diff --git a/docs/doxygen-dark-theme/LICENSE b/docs/doxygen-dark-theme/LICENSE
new file mode 100644
index 0000000..06e856f
--- /dev/null
+++ b/docs/doxygen-dark-theme/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2019 Tilen Majerle
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/docs/doxygen-dark-theme/README.md b/docs/doxygen-dark-theme/README.md
new file mode 100644
index 0000000..e014f23
--- /dev/null
+++ b/docs/doxygen-dark-theme/README.md
@@ -0,0 +1,29 @@
+# Doxygen dark theme
+
+Theme implements dark colors implementation for doxygen documentation generator.
+Selected colors are inspiration from Sublime Text syntax highligher for C language.
+
+## Demo
+
+Demo of the dark theme is available at https://majerle.eu/documentation/esp_at/html/index.html
+
+# How to use it
+
+Usage is very simple. You just need to modify your doxygen input file
+
+```
+# Add files to extra stylesheet
+
+HTML_EXTRA_STYLESHEET  = "custom.css" \
+                         "custom_dark_theme.css"
+```
+
+If you wish to use custom made HTML header and footer, enable this feature with
+
+```
+# Custom header
+HTML_HEADER            = "html_header.html"
+
+# Custom footer
+HTML_FOOTER            = "html_footer.html"
+```
diff --git a/docs/doxygen-dark-theme/custom.css b/docs/doxygen-dark-theme/custom.css
new file mode 100644
index 0000000..ac39ccb
--- /dev/null
+++ b/docs/doxygen-dark-theme/custom.css
@@ -0,0 +1,338 @@
+div.fragment, pre.fragment {
+	margin: 0;
+	padding: 4px;
+}
+
+/*********************************************/
+/**               Main content              **/
+/*********************************************/
+.contents {
+	margin: 10px auto !important;
+	padding: 0 10px;
+	max-width: 1200px;
+}
+
+/*********************************************/
+/**               Inline code               **/
+/*********************************************/
+p code,
+li code,
+td code,
+dd code {
+	display: inline;
+	padding: 0px 6px;
+	-webkit-border-radius: 4px;
+	-moz-border-radius: 4px;
+	border-radius: 4px;
+
+	background-color: #CCCCCC;
+	border: 1px solid #333333;
+
+	color: #333333;
+}
+
+/*********************************************/
+/**         Table of Contents (ToC)         **/
+/*********************************************/
+div.toc {
+	margin: 0 !important;
+	border-radius: 4px !important;
+}
+
+div.toc h3 {
+	font-size: 150%;
+	color: inherit;
+}
+
+/*********************************************/
+/**              Content table              **/
+/*********************************************/
+.contents table.doxtable {
+	margin: 0 auto;
+}
+
+/*********************************************/
+/**               Field table               **/
+/*********************************************/
+.fieldtable {
+	box-shadow: none !important;
+	-webkit-box-shadow: none;
+	-moz-box-shadow: none;
+}
+
+/*********************************************/
+/**           Memitem and memtitle          **/
+/*********************************************/
+.memitem,
+.memproto,
+.memdoc {
+	box-shadow: none;
+	-webkit-box-shadow: none;
+	-moz-box-shadow: none;
+	background-image: none;
+}
+
+/*********************************************/
+/**             TOP navigation              **/
+/*********************************************/
+.tablist a:hover,
+.tablist li.current a {
+	text-shadow: none;
+	-moz-text-shadow: none;
+	-webkit-text-shadow: none;
+}
+
+/*********************************************/
+/**              H1 in textblocks           **/
+/*********************************************/
+.textblock h1 {
+    border-bottom: 1px solid #32363d;
+    border-left: 3px solid #32363d;
+    margin: 40px 0px 10px 0px;
+    padding-bottom: 10px;
+    padding-top: 10px;
+    padding-left: 5px;
+}
+
+.textblock h1:first-child {
+	margin-top: 10px;
+}
+
+/*********************************************/
+/**               Note, warning             **/
+/*********************************************/
+dl.note,
+dl.warning,
+dl.todo,
+dl.deprecated,
+dl.reflist {
+	border: 0;
+	padding: 0px;
+	margin: 4px 0px 4px 0px;
+	border-radius: 4px;
+}
+
+dl.note dt,
+dl.warning dt,
+dl.todo dt,
+dl.deprecated dt,
+dl.reflist dt {
+	margin: 0;
+	font-size: 14px;
+	padding: 2px 4px;
+
+	border: none;
+	border-top-left-radius: 0px;
+	border-top-right-radius:0px;
+
+	font-weight: bold;
+	text-transform: uppercase;
+	color: #FFFFFF !important;
+
+	box-shadow: none;
+	-webkit-box-shadow: none;
+	-moz-box-shadow: none;
+	text-shadow: none;
+}
+
+dl.note dd,
+dl.warning dd,
+dl.todo dd,
+dl.deprecated dd,
+dl.reflist dd {
+	margin: 0;
+	padding: 4px;
+	background: none;
+
+	color: #222222;
+
+	border: 1px solid;
+	border-bottom-left-radius: 0px;
+	border-bottom-right-radius: 0px;
+	border-top: none;
+
+	box-shadow: none;
+	-webkit-box-shadow: none;
+	-moz-box-shadow: none;
+	text-shadow: none;
+}
+
+dl.reflist dd {
+	margin-bottom: 15px;
+}
+
+/* Background colors */
+dl.note {}
+dl.warning {}
+dl.todo {}
+dl.deprecated {}
+dl.reflist {}
+
+/* Header */
+dl.note dt {
+	background-color: #cbc693;
+}
+
+dl.warning dt {
+	background-color: #bf5f82;
+}
+
+dl.todo dt {
+	background-color: #82b3c9;
+}
+
+dl.deprecated dt {
+	background-color: #af8eb5;
+}
+
+dl.reflist dt {
+	background-color: #cbae82;
+}
+
+/* Content */
+dl.note dd {
+	background-color: #fff9c4;
+	border-color: #cbc693;
+}
+
+dl.warning dd {
+	background-color: #f48fb1;
+	border-color: #bf5f82;
+}
+
+dl.todo dd {
+	background-color: #b3e5fc;
+	border-color: #82b3c9;
+}
+
+dl.deprecated dd {
+	background-color: #e1bee7;
+	border-color: #af8eb5;
+}
+
+dl.reflist dd {
+	background-color: #ffe0b2;
+	border-color: #cbae82;
+}
+
+/*********************************************/
+/**               Reference list            **/
+/**Similar to warning/note/todo/... messages**/
+/*********************************************/
+dl.reflist {
+
+}
+
+/*********************************************/
+/**               Note, warning             **/
+/*********************************************/
+#docs_list {
+	padding: 0 10px;
+}
+
+#docs_list ul {
+	margin: 0;
+	padding: 0;
+	list-style: none;
+}
+
+#docs_list ul li {
+	display: inline-block;
+	border-right: 1px solid #BFBFBF;
+}
+
+#docs_list ul li:last-child {
+	border-right: none;
+}
+
+#docs_list ul li a {
+	display: block;
+	padding: 8px 13px;
+	font-weight: bold;
+	font-size: 15px;
+}
+
+#docs_list ul li a:hover,
+#docs_list ul li a.docs_current {
+	text-decoration: underline;
+}
+
+/*********************************************/
+/**               Resizable UI              **/
+/*********************************************/
+.ui-resizable-e {
+	width: 3px;
+}
+
+/*********************************************/
+/**               Download url              **/
+/*********************************************/
+.download_url {
+	font-weight: bold;
+	font-size: 150%;
+	line-height: 150%;
+}
+
+/*********************************************/
+/**               Syntax folor              **/
+/*********************************************/
+div.line a {
+	text-decoration: underline;
+}
+
+span.lineno a {
+	text-decoration: none;
+}
+
+/*********************************************/
+/**          Modules/Directory table        **/
+/*********************************************/
+.directory .arrow {
+	height: initial;
+}
+
+.directory td.entry {
+	padding: 3px 6px;
+}
+
+/*********************************************/
+/**                 Mem items               **/
+/*********************************************/
+.memproto table td {
+	font-family: monospace, fixed !important;
+}
+
+td.memItemLeft, td.memItemRight {
+	font-family: monospace, fixed;
+}
+
+.paramname, .paramname em {
+	font-style: italic;
+}
+
+.memdoc {
+	text-shadow: none;
+}
+
+.memItem {
+	font-family: monospace, fixed;
+}
+
+.memItem table {
+	font-family: inherit;
+}
+
+/*********************************************/
+/**                 Footer                  **/
+/*********************************************/
+img.footer {
+	height: 22px;
+}
+
+/*********************************************/
+/**             Custom scrollbar            **/
+/*********************************************/
+
+/*********************************************/
+/**             Custom scrollbar            **/
+/*********************************************/
diff --git a/docs/doxygen-dark-theme/custom_dark_theme.css b/docs/doxygen-dark-theme/custom_dark_theme.css
new file mode 100644
index 0000000..f2a3394
--- /dev/null
+++ b/docs/doxygen-dark-theme/custom_dark_theme.css
@@ -0,0 +1,420 @@
+/* Light background: #3 5 3 6 2 9; */
+/* New light dark background #3 2 3 6 3 d */
+/* Dark background: #d f e 5 f 2; */
+
+/* TOP MENU */
+.sm-dox {
+	background: #dfe5f2 !important;
+}
+
+.sm-dox a {
+	background: none;
+}
+
+body {
+	background: #282923;
+	background-image: none;
+	color: #D8D8D8;
+}
+
+div.fragment, pre.fragment {
+	border: 1px solid #000000;
+	background: #32363d;
+}
+
+a, a:link, a:visited {
+	color: #67d8ef !important;
+}
+
+.highlighted {
+	background: none !important;
+}
+
+a.highlighted {
+	background: none !important;
+}
+
+/*********************************************/
+/**              Top main menu              **/
+/*********************************************/
+#main-nav {
+	/* display: none; */
+	border-bottom: 1px solid #32363d;
+}
+
+#main-nav .sm-dox {
+	background: transparent !important;
+}
+
+.sm-dox a {
+	text-shadow: none !important;
+	background: transparent !important;
+}
+
+.sm-dox a:hover {
+	background: #282923 !important;
+}
+
+.sm-dox {
+	text-shadow: none !important;
+	box-shadow: none !important;
+}
+
+.sm-dox ul {
+	border: 1px solid #000000;
+	background: #32363d;
+}
+
+.directory tr.even {
+	background: #32363d;
+}
+
+
+/*********************************************/
+/**               Top search                **/
+/*********************************************/
+#MSearchSelectWindow {
+	border: 1px solid #000000;
+	background: #32363d;
+}
+
+a.selectItem {
+	padding: 3px;
+}
+
+a.SelectItem:hover {
+	background: #282923 !important;
+}
+
+#MSearchResultsWindow {
+	border: 1px solid #000000;
+	background: #32363d;
+	color: #67d8ef !important;;
+}
+
+/*********************************************/
+/**                Main menu                **/
+/*********************************************/
+#nav-tree {
+	background: transparent;
+}
+
+#nav-tree .selected {
+	background-image: none;
+	background: #32363d;
+}
+
+/*********************************************/
+/**               Main content              **/
+/*********************************************/
+
+/*********************************************/
+/**               Inline code               **/
+/*********************************************/
+p code,
+li code,
+td code,
+dd code {
+	background-color: #000000;
+	border: 1px solid #A8B8D9;
+
+	color: #D8D8D8;
+}
+
+/*********************************************/
+/**         Table of Contents (ToC)         **/
+/*********************************************/
+div.toc {
+	background: #32363d;
+	border: 1px solid #000000;
+}
+
+div.toc h3 {
+	font-size: 150%;
+	color: inherit;
+}
+
+/*********************************************/
+/**              Content table              **/
+/*********************************************/
+table.doxtable tr:nth-child(even) td {
+	background: #32363d;
+}
+
+div.header {
+	background: transparent;
+	border-bottom: 1px solid #32363d;
+}
+
+/*********************************************/
+/**               Field table               **/
+/*********************************************/
+.fieldtable th {
+	background: #282923;
+	color: inherit;
+}
+
+/*********************************************/
+/**           Memitem and memtitle          **/
+/*********************************************/
+.memdoc {
+	border: 1px solid #A8B8D9;
+}
+
+/*********************************************/
+/**             TOP navigation              **/
+/*********************************************/
+.tabs, .tabs2, .tabs3 {
+	background: #DDDDDD;
+}
+
+.tablist li {
+	background: transparent !important;
+}
+
+.tablist a {
+	background-image: none;
+	border-right: 1px solid #999999;
+
+	color: #32363d;
+}
+
+.tablist a:hover,
+.tablist li.current a {
+	text-decoration: none;
+	color: #000000;
+	background: #CCCCCC;
+	background-image: none;
+}
+
+/*********************************************/
+/**              H1 in textblocks           **/
+/*********************************************/
+
+/*********************************************/
+/**               Note, warning             **/
+/*********************************************/
+
+/*********************************************/
+/**               Reference list            **/
+/**Similar to warning/note/todo/... messages**/
+/*********************************************/
+dl.reflist {
+
+}
+
+
+/*********************************************/
+/**               Note, warning             **/
+/*********************************************/
+#docs_list {
+	background: #32363d;
+}
+
+#docs_list ul li {
+	border-right: 1px solid #BFBFBF;
+}
+
+#docs_list ul li a {
+	color: #1b1e21;
+}
+
+#docs_list ul li a:hover,
+#docs_list ul li a.docs_current {
+	background: #282923;
+}
+
+/*********************************************/
+/**               Resizable UI              **/
+/*********************************************/
+.ui-resizable-e {
+	background: #32363d;
+}
+
+/*********************************************/
+/**               Download url              **/
+/*********************************************/
+
+/*********************************************/
+/**               Syntax folor              **/
+/*********************************************/
+div.line {
+	background: transparent;
+	color: inherit;
+}
+
+div.line a {
+	color: inherit;
+}
+
+span.keyword {
+	color: #f92472;
+	font-style: italic;
+}
+
+span.keywordtype {
+	color: #67cfc1;
+	font-style: italic;
+}
+
+span.keywordflow {
+	color: #f92472;
+	font-style: italic;
+}
+
+span.comment {
+	color: #74705a;
+}
+
+span.preprocessor {
+	color: #a6e22b;
+}
+
+span.stringliteral {
+	color: #e7db74;
+}
+
+span.charliteral {
+	color: #e7db74;
+}
+
+span.vhdldigit { 
+	color: #ff00ff;
+}
+
+span.vhdlchar { 
+	color: #000000;
+}
+
+span.vhdlkeyword { 
+	color: #700070;
+}
+
+span.vhdllogic { 
+	color: #ff0000;
+}
+
+span.lineno {
+	background: transparent;
+}
+
+span.lineno a {
+	background: transparent;
+}
+
+/*********************************************/
+/**          Modules/Directory table        **/
+/*********************************************/
+.mdescLeft, .mdescRight, .memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background: #32363d;
+	color: inherit;
+}
+
+.memSeparator {
+	border: none;
+	background: transparent;
+}
+
+h2.groupheader {
+	color: #67d8ef;
+}
+
+/*********************************************/
+/**                 Mem items               **/
+/*********************************************/
+.memtitle {
+	background: #32363d !important;
+	border-color: #000000;
+}
+
+.memitem {
+	background: #32363d !important;
+	color: inherit;
+	text-shadow: none;
+}
+
+.memproto {
+	background: inherit;
+	border-color: #000000;
+	color: inherit;
+	text-shadow: none;
+}
+
+.memproto table td {
+	font-family: monospace, fixed !important;
+}
+
+td.memItemLeft, td.memItemRight {
+	font-family: monospace, fixed;
+}
+
+.paramname, .paramname em {
+	color: #bf5f82;
+}
+
+.memdoc {
+	background: inherit;
+	border-color: #000000;
+}
+
+
+/*********************************************/
+/**                 Footer                  **/
+/*********************************************/
+.titlearea {
+	border-bottom: 1px solid #32363d;
+}
+
+/*********************************************/
+/**                 Footer                  **/
+/*********************************************/
+#nav-path {
+	background: transparent;
+}
+
+#nav-path ul {
+	background: transparent;
+	color: inherit;
+	border: none;
+	border-top: 1px solid #32363d;
+}
+
+.navpath li.footer {
+	color: inherit;
+}
+
+.navpath li.navelem a {
+	text-shadow: none;
+}
+
+/*********************************************/
+/**             Custom scrollbar            **/
+/*********************************************/
+::-webkit-scrollbar {
+	width: 10px;
+}
+
+/* Track */
+::-webkit-scrollbar-track {
+	border-radius: 10px;
+}
+ 
+/* Handle */
+::-webkit-scrollbar-thumb {
+	background: #234567;
+	border: none;
+}
+
+/* Handle on hover */
+::-webkit-scrollbar-thumb:hover {
+	background: #32363d; 
+}
+
+/*********************************************/
+/**             Custom scrollbar            **/
+/*********************************************/
+h1.glow, h2.glow, h3.glow,
+h4.glow, h5.glow, h6.glow {
+	text-shadow: 0 0 15px #67d8ef;
+}
\ No newline at end of file
diff --git a/docs/doxygen-dark-theme/html_footer.html b/docs/doxygen-dark-theme/html_footer.html
new file mode 100644
index 0000000..9ef9a09
--- /dev/null
+++ b/docs/doxygen-dark-theme/html_footer.html
@@ -0,0 +1,18 @@
+<!-- start footer part -->
+		<!--BEGIN GENERATE_TREEVIEW-->
+		<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+			<ul>
+				$navpath
+				<li class="footer">
+					Generated on $datetime for $projectname by <a href="http://www.doxygen.org/index.html">
+					<img class="footer" src="$relpath$doxygen.png" alt="doxygen"/></a> $doxygenversion.
+					Dark theme by <a href="http://majerle.eu" target="_new">Tilen Majerle</a>. All rights reserved.
+				</li>
+			</ul>
+		</div>
+		<!--END GENERATE_TREEVIEW-->
+		<!--BEGIN !GENERATE_TREEVIEW-->
+		<!--END !GENERATE_TREEVIEW-->
+		<script src="$relpath^custom.js"></script>
+	</body>
+</html>
\ No newline at end of file
diff --git a/docs/doxygen-dark-theme/html_header.html b/docs/doxygen-dark-theme/html_header.html
new file mode 100644
index 0000000..7588e63
--- /dev/null
+++ b/docs/doxygen-dark-theme/html_header.html
@@ -0,0 +1,55 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+	<head>
+		<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+		<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+		<meta name="generator" content="Doxygen $doxygenversion"/>
+		<meta name="viewport" content="width=device-width, initial-scale=1"/>
+		<!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
+		<!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
+		<link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
+		<script type="text/javascript" src="$relpath^jquery.js"></script>
+		<script type="text/javascript" src="$relpath^dynsections.js"></script>
+		$treeview
+		$search
+		$mathjax
+		<link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
+		$extrastylesheet
+	</head>
+	<body>
+	<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+
+		<!--BEGIN TITLEAREA-->
+		<div id="titlearea">
+			<table cellspacing="0" cellpadding="0">
+				<tbody>
+					<tr style="height: 56px;">
+						<!--BEGIN PROJECT_LOGO-->
+						<td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"/></td>
+						<!--END PROJECT_LOGO-->
+						<!--BEGIN PROJECT_NAME-->
+						<td id="projectalign" style="padding-left: 0.5em;">
+							<div id="projectname">$projectname
+								<!--BEGIN PROJECT_NUMBER-->&#160;<span id="projectnumber">$projectnumber</span><!--END PROJECT_NUMBER-->
+							</div>
+							<!--BEGIN PROJECT_BRIEF--><div id="projectbrief">$projectbrief</div><!--END PROJECT_BRIEF-->
+						</td>
+						<!--END PROJECT_NAME-->
+						<!--BEGIN !PROJECT_NAME-->
+						<!--BEGIN PROJECT_BRIEF-->
+						<td style="padding-left: 0.5em;">
+							<div id="projectbrief">$projectbrief</div>
+						</td>
+						<!--END PROJECT_BRIEF-->
+						<!--END !PROJECT_NAME-->
+						<!--BEGIN DISABLE_INDEX-->
+						<!--BEGIN SEARCHENGINE-->
+						<td>$searchbox</td>
+						<!--END SEARCHENGINE-->
+						<!--END DISABLE_INDEX-->
+					</tr>
+				</tbody>
+			</table>
+		</div>
+		<!--END TITLEAREA-->
+		<!-- end header part -->
\ No newline at end of file