),
+# AUTO_DARK automatically set the mode according to the user preference, use
+# dark mode if no preference is set and TOGGLE allow to user to switch between
+# light and dark mode via a button.
 # The default value is: AUTO_LIGHT.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
@@ -1417,15 +1418,6 @@ HTML_COLORSTYLE_SAT    = 100
 
 HTML_COLORSTYLE_GAMMA  = 80
 
-# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
-# page will contain the date and time when the page was generated. Setting this
-# to YES can help to show when doxygen was last run and thus if the
-# documentation is up to date.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_TIMESTAMP         = NO
-
 # If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
 # documentation will contain a main index with vertical navigation menus that
 # are dynamically created via JavaScript. If disabled, the navigation index will
@@ -1445,6 +1437,33 @@ HTML_DYNAMIC_MENUS     = YES
 
 HTML_DYNAMIC_SECTIONS  = NO
 
+# If the HTML_CODE_FOLDING tag is set to YES then classes and functions can be
+# dynamically folded and expanded in the generated HTML source code.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_CODE_FOLDING      = YES
+
+# If the HTML_COPY_CLIPBOARD tag is set to YES then doxygen will show an icon in
+# the top right corner of code and text fragments that allows the user to copy
+# its content to the clipboard. Note this only works if supported by the browser
+# and the web page is served via a secure context (see:
+# https://www.w3.org/TR/secure-contexts/), i.e. using the https: or file:
+# protocol.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COPY_CLIPBOARD    = YES
+
+# Doxygen stores a couple of settings persistently in the browser (via e.g.
+# cookies). By default these settings apply to all HTML pages generated by
+# doxygen across all projects. The HTML_PROJECT_COOKIE tag can be used to store
+# the settings under a project specific key, such that the user preferences will
+# be stored separately.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_PROJECT_COOKIE    =
+
 # With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
 # shown in the various tree structured indices initially; the user can expand
 # and collapse entries dynamically later on. Doxygen will expand the tree to
@@ -1575,6 +1594,16 @@ BINARY_TOC             = NO
 
 TOC_EXPAND             = NO
 
+# The SITEMAP_URL tag is used to specify the full URL of the place where the
+# generated documentation will be placed on the server by the user during the
+# deployment of the documentation. The generated sitemap is called sitemap.xml
+# and placed on the directory specified by HTML_OUTPUT. In case no SITEMAP_URL
+# is specified no sitemap is generated. For information about the sitemap
+# protocol see https://www.sitemaps.org
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SITEMAP_URL            =
+
 # If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
 # QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
 # can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
@@ -1811,8 +1840,8 @@ MATHJAX_RELPATH        = https://cdn.jsdelivr.net/npm/mathjax@2
 
 # The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
 # extension names that should be enabled during MathJax rendering. For example
-# for MathJax version 2 (see https://docs.mathjax.org/en/v2.7-latest/tex.html
-# #tex-and-latex-extensions):
+# for MathJax version 2 (see
+# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions):
 # MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
 # For example for MathJax version 3 (see
 # http://docs.mathjax.org/en/latest/input/tex/extensions/index.html):
@@ -2063,9 +2092,16 @@ PDF_HYPERLINKS         = YES
 
 USE_PDFLATEX           = YES
 
-# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
-# command to the generated LaTeX files. This will instruct LaTeX to keep running
-# if errors occur, instead of asking the user for help.
+# The LATEX_BATCHMODE tag signals the behavior of LaTeX in case of an error.
+# Possible values are: NO same as ERROR_STOP, YES same as BATCH, BATCH In batch
+# mode nothing is printed on the terminal, errors are scrolled as if <return> is
+# hit at every error; missing files that TeX tries to input or request from
+# keyboard input (\read on a not open input stream) cause the job to abort,
+# NON_STOP In nonstop mode the diagnostic message will appear on the terminal,
+# but there is no possibility of user interaction just like in batch mode,
+# SCROLL In scroll mode, TeX will stop only for missing files to input or if
+# keyboard input is necessary and ERROR_STOP In errorstop mode, TeX will stop at
+# each error, asking for user intervention.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
@@ -2086,14 +2122,6 @@ LATEX_HIDE_INDICES     = NO
 
 LATEX_BIB_STYLE        = plain
 
-# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
-# page will contain the date and time when the page was generated. Setting this
-# to NO can help when comparing the output of multiple runs.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_TIMESTAMP        = NO
-
 # The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
 # path from which the emoji images will be read. If a relative path is entered,
 # it will be relative to the LATEX_OUTPUT directory. If left blank the
@@ -2259,7 +2287,7 @@ DOCBOOK_OUTPUT         = docbook
 #---------------------------------------------------------------------------
 
 # If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
-# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
+# AutoGen Definitions (see https://autogen.sourceforge.net/) file that captures
 # the structure of the code including all documentation. Note that this feature
 # is still experimental and incomplete at the moment.
 # The default value is: NO.
@@ -2270,6 +2298,28 @@ GENERATE_AUTOGEN_DEF   = NO
 # Configuration options related to Sqlite3 output
 #---------------------------------------------------------------------------
 
+# If the GENERATE_SQLITE3 tag is set to YES doxygen will generate a Sqlite3
+# database with symbols found by doxygen stored in tables.
+# The default value is: NO.
+
+GENERATE_SQLITE3       = NO
+
+# The SQLITE3_OUTPUT tag is used to specify where the Sqlite3 database will be
+# put. If a relative path is entered the value of OUTPUT_DIRECTORY will be put
+# in front of it.
+# The default directory is: sqlite3.
+# This tag requires that the tag GENERATE_SQLITE3 is set to YES.
+
+SQLITE3_OUTPUT         = sqlite3
+
+# The SQLITE3_RECREATE_DB tag is set to YES, the existing doxygen_sqlite3.db
+# database file will be recreated with each doxygen run. If set to NO, doxygen
+# will warn if a database file is already found and not modify it.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_SQLITE3 is set to YES.
+
+SQLITE3_RECREATE_DB    = YES
+
 #---------------------------------------------------------------------------
 # Configuration options related to the Perl module output
 #---------------------------------------------------------------------------
@@ -2418,15 +2468,15 @@ TAGFILES               =
 
 GENERATE_TAGFILE       =
 
-# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
-# the class index. If set to NO, only the inherited external classes will be
-# listed.
+# If the ALLEXTERNALS tag is set to YES, all external classes and namespaces
+# will be listed in the class and namespace index. If set to NO, only the
+# inherited external classes will be listed.
 # The default value is: NO.
 
 ALLEXTERNALS           = NO
 
 # If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
-# in the modules index. If set to NO, only the current project's groups will be
+# in the topic index. If set to NO, only the current project's groups will be
 # listed.
 # The default value is: YES.
 
@@ -2440,16 +2490,9 @@ EXTERNAL_GROUPS        = YES
 EXTERNAL_PAGES         = YES
 
 #---------------------------------------------------------------------------
-# Configuration options related to the dot tool
+# Configuration options related to diagram generator tools
 #---------------------------------------------------------------------------
 
-# You can include diagrams made with dia in doxygen documentation. Doxygen will
-# then run dia to produce the diagram and insert it in the documentation. The
-# DIA_PATH tag allows you to specify the directory where the dia binary resides.
-# If left empty dia is assumed to be found in the default search path.
-
-DIA_PATH               =
-
 # If set to YES the inheritance and collaboration graphs will hide inheritance
 # and usage relations if the target is undocumented or is not a class.
 # The default value is: YES.
@@ -2458,7 +2501,7 @@ HIDE_UNDOC_RELATIONS   = YES
 
 # If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
 # available from the path. This tool is part of Graphviz (see:
-# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# https://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
 # Bell Labs. The other options in this section have no effect if this option is
 # set to NO
 # The default value is: NO.
@@ -2511,13 +2554,19 @@ DOT_NODE_ATTR          = "shape=box,height=0.2,width=0.4"
 
 DOT_FONTPATH           =
 
-# If the CLASS_GRAPH tag is set to YES (or GRAPH) then doxygen will generate a
-# graph for each documented class showing the direct and indirect inheritance
-# relations. In case HAVE_DOT is set as well dot will be used to draw the graph,
-# otherwise the built-in generator will be used. If the CLASS_GRAPH tag is set
-# to TEXT the direct and indirect inheritance relations will be shown as texts /
-# links.
-# Possible values are: NO, YES, TEXT and GRAPH.
+# If the CLASS_GRAPH tag is set to YES or GRAPH or BUILTIN then doxygen will
+# generate a graph for each documented class showing the direct and indirect
+# inheritance relations. In case the CLASS_GRAPH tag is set to YES or GRAPH and
+# HAVE_DOT is enabled as well, then dot will be used to draw the graph. In case
+# the CLASS_GRAPH tag is set to YES and HAVE_DOT is disabled or if the
+# CLASS_GRAPH tag is set to BUILTIN, then the built-in generator will be used.
+# If the CLASS_GRAPH tag is set to TEXT the direct and indirect inheritance
+# relations will be shown as texts / links. Explicit enabling an inheritance
+# graph or choosing a different representation for an inheritance graph of a
+# specific class, can be accomplished by means of the command \inheritancegraph.
+# Disabling an inheritance graph can be accomplished by means of the command
+# \hideinheritancegraph.
+# Possible values are: NO, YES, TEXT, GRAPH and BUILTIN.
 # The default value is: YES.
 
 CLASS_GRAPH            = TEXT
@@ -2525,15 +2574,21 @@ CLASS_GRAPH            = TEXT
 # If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
 # graph for each documented class showing the direct and indirect implementation
 # dependencies (inheritance, containment, and class references variables) of the
-# class with other documented classes.
+# class with other documented classes. Explicit enabling a collaboration graph,
+# when COLLABORATION_GRAPH is set to NO, can be accomplished by means of the
+# command \collaborationgraph. Disabling a collaboration graph can be
+# accomplished by means of the command \hidecollaborationgraph.
 # The default value is: YES.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
 COLLABORATION_GRAPH    = YES
 
 # If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
-# groups, showing the direct groups dependencies. See also the chapter Grouping
-# in the manual.
+# groups, showing the direct groups dependencies. Explicit enabling a group
+# dependency graph, when GROUP_GRAPHS is set to NO, can be accomplished by means
+# of the command \groupgraph. Disabling a directory graph can be accomplished by
+# means of the command \hidegroupgraph. See also the chapter Grouping in the
+# manual.
 # The default value is: YES.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2575,8 +2630,8 @@ DOT_UML_DETAILS        = NO
 
 # The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters
 # to display on a single line. If the actual line length exceeds this threshold
-# significantly it will wrapped across multiple lines. Some heuristics are apply
-# to avoid ugly line breaks.
+# significantly it will be wrapped across multiple lines. Some heuristics are
+# applied to avoid ugly line breaks.
 # Minimum value: 0, maximum value: 1000, default value: 17.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2593,7 +2648,9 @@ TEMPLATE_RELATIONS     = NO
 # If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
 # YES then doxygen will generate a graph for each documented file showing the
 # direct and indirect include dependencies of the file with other documented
-# files.
+# files. Explicit enabling an include graph, when INCLUDE_GRAPH is is set to NO,
+# can be accomplished by means of the command \includegraph. Disabling an
+# include graph can be accomplished by means of the command \hideincludegraph.
 # The default value is: YES.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2602,7 +2659,10 @@ INCLUDE_GRAPH          = YES
 # If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
 # set to YES then doxygen will generate a graph for each documented file showing
 # the direct and indirect include dependencies of the file with other documented
-# files.
+# files. Explicit enabling an included by graph, when INCLUDED_BY_GRAPH is set
+# to NO, can be accomplished by means of the command \includedbygraph. Disabling
+# an included by graph can be accomplished by means of the command
+# \hideincludedbygraph.
 # The default value is: YES.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2642,7 +2702,10 @@ GRAPHICAL_HIERARCHY    = YES
 # If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
 # dependencies a directory has on other directories in a graphical way. The
 # dependency relations are determined by the #include relations between the
-# files in the directories.
+# files in the directories. Explicit enabling a directory graph, when
+# DIRECTORY_GRAPH is set to NO, can be accomplished by means of the command
+# \directorygraph. Disabling a directory graph can be accomplished by means of
+# the command \hidedirectorygraph.
 # The default value is: YES.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2658,7 +2721,7 @@ DIR_GRAPH_MAX_DEPTH    = 1
 # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
 # generated by dot. For an explanation of the image formats see the section
 # output formats in the documentation of the dot tool (Graphviz (see:
-# http://www.graphviz.org/)).
+# https://www.graphviz.org/)).
 # Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
 # to make the SVG files visible in IE 9+ (other browsers do not have this
 # requirement).
@@ -2695,11 +2758,12 @@ DOT_PATH               =
 
 DOTFILE_DIRS           =
 
-# The MSCFILE_DIRS tag can be used to specify one or more directories that
-# contain msc files that are included in the documentation (see the \mscfile
-# command).
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
+# then run dia to produce the diagram and insert it in the documentation. The
+# DIA_PATH tag allows you to specify the directory where the dia binary resides.
+# If left empty dia is assumed to be found in the default search path.
 
-MSCFILE_DIRS           =
+DIA_PATH               =
 
 # The DIAFILE_DIRS tag can be used to specify one or more directories that
 # contain dia files that are included in the documentation (see the \diafile
@@ -2776,3 +2840,19 @@ GENERATE_LEGEND        = YES
 # The default value is: YES.
 
 DOT_CLEANUP            = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. If the MSCGEN_TOOL tag is left empty (the default), then doxygen will
+# use a built-in version of mscgen tool to produce the charts. Alternatively,
+# the MSCGEN_TOOL tag can also specify the name an external tool. For instance,
+# specifying prog as the value, doxygen will call the tool as prog -T
+# <outfile_format> -o <outputfile> <inputfile>. The external tool should support
+# output file formats "png", "eps", "svg", and "ismap".
+
+MSCGEN_TOOL            =
+
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the \mscfile
+# command).
+
+MSCFILE_DIRS           =
diff --git a/docs/Migration_guide.md b/docs/Migration_guide.md
index 8f76a7de..3b82921a 100644
--- a/docs/Migration_guide.md
+++ b/docs/Migration_guide.md
@@ -20,12 +20,11 @@ For more information on the improvements and additions please refer to the [clas
     * [Remote characteristics](#remote-characteristics)
     * [Client Callbacks](#client-callbacks)
     * [Security](#client-security)
-* [Scanning](#scan-api)
+* [BLE scan](#ble-scan)
 * [General Security](#security-api)
 * [Configuration](#arduino-configuration)
 <br/>
 
-<a name="general-information"></a>
 ## General Information
 
 ### Header Files
@@ -51,7 +50,6 @@ As this parameter is optional no changes to existing code are needed, it is ment
 `BLEAddress::getNative` is now named `NimBLEAddress::getBase` and returns a pointer to `const ble_addr_t` instead of a pointer to the address value.  
 <br/>
 
-<a name="server-api"></a>
 ## Server API
 Creating a `BLEServer` instance is the same as original, no changes required.
 For example `BLEDevice::createServer()` will work just as it did before.
@@ -81,13 +79,11 @@ onMTUChange(uint16_t MTU, NimBLEConnInfo& connInfo)
 **Note:** All callback methods have default implementations which allows the application to implement only the methods applicable.  
 <br/>
 
-<a name="services"></a>
 ### Services
 Creating a `BLEService` (`NimBLEService`) instance is the same as original, no changes required.
 For example `BLEServer::createService(SERVICE_UUID)` will work just as it did before.  
 <br/>
 
-<a name="characteristics"></a>
 ### Characteristics
 `BLEService::createCharacteristic` (`NimBLEService::createCharacteristic`) is used the same way as originally except the properties parameter has changed.
 
@@ -137,7 +133,6 @@ BLECharacteristic *pCharacteristic = pService->createCharacteristic(
 ```
 <br/>
 
-<a name="characteristic-callbacks"></a>
 #### Characteristic callbacks
 
 `BLECharacteristicCallbacks` (`NimBLECharacteristicCallbacks`) has a new method `NimBLECharacteristicCallbacks::onSubscribe` which is called when a client subscribes to notifications/indications.
@@ -169,7 +164,6 @@ my_struct_t myStruct = pChr->getValue<my_struct_t>();
 ```
 <br/>
 
-<a name="descriptors"></a>
 ### Descriptors
 
 Descriptors are now created using the `NimBLECharacteristic::createDescriptor` method.
@@ -197,7 +191,7 @@ NimBLEDescriptor* createDescriptor(NimBLEUUID uuid,
                                    NIMBLE_PROPERTY::WRITE,
                                    uint16_t max_len = 100);
 ```
-##### Example
+#### Example
 ```
 pDescriptor = pCharacteristic->createDescriptor("ABCD",
                                                 NIMBLE_PROPERTY::READ |
@@ -212,7 +206,6 @@ For the 0x2904, there is a specialized class that is created through `NimBLEChar
 functions for handling the data expect in the Characteristic Presentation Format Descriptor specification.  
 <br/>
 
-<a name="descriptor-callbacks"></a>
 #### Descriptor callbacks
 
 > `BLEDescriptorCallbacks::onRead` (`NimBLEDescriptorCallbacks::onRead`)
@@ -221,7 +214,6 @@ functions for handling the data expect in the Characteristic Presentation Format
 The above descriptor callbacks take an additional (required) parameter `NimBLEConnInfo& connInfo`, which contains the connection information of the peer.
 <br/>
 
-<a name="server-security"></a>
 ### Server Security
 Security is set on the characteristic or descriptor properties by applying one of the following:
 > NIMBLE_PROPERTY::READ_ENC  
@@ -238,7 +230,6 @@ When a peer wants to read or write a characteristic or descriptor with any of th
 This can be changed to use passkey authentication or numeric comparison. See [Security API](#security-api) for details.  
 <br/>
 
-<a name="advertising-api"></a>
 ## Advertising API
 Advertising works the same as the original API except:
 
@@ -251,7 +242,6 @@ Calling `NimBLEAdvertising::setAdvertisementData` will entirely replace any data
 Now takes 2 optional parameters, the first is the duration to advertise for (in milliseconds), the second `NimBLEAddress` to direct advertising to a specific device.  
 <br/>
 
-<a name="client-api"></a>
 ## Client API
 
 Client instances are created just as before with `BLEDevice::createClient` (`NimBLEDevice::createClient`).
@@ -284,7 +274,6 @@ Also now returns a pointer to `std::vector` instead of `std::map`.
 **Added:** `NimBLEClient::discoverAttributes` for the user to discover all the peripheral attributes to replace the the removed automatic functionality.  
 <br/>
 
-<a name="remote-services"></a>
 ### Remote Services
 `BLERemoteService` (`NimBLERemoteService`) Methods remain mostly unchanged with the exceptions of:
 
@@ -299,7 +288,6 @@ This method now takes an optional (bool) parameter to indicate if the characteri
 Also now returns a pointer to `std::vector` instead of `std::map`.  
 <br/>
 
-<a name="remote-characteristics"></a>
 ### Remote Characteristics
 `BLERemoteCharacteristic` (`NimBLERemoteCharacteristic`)
  There have been a few changes to the methods in this class:
@@ -349,7 +337,6 @@ This method now takes an optional (bool) parameter to indicate if the descriptor
 Also now returns a pointer to `std::vector` instead of `std::map`.  
 <br/>
 
-<a name="client-callbacks"></a>
 ### Client callbacks
 
 > `BLEClientCallbacks::onDisconnect` (`NimBLEClientCallbacks::onDisconnect`)
@@ -357,13 +344,11 @@ Also now returns a pointer to `std::vector` instead of `std::map`.
 This now takes a second parameter `int reason` which provides the reason code for disconnection.  
 <br/>
 
-<a name="client-security"></a>
 ### Client Security
 The client will automatically initiate security when the peripheral responds that it's required.
 The default configuration will use "just-works" pairing with no bonding, if you wish to enable bonding see below.  
 <br/>
 
-<a name="scan-api"></a>
 ## BLE Scan
 The scan API is mostly unchanged from the original except for `NimBLEScan::start`, which has the following changes:  
 * The duration parameter is now in milliseconds instead of seconds.
@@ -373,7 +358,6 @@ The scan API is mostly unchanged from the original except for `NimBLEScan::start
  The blocking overload of `NimBLEScan::start` has been replaced by an overload of `NimBLEScan::getResults` with the same parameters. 
 <br/>
 
-<a name="security-api"></a>
 ## Security API
 Security operations have been moved to `BLEDevice` (`NimBLEDevice`).  
 The security callback methods are now incorporated in the `NimBLEServerCallbacks` / `NimBLEClientCallbacks` classes.
@@ -423,7 +407,6 @@ If we are the initiator of the security procedure this sets the keys we will dis
 Sets the keys we are willing to accept from the peer during pairing.  
 <br/>
 
-<a name="arduino-configuration"></a>
 ## Arduino Configuration
 
 Unlike the original library pre-packaged in the esp32-arduino, this library has all the configuration options that are normally set in menuconfig available in the *src/nimconfig.h* file.
diff --git a/docs/New_user_guide.md b/docs/New_user_guide.md
index 506a368b..a08dfd58 100644
--- a/docs/New_user_guide.md
+++ b/docs/New_user_guide.md
@@ -21,7 +21,6 @@ If you're not creating a server or do not want to advertise a name, simply pass
 This can be called any time you wish to use BLE functions and does not need to be called from app_main(IDF) or setup(Arduino) but usually is.  
 <br/>
 
-<a name="creating-a-server"></a>
 ## Creating a Server
 BLE servers perform 2 tasks, they advertise their existence for clients to find them and they provide services which contain information for the connecting client.  
 
@@ -137,7 +136,6 @@ Now if you scan with your phone using nRFConnect or any other BLE app you should
 For more advanced features and options please see the server examples in the examples folder.  
 <br/>
 
-<a name="creating-a-client"></a>
 ## Creating a Client 
 
 BLE clients perform 2 tasks, they scan for advertising servers and form connections to them to read and write to their characteristics/descriptors.
diff --git a/docs/index.md b/docs/index.md
index 094d5946..1b729c1a 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -14,7 +14,7 @@ It is more suited to resource constrained devices than bluedroid and has now bee
 <br/>
 
 # ESP-IDF Installation
-### v4.0+
+## v4.0+
 Download as .zip and extract or clone into the components folder in your esp-idf project.
 
 Run menuconfig, go to `Component config->Bluetooth` enable Bluetooth and in `Bluetooth host` NimBLE.