diff --git a/include/sta/enum_flags.hpp b/include/sta/enum_flags.hpp
index 0ef7101..c480698 100644
--- a/include/sta/enum_flags.hpp
+++ b/include/sta/enum_flags.hpp
@@ -21,7 +21,15 @@ namespace sta
 		using flag_type = F;    /**< Enum type used for flag bits */
 
 	public:
+		/**
+		 * @brief Default constructor.
+		 */
 		EnumFlags();
+		/**
+		 * @brief Copy constructor.
+		 *
+		 * @param other Flags to copy
+		 */
 		EnumFlags(const EnumFlags & other);
 		/**
 		 * @brief Construct from single flag.
@@ -75,22 +83,62 @@ namespace sta
 		// Operator overloads
 		//
 
-		// Comparison
+		/**
+		 * @brief Equal to operator.
+		 *
+		 * @param rhs   Flags to compare
+		 * @return      True if flags are equal
+		 */
 		bool operator ==(const EnumFlags & rhs) const;
+		/**
+		 * @brief Not equal to operator.
+		 *
+		 * @param rhs   Flags to compare
+		 * @return      True if flags are not equal
+		 */
 		bool operator !=(const EnumFlags & rhs) const;
 
-		// Bitwise operators
+		/**
+		 * @brief Bitwise AND operator.
+		 *
+		 * @param rhs   Other flags
+		 * @return      Result of bitwise AND
+		 */
 		EnumFlags operator &(const EnumFlags & rhs) const;
+		/**
+		 * @brief Bitwise OR operator.
+		 *
+		 * @param rhs   Other flags
+		 * @return      Result of bitwise OR
+		 */
 		EnumFlags operator |(const EnumFlags & rhs) const;
 
-		// Assignment
+		/**
+		 * @brief Bitwise AND assignment operator.
+		 *
+		 * @param rhs   Other flags
+		 * @return      Reference to this
+		 */
 		EnumFlags & operator &=(const EnumFlags & rhs);
+		/**
+		 * @brief Bitwise OR assignment operator.
+		 *
+		 * @param rhs   Other flags
+		 * @return      Reference to this
+		 */
 		EnumFlags & operator |=(const EnumFlags & rhs);
 
-		// Conversion
+		/**
+		 * @brief Explicitly convert flags to uint32_t.
+		 */
 		explicit operator uint32_t();
 
 	private:
+		/**
+		 * @brief Construct from uint32_t flags.
+		 *
+		 * @param flags Flags
+		 */
 		EnumFlags(uint32_t flags);
 
 	private:
diff --git a/include/sta/fifo_buffer.hpp b/include/sta/fifo_buffer.hpp
index b0db3a8..e9fc768 100644
--- a/include/sta/fifo_buffer.hpp
+++ b/include/sta/fifo_buffer.hpp
@@ -14,11 +14,26 @@ namespace sta
 	class FifoBuffer
 	{
 	public:
+		/**
+		 * @brief FIFO size type.
+		 */
 		using size_type = Size;
+		/**
+		 * @brief Max number of bytes in FIFO.
+		 */
 		static constexpr size_type MAX_SIZE = N;
 
 	public:
+		/**
+		 * @brief Construct empty FIFO buffer.
+		 */
 		FifoBuffer();
+		/**
+		 * @brief Construct FIFO buffer with initial data.
+		 *
+		 * @param buffer    Source buffer
+		 * @param size      Buffer size
+		 */
 		FifoBuffer(const uint8_t * buffer, Size size);
 
 		/**
diff --git a/include/sta/intf/can/controller.hpp b/include/sta/intf/can/controller.hpp
index f666a2b..389dee0 100644
--- a/include/sta/intf/can/controller.hpp
+++ b/include/sta/intf/can/controller.hpp
@@ -7,20 +7,15 @@
 
 /**
  * @defgroup can CAN
- * @brief CAN Controller interface definition.
+ * @brief CAN controller driver interface.
  */
 
 /**
  * @defgroup canAPI API
  * @ingroup can
- * @brief Public library interface.
+ * @brief Public interface.
  */
 
-/**
- * @defgroup canBuildConfig Build config
- * @ingroup can
- * @brief Build configuration options.
- */
 
 #include <sta/intf/can/filter.hpp>
 #include <sta/intf/can/headers.hpp>
diff --git a/include/sta/intf/can/id.hpp b/include/sta/intf/can/id.hpp
index 7c1d653..4a453e3 100644
--- a/include/sta/intf/can/id.hpp
+++ b/include/sta/intf/can/id.hpp
@@ -57,10 +57,46 @@ namespace sta
 	// Comparison operators
 	//
 
+	/**
+	 * @brief Equal to operator.
+	 *
+	 * @param lhs   Left hand side CAN ID
+	 * @param rhs   Right hand side CAN ID
+	 * @return      True if CAN IDs are equal
+	 *
+	 * @ingroup canID
+	 */
 	bool operator ==(const CanId & lhs, const CanId & rhs);
+	/**
+	 * @brief Not equal to operator.
+	 *
+	 * @param lhs   Left hand side CAN ID
+	 * @param rhs   Right hand side CAN ID
+	 * @return      True if CAN IDs are not equal
+	 *
+	 * @ingroup canID
+	 */
 	bool operator !=(const CanId & lhs, const CanId & rhs);
 
+	/**
+	 * @brief Equal to operator.
+	 *
+	 * @param lhs   Left hand side CAN Frame ID
+	 * @param rhs   Right hand side CAN Frame ID
+	 * @return      True if CAN Frame IDs are equal
+	 *
+	 * @ingroup canID
+	 */
 	bool operator ==(const CanFrameId & lhs, const CanFrameId & rhs);
+	/**
+	 * @brief Not equal to operator.
+	 *
+	 * @param lhs   Left hand side CAN Frame ID
+	 * @param rhs   Right hand side CAN Frame ID
+	 * @return      True if CAN Frame IDs are not equal
+	 *
+	 * @ingroup canID
+	 */
 	bool operator !=(const CanFrameId & lhs, const CanFrameId & rhs);
 } // namespace sta
 
diff --git a/include/sta/intf/spi_interface.hpp b/include/sta/intf/spi_interface.hpp
index 8ba7962..047df2d 100644
--- a/include/sta/intf/spi_interface.hpp
+++ b/include/sta/intf/spi_interface.hpp
@@ -20,7 +20,6 @@ namespace sta
 	{
 	public:
 		/**
-		 * @param settings  SPI interface settings
 		 * @param mutex     Mutex object for managing shared access. Pass nullptr for no access control
 		 */
 		SpiInterface(Mutex * mutex = nullptr);
diff --git a/include/sta/intf/time.hpp b/include/sta/intf/time.hpp
index 3ef23f2..2dd772a 100644
--- a/include/sta/intf/time.hpp
+++ b/include/sta/intf/time.hpp
@@ -9,7 +9,17 @@
 
 namespace sta
 {
+	/**
+	 * @brief Signature for millisecond precision time.
+	 *
+	 * @return Time in milliseconds
+	 */
 	using TimeMsFn = uint32_t (*)();
+	/**
+	 * @brief Signature for microseconds precision time.
+	 *
+	 * @return Time in microseconds
+	 */
 	using TimeUsFn = uint32_t (*)();
 } // namespace sta
 
diff --git a/include/sta/printable_uart.hpp b/include/sta/printable_uart.hpp
index b3d3be0..38c2912 100644
--- a/include/sta/printable_uart.hpp
+++ b/include/sta/printable_uart.hpp
@@ -90,7 +90,7 @@ namespace sta
 		 * @brief Print string.
 		 *
 		 * @param str       String buffer
-		 * @parma length    String length
+		 * @param length    String length
 		 */
 		void print(const char * str, size_t length);
 
@@ -155,7 +155,7 @@ namespace sta
 		 * @brief Print string followed by a new-line.
 		 *
 		 * @param str       String buffer
-		 * @parma length    String length
+		 * @param length    String length
 		 */
 		void println(const char * str, size_t length);
 
diff --git a/include/sta/spi_device.hpp b/include/sta/spi_device.hpp
index 88770cb..fad753d 100644
--- a/include/sta/spi_device.hpp
+++ b/include/sta/spi_device.hpp
@@ -20,8 +20,8 @@ namespace sta
 	{
 	public:
 		/**
-		 * @param intf  SPI hardware interface
-		 * @param pin   Chip select pin
+		 * @param intf      SPI hardware interface
+		 * @param csPin     Chip select pin
 		 */
 		SpiDevice(SpiInterface * intf, GpioPin * csPin);
 
@@ -51,7 +51,7 @@ namespace sta
 		 *
 		 * @param value     16-bit value
 		 */
-		void transfer16(uint16_t data);
+		void transfer16(uint16_t value);
 		/**
 		 * @brief Send data from buffer.
 		 *