The latest development version of this page may be more current than this released 4.0.0 version.

Documentation Guidelines

Note

For instructions on building the documentation, see Documentation Generation.

Zephyr Project content is written using the reStructuredText [2] markup language (.rst file extension) with Sphinx extensions, and processed using Sphinx to create a formatted standalone website. Developers can view this content either in its raw form as .rst markup files, or (with Sphinx installed) they can build the documentation locally to generate the documentation in HTML or PDF format. The HTML content can then be viewed using a web browser. This same .rst content is served by the Zephyr documentation [4] website.

You can read details about reStructuredText [2] and about Sphinx extensions [1] from their respective websites.

This document provides a quick reference for commonly used reST and Sphinx-defined directives and roles used to create the documentation you’re reading.

Content Structure

Tabs, spaces, and indenting

Indenting is significant in reST file content, and using spaces is preferred. Extra indenting can (unintentionally) change the way content is rendered too. For lists and directives, indent the content text to the first non-white space in the preceding line. For example:

* List item that spans multiple lines of text
  showing where to indent the continuation line.

1. And for numbered list items, the continuation
   line should align with the text of the line above.

.. code-block::

   The text within a directive block should align with the
   first character of the directive name.

Refer to the Zephyr Coding Style for additional requirements.

Headings

While reST allows use of both an overline and matching underline to indicate a heading, we only use an underline indicator for headings.

  • Document title (h1) use # for the underline character

  • First section heading level (h2) use *

  • Second section heading level (h3) use =

  • Third section heading level (h4) use -

The heading underline must be the same length as the heading text.

For example:

This is a title heading
#######################

some content goes here

First section heading
*********************

Lists

For bullet lists, place an asterisk (*) or hyphen (-) at the start of a paragraph and indent continuation lines with two spaces.

The first item in a list (or sublist) must have a blank line before it and should be indented at the same level as the preceding paragraph (and not indented itself).

For numbered lists start with a 1. or a. for example, and continue with autonumbering by using a # sign. Indent continuation lines with three spaces:

* This is a bulleted list.
* It has two items, the second
  item and has more than one line of reST text.  Additional lines
  are indented to the first character of the
  text of the bullet list.

1. This is a new numbered list. If the wasn't a blank line before it,
   it would be a continuation of the previous list (or paragraph).
#. It has two items too.

a. This is a numbered list using alphabetic list headings
#. It has three items (and uses autonumbering for the rest of the list)
#. Here's the third item

#. This is an autonumbered list (default is to use numbers starting
   with 1).

   #. This is a second-level list under the first item (also
      autonumbered).  Notice the indenting.
   #. And a second item in the nested list.
#. And a second item back in the containing list.  No blank line
   needed, but it wouldn't hurt for readability.

Definition lists (with a term and its definition) are a convenient way to document a word or phrase with an explanation. For example this reST content:

The Makefile has targets that include:

html
   Build the HTML output for the project

clean
   Remove all generated output, restoring the folders to a
   clean state.

Would be rendered as:

The Makefile has targets that include:

html

Build the HTML output for the project

clean

Remove all generated output, restoring the folders to a clean state.

Multi-column lists

If you have a long bullet list of items, where each item is short, you can indicate the list items should be rendered in multiple columns with a special .. rst-class:: rst-columns directive. The directive will apply to the next non-comment element (e.g., paragraph), or to content indented under the directive. For example, this unordered list:

.. rst-class:: rst-columns

* A list of
* short items
* that should be
* displayed
* horizontally
* so it doesn't
* use up so much
* space on
* the page

would be rendered as:

  • A list of

  • short items

  • that should be

  • displayed

  • horizontally

  • so it doesn’t

  • use up so much

  • space on

  • the page

A maximum of three columns will be displayed, and change based on the available width of the display window, reducing to one column on narrow (phone) screens if necessary. We’ve deprecated use of the hlist directive because it misbehaves on smaller screens.

Tables

There are a few ways to create tables, each with their limitations or quirks. Grid tables offer the most capability for defining merged rows and columns, but are hard to maintain:

+------------------------+------------+----------+----------+
| Header row, column 1   | Header 2   | Header 3 | Header 4 |
| (header rows optional) |            |          |          |
+========================+============+==========+==========+
| body row 1, column 1   | column 2   | column 3 | column 4 |
+------------------------+------------+----------+----------+
| body row 2             | ...        | ...      | you can  |
+------------------------+------------+----------+ easily   +
| body row 3 with a two column span   | ...      | span     |
+------------------------+------------+----------+ rows     +
| body row 4             | ...        | ...      | too      |
+------------------------+------------+----------+----------+

This example would render as:

Header row, column 1 (header rows optional)

Header 2

Header 3

Header 4

body row 1, column 1

column 2

column 3

column 4

body row 2

…

…

you can easily span rows too

body row 3 with a two column span

…

body row 4

…

…

List tables are much easier to maintain, but don’t support row or column spans:

.. list-table:: Table title
   :widths: 15 20 40
   :header-rows: 1

   * - Heading 1
     - Heading 2
     - Heading 3
   * - body row 1, column 1
     - body row 1, column 2
     - body row 1, column 3
   * - body row 2, column 1
     - body row 2, column 2
     - body row 2, column 3

This example would render as:

Table title

Heading 1

Heading 2

Heading 3

body row 1, column 1

body row 1, column 2

body row 1, column 3

body row 2, column 1

body row 2, column 2

body row 2, column 3

The :widths: parameter lets you define relative column widths. The default is equal column widths. If you have a three-column table and you want the first column to be half as wide as the other two equal-width columns, you can specify :widths: 1 2 2. If you’d like the browser to set the column widths automatically based on the column contents, you can use :widths: auto.

Tabbed Content

As introduced in the Getting Started Guide, you can provide alternative content to the reader via a tabbed interface. When the reader clicks on a tab, the content for that tab is displayed, for example:

.. tabs::

   .. tab:: Apples

      Apples are green, or sometimes red.

   .. tab:: Pears

      Pears are green.

   .. tab:: Oranges

      Oranges are orange.

will display as:

Apples are green, or sometimes red.

Tabs can also be grouped, so that changing the current tab in one area changes all tabs with the same name throughout the page. For example:

Linux Line 1

Linux Line 2

In this latter case, we’re using .. group-tab:: instead of simply .. tab::. Under the hood, we’re using the sphinx-tabs extension that’s included in the Zephyr setup. Within a tab, you can have most any content other than a heading (code-blocks, ordered and unordered lists, pictures, paragraphs, and such). You can read more about sphinx-tabs from the link above.

Text Formatting

ReSTructuredText supports a variety of text formatting options. This section provides a quick reference for some of the most commonly used text formatting options in Zephyr documentation. For an exhaustive list, refer to the reStructuredText Quick Reference [5], reStructuredText Interpreted Text Roles [6] as well as the additional roles provided by Sphinx [7].

Content Highlighting

Some common reST inline markup samples:

  • one asterisk: *text* for emphasis (italics),

  • two asterisks: **text** for strong emphasis (boldface), and

  • two backquotes: ``text`` for inline code samples.

If asterisks or backquotes appear in running text and could be confused with inline markup delimiters, you can eliminate the confusion by adding a backslash (\) before it.

File Names and Commands

Sphinx extends reST by supporting additional inline markup elements (called “roles”) used to tag text with special meanings and allow style output formatting. (You can refer to the Sphinx Inline Markup [3] documentation for the full list).

While double quotes can be used for rendering text as “code”, you are encouraged to use the following roles for marking up file names, command names, and other “special” text.

  • file for file names, e.g., :file:`CMakeLists.txt` will render as CMakeLists.txt

    Note

    In case you want to indicate a “variable” file path, you may use curly braces to enclose the variable part of the path, e.g., :file:`{boardname}_defconfig` will render as boardname_defconfig.

  • command for command names, e.g., :command:`make` will render as make

  • envvar for environment variables, e.g., :envvar:`ZEPHYR_BASE` will render as ZEPHYR_BASE

For creating references to files that are hosted in the Zephyr organization on GitHub, refer to Cross-referencing files in the Zephyr tree section below.

User Interaction

When documenting user interactions, such as key combinations or GUI interactions, use the following roles to highlight the commands in a meaningful way:

  • kbd for keyboard input, e.g., :kbd:`Ctrl-C` will render as Ctrl-C

  • menuselection for menu selections, e.g., :menuselection:`File --> Open` will render as File ‣ Open

  • guilabel for GUI labels, e.g., :guilabel:`Cancel` will render as Cancel

Mathematical Formulas

You can include mathematical formulas using either the math role or math directive. The directive provides more flexibility in case you have a more complex formula.

The input language for mathematics is LaTeX markup. Example:

The answer to life, the universe, and everything is :math:`30 + 2^2 + \sqrt{64} = 42`.

This would render as:

The answer to life, the universe, and everything is \(30 + 2^2 + \sqrt{64} = 42\).

Non-ASCII Characters

You can insert non-ASCII characters such as a Trademark symbol (™), by using the notation |trade|. Available replacement names are defined in an include file used during the Sphinx processing of the reST files. The names of these replacement characters are the same as used in HTML entities used to insert characters in HTML, e.g., \™ and are defined in the file doc/substitutions.txt as listed below:

.. |br|     raw:: html        .. force a line break in HTML output (blank lines needed here)

   <br />

.. |p|     raw:: html        .. force a blank line in HTML output (blank lines needed here)

   <p></p>

.. These are replacement strings for non-ASCII characters used within the project
   using the same name as the html entity names (e.g., &copy;) for that character

.. |copy|   unicode:: U+000A9 .. COPYRIGHT SIGN
   :ltrim:
.. |trade|  unicode:: U+02122 .. TRADEMARK SIGN
   :ltrim:
.. |reg|    unicode:: U+000AE .. REGISTERED TRADEMARK SIGN
   :ltrim:
.. |deg|    unicode:: U+000B0 .. DEGREE SIGN
   :ltrim:
.. |plusminus|  unicode:: U+000B1 .. PLUS-MINUS SIGN
   :rtrim:
.. |micro|  unicode:: U+000B5 .. MICRO SIGN
   :rtrim:
.. |sup2|  unicode:: U+00B2 .. SUPERSCRIPT TWO
   :ltrim:

We’ve kept the substitutions list small but others can be added as needed by submitting a change to the doc/substitutions.txt file.

Code Blocks and Command Examples

Use the reST code-block directive to create a highlighted block of fixed-width text, typically used for showing formatted code or console commands and output. Smart syntax highlighting is also supported (using the Pygments package). You can also directly specify the highlighting language. For example:

.. code-block:: c

   struct k_object {
      char *name;
      uint8_t perms[CONFIG_MAX_THREAD_BYTES];
      uint8_t type;
      uint8_t flags;
      uint32_t data;
   } __packed;

Note the blank line between the code-block directive and the first line of the code-block body, and the body content is indented three spaces (to the first non-white space of the directive name).

This would be rendered as:

struct k_object {
   char *name;
   uint8_t perms[CONFIG_MAX_THREAD_BYTES];
   uint8_t type;
   uint8_t flags;
   uint32_t data;
} __packed;

Other languages are of course supported (see languages supported by Pygments [8]), and in particular, you are encouraged to make use of the following when appropriate:

  • c for C code

  • cpp for C++ code

  • python for Python code

  • console for console output, i.e. interactive shell sessions where commands are prefixed by a prompt (ex. $ for Linux, or uart:~$ for Zephyr’s shell), and where the output is also shown. The commands will be highlighted, and the output will not. What’s more, copying code block using the “copy” button will automatically copy just the commands, excluding the prompt and the outputs of the commands.

  • shell or bash for shell commands. Both languages get highlighted the same but you may use bash for conveying that the commands are bash-specific, and shell for generic shell commands.

    Note

    Do not use bash or shell if your code block includes a prompt, use console instead.

    Reciprocally, do not use console if your code block does not include a prompt and is not showcasing an interactive session with command(s) and their output.

    When to use bash/shell vs. console

    Use case

    code-block snippet

    Expected output

    One or several commands, no output

    		 
    .. code-block:: shell

   echo "Hello World!"

    echo "Hello World!"

    An interactive shell session with command(s) and their output

    		 
    .. code-block:: console

   $ echo "Hello World!"
   Hello World!

    $ echo "Hello World!"
Hello World!

    An interactive Zephyr shell session, with commands and their outputs

    		 
    .. code-block:: console

   uart:~$ version
   Zephyr version 3.5.99
   uart:~$ kernel uptime
   Uptime: 20970 ms

    uart:~$ version
Zephyr version 3.5.99
uart:~$ kernel uptime
Uptime: 20970 ms

  • bat for Windows batch files

  • cfg for config files with “KEY=value” entries (ex. Kconfig .conf files)

  • cmake for CMake

  • devicetree for Devicetree

  • kconfig for Kconfig

  • yaml for YAML

  • rst for reStructuredText

When no language is specified, the language is set to none and the code block is not highlighted. You may also use none explicitly to achieve the same result; for example:

.. code-block:: none

   This would be a block of text styled with a background
   and box, but with no syntax highlighting.

Would display as:

This would be a block of text styled with a background
and box, but with no syntax highlighting.

There’s a shorthand for writing code blocks too: end the introductory paragraph with a double colon (::) and indent the code block content that follows it by three spaces. On output, only one colon will be shown. The code block will have no highlighting (i.e. none). You may however use the highlight directive to customize the default language used in your document (see for example how this is done at the beginning of this very document).

Visual Elements

Images

Images are included in the documentation by using an image directive:

.. image:: ../../../../images/doc-gen-flow.png
   :align: center
   :alt: alt text for the image

or if you’d like to add an image caption, use:

.. figure:: ../../../../images/doc-gen-flow.png
   :alt: image description

   Caption for the figure

The file name specified is relative to the document source file, and we recommend putting images into an images folder where the document source is found.

The usual image formats handled by a web browser are supported: WebP, PNG, GIF, JPEG, and SVG.

Keep the image size only as large as needed, generally at least 500 px wide but no more than 1000 px, and no more than 100 KB unless a particularly large image is needed for clarity.

Recommended image formats based on content

  • Screenshots: WebP or PNG.

  • Diagrams: Consider using Graphviz for simple diagrams (see dedicated section below. If using an external tool, SVG is preferred.

  • Photos (ex. boards): WebP. Use transparency if possible/available.

Graphviz

Graphviz [9] is a tool for creating diagrams specified in a simple text language. As it’s important to allow for diagrams used in the documentation to be easily maintained, we encourage the use of Graphviz for creating diagrams. Graphviz is particularly well suited for creating state diagrams, flow charts, and other types of diagrams that can be expressed as a graph.

To include a Graphviz diagram in a document, use the graphviz directive. For example:

.. graphviz::

   digraph G {
      rankdir=LR;
      A -> B;
      B -> C;
      C -> D;
   }

Would render as:

digraph G { rankdir=LR; A -> B; B -> C; C -> D; }

Please refer to the Graphviz documentation [10] for more information on how to create diagrams using Graphviz’s DOT language.

Custom Sphinx Roles and Directives

The Zephyr documentation uses custom Sphinx roles and directives to provide additional functionality and to make it easier to write and maintain consistent documentation.

Application build commands

.. zephyr-app-commands::

Generate consistent documentation of the shell commands needed to manage (build, flash, etc.) an application

For example, to generate commands to build samples/hello_world for qemu_x86 use:

.. zephyr-app-commands::
   :zephyr-app: samples/hello_world
   :board: qemu_x86
   :goals: build

This will render as:

# From the root of the zephyr repository
west build -b qemu_x86 samples/hello_world

Options

:tool: (string)

Which tool to use. Valid options are currently cmake, west and all. The default is west.

:app: (string)

Path to the application to build.

:zephyr-app: (string)

Path to the application to build, this is an app present in the upstream zephyr repository. Mutually exclusive with :app:.

:cd-into: (no value)

If set, build instructions are given from within the :app: folder, instead of outside of it.

:generator: (string)

Which build system to generate.

Valid options are currently ninja and make. The default is ninja. This option is not case sensitive.

:host-os:

Which host OS the instructions are for.

Valid options are unix, win and all. The default is all.

:board: (string)

If set, build commands will target the given board.

:shield: (string)

If set, build commands will target the given shield.

Multiple shields can be provided in a comma separated list.

:conf:

If set, build commands will use the given configuration file(s).

If multiple configuration files are provided, enclose the space-separated list of files with double quotes, e.g., “a.conf b.conf”.

:gen-args: (string)

If set, indicates additional arguments to the CMake invocation.

:build-args: (string)

If set, indicates additional arguments to the build invocation.

:west-args: (string)

If set, additional arguments to the west invocation (ignored for :tool: cmake).

:flash-args: (string)

If set, additional arguments to the flash invocation.

:snippets: (string)

If set, indicates the application should be compiled with the listed snippets.

Multiple snippets can be provided in a comma separated list.

:build-dir: (string)

If set, the application build directory will APPEND this relative, Unix-separated, path to the standard build directory. This is mostly useful for distinguishing builds for one application within a single page.

:build-dir-fmt: (string)

If set, assume that west config build.dir-fmt` has been set to this path.

Exclusive with :build-dir: and depends on :tool: west.

:goals: (string)

A whitespace-separated list of what to do with the app (any of build, flash, debug, debugserver, run).

Commands to accomplish these tasks will be generated in the right order.

:maybe-skip-config: (no value)

If set, this indicates the reader may have already created a build directory and changed there, and will tweak the text to note that doing so again is not necessary.

:compact: (no value)

If set, the generated output is a single code block with no additional comment lines.

Cross-referencing files in the Zephyr tree

Special roles are available to reference files in the Zephyr tree. For example, referencing this very file can be done using the zephyr_file role, like this:

Check out :zephyr_file:`doc/contribute/documentation/guidelines.rst` for more information.

This would render as:

Check out doc/contribute/documentation/guidelines.rst for more information.

You may use the zephyr_raw role instead if you want to reference the “raw” content.

:zephyr_file:

This role is used to reference a file in the Zephyr tree. For example:

Check out :zephyr_file:`doc/contribute/documentation/guidelines.rst` for more information.

Will render as:

Check out doc/contribute/documentation/guidelines.rst for more information.

:zephyr_raw:

This role is used to reference the raw content of a file in the Zephyr tree. For example:

Check out :zephyr_raw:`doc/contribute/documentation/guidelines.rst` for more information.

Will render as:

Check out doc/contribute/documentation/guidelines.rst for more information.

:module_file:

This role is used to reference a module in the Zephyr tree. For example:

Check out :module_file:`hal_stm32:CMakeLists.txt` for more information.

Will render as:

Check out hal_stm32:CMakeLists.txt for more information.

Cross-referencing GitHub issues and pull requests

:github:

This role is used to reference a GitHub issue or pull request.

For example, to reference issue #1234:

Check out :github:`1234` for more background about this known issue.

This will render as:

Check out GitHub #1234 for more background about this known issue.

Doxygen API documentation

.. doxygengroup:: name

This directive is used to output a short description of a Doxygen group and a link to the corresponding Doxygen-generated documentation.

All the code samples (declared using the zephyr:code-sample directive) indicating the group as relevant will automatically be list and referenced in the rendered output.

For example:

.. doxygengroup:: can_interface

Will render as:

CAN Interface

Related code samples

:c:group:

This role is used to reference a Doxygen group in the Zephyr tree. In the HTML documentation, they are rendered as links to the corresponding Doxygen-generated documentation for the group. For example:

Check out :c:group:`gpio_interface` for more information.

Will render as:

Check out GPIO Driver APIs for more information.

You may provide a custom link text, similar to the built-in ref role.

Kconfig options

If you want to reference a Kconfig option from a document, you can use the kconfig:option role and provide the name of the option you want to reference. The role will automatically generate a link to the documentation of the Kconfig option when building HTML output.

Make sure to use the full name of the Kconfig option, including the CONFIG_ prefix.

:kconfig:option:

This role is used to reference a Kconfig option in the Zephyr tree. For example:

Check out :kconfig:option:`CONFIG_GPIO` for more information.

Will render as:

Check out CONFIG_GPIO for more information.

Devicetree bindings

If you want to reference a Devicetree binding from a document, you can use the dtcompatible role and provide the compatible string of the binding you want to reference. The role will automatically generate a link to the documentation of the binding when building HTML output.

:dtcompatible:

This role can be used inline to make a reference to the generated documentation for the Devicetree compatible given as argument.

There may be more than one page for a single compatible. For example, that happens if a binding behaves differently depending on the bus the node is on. If that occurs, the reference points at a “disambiguation” page which links out to all the possibilities, similarly to how Wikipedia disambiguation pages work. Example:

Check out :dtcompatible:`zephyr,input-longpress` for more information.

Will render as:

Check out zephyr,input-longpress for more information.

Code samples

.. zephyr:code-sample:: id

This directive is used to describe a code sample, including which noteworthy APIs it may be exercising.

For example:

.. zephyr:code-sample:: blinky
   :name: Blinky
   :relevant-api: gpio_interface

   Blink an LED forever using the GPIO API.

The content of the directive is used as the description of the code sample.

Options

:name: (text)

Indicates the human-readable short name of the sample.

:relevant-api: (text)

Optional space-separated list of Doxygen group names that correspond to the APIs exercised by the code sample.

:zephyr:code-sample:

This role is used to reference a code sample described using zephyr:code-sample.

For example:

Check out :zephyr:code-sample:`blinky` for more information.

Will render as:

Check out Blinky for more information.

This can be used exactly like the built-in ref role, i.e. you may provide a custom link text. For example:

Check out :zephyr:code-sample:`blinky code sample <blinky>` for more information.

Will render as:

Check out blinky code sample for more information.

.. zephyr:code-sample-category:: id

This directive is used to define a category for grouping code samples.

For example:

.. zephyr:code-sample-category:: gpio
   :name: GPIO
   :show-listing:

   Samples related to the GPIO subsystem.

The contents of the directive is used as the description of the category. It can contain any valid reStructuredText content.

Options

:name: (text)

Indicates the human-readable name of the category.

:show-listing: (flag)

If set, a listing of code samples in the category will be shown. The listing is automatically generated based on all code samples found in the subdirectories of the current document.

:glob: (text)

A glob pattern to match the files to include in the listing. The default is */* but it can be overridden e.g. when samples may be found in directories not sitting directly under the category directory.

:zephyr:code-sample-category:

This role is used to reference a code sample category described using zephyr:code-sample-category.

For example:

Check out :zephyr:code-sample-category:`cloud` samples for more information.

Will render as:

Check out IoT Cloud samples for more information.

.. zephyr:code-sample-listing::

This directive is used to show a listing of all code samples found in one or more categories.

For example:

.. zephyr:code-sample-listing::
   :categories: cloud

Will render as:

Options

:categories: (text)

A space-separated list of category IDs for which to show the listing.

A flag to include a search box right above the listing. The search box allows users to filter the listing by code sample name/description, which can be useful for categories with a large number of samples. This option is only available in the HTML builder.

Boards

.. zephyr:board:: name

This directive is used at the beginning of a document to indicate it is the main documentation page for a board whose name is given as the directive argument.

For example:

.. zephyr:board:: wio_terminal

The metadata for the board is read from various config files and used to automatically populate some sections of the board documentation. A board documentation page that uses this directive can be linked to using the zephyr:board role.

:zephyr:board:

This role is used to reference a board documented using zephyr:board.

For example:

Check out :zephyr:board:`wio_terminal` for more information.

Will render as:

Check out Wio Terminal for more information.

.. zephyr:board-catalog::

This directive is used to generate a catalog of Zephyr-supported boards that can be used to quickly browse the list of all supported boards and filter them according to various criteria.

References