diff --git a/CMakeLists.txt b/CMakeLists.txt
index 13c85a831e..ff379672ed 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -66,6 +66,14 @@ set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
 option(WITH_JAVA "Include Java and JNI in the build" OFF)
 option(WITH_JAVA_SOURCE "Build Java source jars" ${WITH_JAVA})
+option(WITH_DOCS "Build Doxygen docs (needs Git for versioning)" OFF)
+cmake_dependent_option(
+    DOCS_WARNINGS_AS_ERRORS
+    "Make docs warnings into errors"
+    OFF
+    WITH_DOCS
+    OFF
+)
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_NTCORE "Build ntcore" ON)
 option(WITH_WPIMATH "Build wpimath" ON)
@@ -129,6 +137,12 @@ else()
     find_package(Java REQUIRED COMPONENTS Runtime)
 endif()
 
+if(WITH_DOCS)
+    find_package(Doxygen REQUIRED)
+    find_package(Git REQUIRED)
+    include(AddDoxygenDocs)
+    add_doxygen_docs()
+endif()
 find_package(LIBSSH CONFIG 0.7.1)
 
 set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
diff --git a/cmake/modules/AddDoxygenDocs.cmake b/cmake/modules/AddDoxygenDocs.cmake
new file mode 100644
index 0000000000..1295fceb81
--- /dev/null
+++ b/cmake/modules/AddDoxygenDocs.cmake
@@ -0,0 +1,144 @@
+macro(add_doxygen_docs)
+    set(dirs
+        apriltag
+        cameraserver
+        cscore
+        fieldImages
+        hal
+        ntcore
+        romiVendordep
+        wpilibc
+        wpilibNewCommands
+        wpimath
+        wpinet
+        wpiutil
+        xrpVendordep
+    )
+    foreach(dir ${dirs})
+        list(APPEND docs_dirs ${dir}/src/main/native/include)
+        file(GLOB dirs ${dir}/src/main/native/thirdparty/*/include)
+        list(FILTER dirs EXCLUDE REGEX eigen|protobuf)
+        set(DOXYGEN_EXCLUDE_PATTERNS "*.pb.h" "**/.clang-tidy" "**/.clang-format")
+
+        if(DOCS_WARNINGS_AS_ERRORS)
+            set(DOXYGEN_WARN_AS_ERROR "FAIL_ON_WARNINGS_PRINT")
+            list(FILTER dirs EXCLUDE REGEX fmt|memory|units)
+            list(
+                APPEND
+                DOXYGEN_EXCLUDE_PATTERNS
+                # apriltag
+                "apriltag_pose.h"
+                # llvm
+                "wpi/AlignOf.h"
+                "wpi/Casting.h"
+                "wpi/Chrono.h"
+                "wpi/Compiler.h"
+                "wpi/ConvertUTF.h"
+                "wpi/DenseMap.h"
+                "wpi/DenseMapInfo.h"
+                "wpi/Endian.h"
+                "wpi/EpochTracker.h"
+                "wpi/Errc.h"
+                "wpi/Errno.h"
+                "wpi/ErrorHandling.h"
+                "wpi/bit.h"
+                "wpi/fs.h"
+                "wpi/FunctionExtras.h"
+                "wpi/function_ref.h"
+                "wpi/Hashing.h"
+                "wpi/iterator.h"
+                "wpi/iterator_range.h"
+                "wpi/ManagedStatic.h"
+                "wpi/MapVector.h"
+                "wpi/MathExtras.h"
+                "wpi/MemAlloc.h"
+                "wpi/PointerIntPair.h"
+                "wpi/PointerLikeTypeTraits.h"
+                "wpi/PointerUnion.h"
+                "wpi/raw_os_ostream.h"
+                "wpi/raw_ostream.h"
+                "wpi/SmallPtrSet.h"
+                "wpi/SmallSet.h"
+                "wpi/SmallString.h"
+                "wpi/SmallVector.h"
+                "wpi/StringExtras.h"
+                "wpi/StringMap.h"
+                "wpi/SwapByteOrder.h"
+                "wpi/type_traits.h"
+                "wpi/VersionTuple.h"
+                "wpi/WindowsError.h"
+                # libuv
+                "uv.h"
+                "uv/**"
+                # json
+                "wpi/adl_serializer.h"
+                "wpi/byte_container_with_subtype.h"
+                "wpi/json.h"
+                "wpi/json_fwd.h"
+                "wpi/ordered_map.h"
+                # mpack
+                "wpi/mpack.h"
+            )
+        endif()
+        list(APPEND docs_dirs ${dirs})
+        list(APPEND docs_dirs ${dir}/src/generated/main/native/include)
+    endforeach()
+
+    set(DOXYGEN_CASE_SENSE_NAMES false)
+    set(DOXYGEN_EXTENSION_MAPPING inc=C++ no_extension=C++)
+    set(DOXYGEN_EXTRACT_ALL true)
+    set(DOXYGEN_EXTRACT_STATIC true)
+    set(DOXYGEN_FILE_PATTERNS "*")
+    set(DOXYGEN_FULL_PATH_NAMES true)
+    set(DOXYGEN_FULL_SIDEBAR false)
+    set(DOXYGEN_GENERATE_HTML true)
+    set(DOXYGEN_GENERATE_LATEX false)
+    set(DOXYGEN_GENERATE_TREEVIEW true)
+    set(DOXYGEN_HTML_COLORSTYLE "LIGHT")
+    set(DOXYGEN_HTML_EXTRA_STYLESHEET docs/theme.css)
+    set(DOXYGEN_JAVADOC_AUTOBRIEF true)
+    set(DOXYGEN_ALIASES
+        "effects=\\par <i>Effects:</i>^^"
+        "notes=\\par <i>Notes:</i>^^"
+        "requires=\\par <i>Requires:</i>^^"
+        "requiredbe=\\par <i>Required Behavior:</i>^^"
+        "concept{2}=<a href=\"md_doc_concepts.html#1\">2</a>"
+        "defaultbe=\\par <i>Default Behavior:</i>^^"
+    )
+    set(DOXYGEN_PROJECT_NAME WPILibC++)
+    set(DOXYGEN_PROJECT_NUMBER version)
+    set(DOXYGEN_PROJECT_LOGO wpiutil/src/main/native/resources/wpilib-128.png)
+    set(DOXYGEN_QUIET true)
+    set(DOXYGEN_RECURSIVE true)
+    set(DOXYGEN_STRIP_CODE_COMMENTS false)
+    set(DOXYGEN_STRIP_FROM_PATH ${docs_dirs})
+    set(DOXYGEN_STRIP_FROM_INC_PATH ${docs_dirs})
+    set(DOXYGEN_TIMESTAMP "DATETIME")
+    set(DOXYGEN_USE_MATHJAX true)
+    set(DOXYGEN_WARNINGS false)
+    set(DOXYGEN_WARN_IF_INCOMPLETE_DOC true)
+    set(DOXYGEN_WARN_IF_UNDOCUMENTED false)
+    set(DOXYGEN_WARN_NO_PARAMDOC true)
+
+    set(DOXYGEN_ENABLE_PREPROCESSING true)
+    set(DOXYGEN_MACRO_EXPANSION true)
+    set(DOXYGEN_EXPAND_ONLY_PREDEF true)
+    set(DOXYGEN_PREDEFINED
+        "__cplusplus"
+        "HAL_ENUM(name)=enum name : int32_t"
+        "DOXYGEN"
+        "WPI_NOEXCEPT:=noexcept"
+        "WPI_SFINAE(x):="
+        "WPI_REQUIRES(x):="
+        "WPI_REQUIRES_RET(...):="
+        "WPI_ENABLE_IF(...):="
+        "WPI_CONSTEXPR:=constexpr"
+        "WPI_CONSTEXPR_FNC:=constexpr"
+        "WPI_IMPL_DEFINED(...):=implementation_defined"
+        "WPI_EBO(...):="
+    )
+    execute_process(COMMAND git describe OUTPUT_VARIABLE version)
+    string(SUBSTRING ${version} 1 -1 version)
+    set(DOXYGEN_PROJECT_NUMBER ${version})
+    doxygen_add_docs(docs ${docs_dirs})
+endmacro()