From 3008359b8fed685b050f987814f581c404a282e7 Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Thu, 11 Jun 2026 16:47:54 -0500
Subject: [PATCH 01/13] doc: Fix PDF doc build

---
 .github/workflows/build_and_publish_docs.yml |  7 ++-
 doc/Doxyfile                                 |  6 ++-
 doc/conf_common.py                           |  6 ---
 doc/patch_doxygen_latex.py                   | 55 ++++++++++++++++++++
 docker_build_docs.sh                         |  2 +
 5 files changed, 65 insertions(+), 11 deletions(-)
 create mode 100644 doc/patch_doxygen_latex.py

diff --git a/.github/workflows/build_and_publish_docs.yml b/.github/workflows/build_and_publish_docs.yml
index 461f7b827..34e343f47 100644
--- a/.github/workflows/build_and_publish_docs.yml
+++ b/.github/workflows/build_and_publish_docs.yml
@@ -35,15 +35,14 @@ jobs:
           cd doc
           # ignore if the following command fails
           build-docs -bs html -t esp32 -l en --project-path ../ --source-dir ./ --doxyfile_dir ./ || true
+          python3 patch_doxygen_latex.py _build/en/esp32/latex
           mkdir -p ../docs
           cp -r _build/en/esp32/html/* ../docs/.
           # go to the latex output
           cd _build/en/esp32/latex/
-          # use xelatex because the generated docs include Unicode characters
-          # that pdflatex cannot render reliably
-          xelatex -interaction=batchmode refman || true
+          pdflatex -interaction=batchmode refman || true
           # build again to make sure page numbers and refs and such work (ignore if command fails)
-          xelatex -interaction=batchmode refman || true
+          pdflatex -interaction=batchmode refman || true
           if [ -f refman.pdf ]; then
             mv refman.pdf espp_documentation.pdf
           fi
diff --git a/doc/Doxyfile b/doc/Doxyfile
index c739531b3..29f2cd66c 100755
--- a/doc/Doxyfile
+++ b/doc/Doxyfile
@@ -23,7 +23,11 @@ PROJECT_NAME = "Espressif++ (ESPP), an ESP C++ Library"
 ##
 QUIET = YES
 
-INLINE_SOURCES = YES
+# Keep inline sources out of the generated LaTeX/PDF output. Some example/source
+# listings contain rich Unicode that is fine in code and HTML, but makes the
+# standalone Doxygen PDF build unreliable.
+INLINE_SOURCES = NO
+
 
 # If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
 # inherited members of a class in the documentation of that class as if those
diff --git a/doc/conf_common.py b/doc/conf_common.py
index b9593067c..e9b121279 100644
--- a/doc/conf_common.py
+++ b/doc/conf_common.py
@@ -22,9 +22,3 @@
 
 idf_targets = ['esp32', 'esp32s2', 'esp32c3']
 languages = ['en']
-
-# The generated API/README content includes Unicode characters such as Ω, π,
-# emoji, and other symbols that pdflatex cannot handle reliably. Use xelatex so
-# the PDF docs build stays aligned with the HTML sources instead of requiring
-# per-character LaTeX escape maintenance.
-latex_engine = 'xelatex'
diff --git a/doc/patch_doxygen_latex.py b/doc/patch_doxygen_latex.py
new file mode 100644
index 000000000..d9ca81d4b
--- /dev/null
+++ b/doc/patch_doxygen_latex.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+from pathlib import Path
+import sys
+
+
+OLD_BLOCK = r"""\NewDocumentEnvironment{DoxyEnumFields}{O{2} m +b}{%
+  \par
+  \ifnum#1>2
+    \DoxyParamTable{3}{lr}{#2}{#3}
+  \else
+    \DoxyParamTable{2}{l}{#2}{#3}
+  \fi
+}{}"""
+
+NEW_BLOCK = r"""\NewDocumentEnvironment{DoxyEnumFields}{O{2} m +b}{%
+  \par
+  \begin{longtable}{|p{0.34\linewidth}|p{0.58\linewidth}|}
+  \hline
+  \textbf{#2} & \textbf{Description} \\
+  \hline
+  \endfirsthead
+  \hline
+  \textbf{#2} & \textbf{Description} \\
+  \hline
+  \endhead
+  #3
+  \end{longtable}
+  \par\addvspace{6pt}%
+}{}"""
+
+
+def main() -> int:
+    if len(sys.argv) != 2:
+      print("usage: patch_doxygen_latex.py <latex_dir>", file=sys.stderr)
+      return 2
+
+    latex_dir = Path(sys.argv[1])
+    style_path = latex_dir / "doxygen.sty"
+    if not style_path.exists():
+      print(f"doxygen.sty not found in {latex_dir}", file=sys.stderr)
+      return 1
+
+    text = style_path.read_text()
+    if NEW_BLOCK in text:
+      return 0
+    if OLD_BLOCK not in text:
+      print("expected DoxyEnumFields block not found in doxygen.sty", file=sys.stderr)
+      return 1
+
+    style_path.write_text(text.replace(OLD_BLOCK, NEW_BLOCK, 1))
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/docker_build_docs.sh b/docker_build_docs.sh
index a3199d622..9efd2c679 100755
--- a/docker_build_docs.sh
+++ b/docker_build_docs.sh
@@ -5,6 +5,8 @@ export PYTHONPATH=$PYTHONPATH:/project/doc
 git config --global --add safe.directory /project
 # build the docs
 build-docs -bs html -t esp32 -l en --project-path /project/ --source-dir /project/doc/ --doxyfile_dir /project/doc/
+# patch the generated Doxygen LaTeX so the PDF build can use pdflatex reliably
+python3 /project/doc/patch_doxygen_latex.py /project/doc/_build/en/esp32/latex
 mkdir -p /project/docs
 # copy the docs to the docs folder
 cp -rf /project/_build/en/esp32/html/* /project/docs/.

From 058601651a76a75dced2fcfc7598a0ef48901676 Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Fri, 12 Jun 2026 11:29:44 -0500
Subject: [PATCH 02/13] fix doc

---
 .github/workflows/build_and_publish_docs.yml |  18 +--
 doc/build_latex_pdf.sh                       |  56 ++++++++
 doc/patch_doxygen_latex.py                   | 128 +++++++++++++++----
 docker_build_docs.sh                         |   7 +-
 4 files changed, 166 insertions(+), 43 deletions(-)
 create mode 100755 doc/build_latex_pdf.sh

diff --git a/.github/workflows/build_and_publish_docs.yml b/.github/workflows/build_and_publish_docs.yml
index 34e343f47..bac90c5c9 100644
--- a/.github/workflows/build_and_publish_docs.yml
+++ b/.github/workflows/build_and_publish_docs.yml
@@ -35,23 +35,15 @@ jobs:
           cd doc
           # ignore if the following command fails
           build-docs -bs html -t esp32 -l en --project-path ../ --source-dir ./ --doxyfile_dir ./ || true
-          python3 patch_doxygen_latex.py _build/en/esp32/latex
-          mkdir -p ../docs
-          cp -r _build/en/esp32/html/* ../docs/.
-          # go to the latex output
-          cd _build/en/esp32/latex/
-          pdflatex -interaction=batchmode refman || true
-          # build again to make sure page numbers and refs and such work (ignore if command fails)
-          pdflatex -interaction=batchmode refman || true
-          if [ -f refman.pdf ]; then
-            mv refman.pdf espp_documentation.pdf
-          fi
-          # set a variable to indicate whether the PDF was generated successfully
-          if [ -f espp_documentation.pdf ]; then
+          if sh ./build_latex_pdf.sh _build/en/esp32/latex; then
             echo "PDF_GENERATED=true" >> $GITHUB_ENV
           else
+            rm -f _build/en/esp32/latex/refman.pdf
+            rm -f _build/en/esp32/latex/espp_documentation.pdf
             echo "PDF_GENERATED=false" >> $GITHUB_ENV
           fi
+          mkdir -p ../docs
+          cp -r _build/en/esp32/html/* ../docs/.
           # warn if the PDF was not generated successfully
           if [ "$PDF_GENERATED" = "false" ]; then
             echo "Warning: PDF documentation was not generated successfully."
diff --git a/doc/build_latex_pdf.sh b/doc/build_latex_pdf.sh
new file mode 100755
index 000000000..4c578e0e3
--- /dev/null
+++ b/doc/build_latex_pdf.sh
@@ -0,0 +1,56 @@
+#!/bin/sh
+set -eu
+
+if [ "$#" -ne 1 ]; then
+  echo "usage: build_latex_pdf.sh <latex_dir>" >&2
+  exit 2
+fi
+
+latex_dir=$1
+if [ ! -d "$latex_dir" ]; then
+  echo "latex directory not found: $latex_dir" >&2
+  exit 1
+fi
+
+script_dir=$(
+  CDPATH= cd -- "$(dirname -- "$0")" && pwd
+)
+
+success=0
+cleanup() {
+  if [ "$success" -ne 1 ]; then
+    rm -f "$latex_dir/refman.pdf" "$latex_dir/espp_documentation.pdf"
+  fi
+}
+trap cleanup EXIT HUP INT TERM
+
+rm -f \
+  "$latex_dir/refman.pdf" \
+  "$latex_dir/espp_documentation.pdf" \
+  "$latex_dir/refman.aux" \
+  "$latex_dir/refman.fdb_latexmk" \
+  "$latex_dir/refman.fls" \
+  "$latex_dir/refman.idx" \
+  "$latex_dir/refman.ilg" \
+  "$latex_dir/refman.ind" \
+  "$latex_dir/refman.log" \
+  "$latex_dir/refman.lof" \
+  "$latex_dir/refman.lot" \
+  "$latex_dir/refman.out" \
+  "$latex_dir/refman.synctex.gz" \
+  "$latex_dir/refman.toc"
+
+python3 "$script_dir/patch_doxygen_latex.py" "$latex_dir"
+
+cd "$latex_dir"
+pdflatex -interaction=batchmode -halt-on-error refman.tex
+python3 "$script_dir/patch_doxygen_latex.py" "$latex_dir"
+pdflatex -interaction=batchmode -halt-on-error refman.tex
+
+if [ ! -s refman.pdf ]; then
+  echo "refman.pdf was not generated" >&2
+  exit 1
+fi
+
+cp refman.pdf espp_documentation.pdf
+success=1
diff --git a/doc/patch_doxygen_latex.py b/doc/patch_doxygen_latex.py
index d9ca81d4b..5fc237114 100644
--- a/doc/patch_doxygen_latex.py
+++ b/doc/patch_doxygen_latex.py
@@ -1,33 +1,77 @@
 #!/usr/bin/env python3
 from pathlib import Path
+import re
 import sys
 
 
-OLD_BLOCK = r"""\NewDocumentEnvironment{DoxyEnumFields}{O{2} m +b}{%
-  \par
-  \ifnum#1>2
-    \DoxyParamTable{3}{lr}{#2}{#3}
-  \else
-    \DoxyParamTable{2}{l}{#2}{#3}
-  \fi
-}{}"""
+OLD_NEWDOCUMENT_PATTERN = re.compile(
+   r"""\\NewDocumentEnvironment\{DoxyEnumFields\}\{O\{2\} m \+b\}\{\%
+.*?
+\}\{\}""",
+   re.DOTALL,
+)
 
-NEW_BLOCK = r"""\NewDocumentEnvironment{DoxyEnumFields}{O{2} m +b}{%
-  \par
-  \begin{longtable}{|p{0.34\linewidth}|p{0.58\linewidth}|}
-  \hline
-  \textbf{#2} & \textbf{Description} \\
-  \hline
-  \endfirsthead
-  \hline
-  \textbf{#2} & \textbf{Description} \\
-  \hline
-  \endhead
-  #3
-  \end{longtable}
-  \par\addvspace{6pt}%
+NEW_NEWDOCUMENT_BLOCK = r"""\NewDocumentEnvironment{DoxyEnumFields}{O{2} m +b}{%
+ \par
+ \begin{longtable}{|p{0.34\linewidth}|p{0.58\linewidth}|}
+ \hline
+ \multicolumn{2}{|l|}{\textbf{#2}} \\
+ \hline
+ \endfirsthead
+ \hline
+ \multicolumn{2}{|l|}{\textbf{#2}} \\
+ \hline
+ \endhead
+ #3
+ \end{longtable}
+ \par\addvspace{6pt}%
 }{}"""
 
+OLD_NEWENV_PATTERN = re.compile(
+   r"""\\newenvironment\{DoxyEnumFields\}\[1\]\{\%
+.*?
+\}\{\%
+.*?
+\}""",
+   re.DOTALL,
+)
+
+NEW_NEWENV_BLOCK = r"""\newenvironment{DoxyEnumFields}[1]{%
+   \par%
+   \begin{longtable}{|p{0.34\linewidth}|p{0.58\linewidth}|}%
+   \hline%
+   \multicolumn{2}{|l|}{\textbf{#1}}\\%
+   \hline%
+   \endfirsthead%
+   \hline%
+   \multicolumn{2}{|l|}{\textbf{#1}}\\%
+   \hline%
+   \endhead%
+}{%
+   \end{longtable}%
+   \vspace{6pt}%
+}"""
+
+ETOC_LINE = (
+   r"\IfFormatAtLeastTF{2023/05/01}{\usepackage[deeplevels]{etoc}}"
+   r"{\usepackage[deeplevels]{etoc_doxygen}}"
+)
+ETOC_REPLACEMENT = r"\usepackage[deeplevels]{etoc_doxygen}"
+TOC_PRELUDE_PREFIX = r"\@ifundefined {etoctocstyle}"
+ETOC_BLOCK_PATTERN = re.compile(
+   r"""  % in page table of contents
+  .*?
+  \\etocsetlevel\{subparagraph\}\{9\}
+""",
+   re.DOTALL,
+)
+ETOC_BLOCK_REPLACEMENT = """  % printed table of contents disabled for PDF stability on large manuals
+"""
+TABLE_OF_CONTENTS_LINE = r"  \tableofcontents"
+TABLE_OF_CONTENTS_REPLACEMENT = (
+   "  % printed table of contents disabled for PDF stability on large manuals"
+)
+
 
 def main() -> int:
     if len(sys.argv) != 2:
@@ -41,13 +85,41 @@ def main() -> int:
       return 1
 
     text = style_path.read_text()
-    if NEW_BLOCK in text:
-      return 0
-    if OLD_BLOCK not in text:
-      print("expected DoxyEnumFields block not found in doxygen.sty", file=sys.stderr)
-      return 1
+    if NEW_NEWDOCUMENT_BLOCK in text or NEW_NEWENV_BLOCK in text:
+      replacements = 0
+      updated_text = text
+    else:
+      updated_text, replacements = OLD_NEWDOCUMENT_PATTERN.subn(
+          lambda _: NEW_NEWDOCUMENT_BLOCK, text, count=1
+      )
+      if replacements == 0:
+        updated_text, replacements = OLD_NEWENV_PATTERN.subn(
+            lambda _: NEW_NEWENV_BLOCK, text, count=1
+        )
+      if replacements == 0:
+        print("expected DoxyEnumFields block not found in doxygen.sty", file=sys.stderr)
+        return 1
+
+    style_path.write_text(updated_text)
+
+    refman_path = latex_dir / "refman.tex"
+    if refman_path.exists():
+      refman_text = refman_path.read_text()
+      if ETOC_LINE in refman_text:
+        refman_path.write_text(refman_text.replace(ETOC_LINE, ETOC_REPLACEMENT, 1))
+        refman_text = refman_path.read_text()
+      refman_text, _ = ETOC_BLOCK_PATTERN.subn(ETOC_BLOCK_REPLACEMENT, refman_text, count=1)
+      if TABLE_OF_CONTENTS_LINE in refman_text:
+        refman_text = refman_text.replace(
+            TABLE_OF_CONTENTS_LINE, TABLE_OF_CONTENTS_REPLACEMENT, 1
+        )
+      refman_path.write_text(refman_text)
 
-    style_path.write_text(text.replace(OLD_BLOCK, NEW_BLOCK, 1))
+    toc_path = latex_dir / "refman.toc"
+    if toc_path.exists():
+      toc_lines = toc_path.read_text().splitlines(keepends=True)
+      if toc_lines and toc_lines[0].startswith(TOC_PRELUDE_PREFIX):
+        toc_path.write_text("".join(toc_lines[1:]))
     return 0
 
 
diff --git a/docker_build_docs.sh b/docker_build_docs.sh
index 9efd2c679..9d5896cac 100755
--- a/docker_build_docs.sh
+++ b/docker_build_docs.sh
@@ -5,8 +5,11 @@ export PYTHONPATH=$PYTHONPATH:/project/doc
 git config --global --add safe.directory /project
 # build the docs
 build-docs -bs html -t esp32 -l en --project-path /project/ --source-dir /project/doc/ --doxyfile_dir /project/doc/
-# patch the generated Doxygen LaTeX so the PDF build can use pdflatex reliably
-python3 /project/doc/patch_doxygen_latex.py /project/doc/_build/en/esp32/latex
+if ! sh /project/doc/build_latex_pdf.sh /project/_build/en/esp32/latex; then
+  rm -f /project/_build/en/esp32/latex/refman.pdf
+  rm -f /project/_build/en/esp32/latex/espp_documentation.pdf
+  echo "Warning: PDF documentation was not generated successfully." >&2
+fi
 mkdir -p /project/docs
 # copy the docs to the docs folder
 cp -rf /project/_build/en/esp32/html/* /project/docs/.

From 3bb0b4d1cfd56cc3b0ba1bf9e56298c07c5ef71c Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Fri, 12 Jun 2026 13:44:57 -0500
Subject: [PATCH 03/13] minor cleanup

---
 .github/workflows/build_and_publish_docs.yml | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build_and_publish_docs.yml b/.github/workflows/build_and_publish_docs.yml
index bac90c5c9..2c412aef2 100644
--- a/.github/workflows/build_and_publish_docs.yml
+++ b/.github/workflows/build_and_publish_docs.yml
@@ -30,11 +30,18 @@ jobs:
           sudo apt-get install doxygen graphviz texlive-full pandoc
           pip install -r doc/requirements.txt
 
-      - name: Build Documentation
+      - name: Build Documentation (HTML)
         run: |
           cd doc
           # ignore if the following command fails
           build-docs -bs html -t esp32 -l en --project-path ../ --source-dir ./ --doxyfile_dir ./ || true
+          # copy the generated HTML files to the docs directory for GitHub Pages
+          mkdir -p ../docs
+          cp -r _build/en/esp32/html/* ../docs/.
+
+      - name: Build Documentation (PDF)
+        run: |
+          cd doc
           if sh ./build_latex_pdf.sh _build/en/esp32/latex; then
             echo "PDF_GENERATED=true" >> $GITHUB_ENV
           else
@@ -42,8 +49,6 @@ jobs:
             rm -f _build/en/esp32/latex/espp_documentation.pdf
             echo "PDF_GENERATED=false" >> $GITHUB_ENV
           fi
-          mkdir -p ../docs
-          cp -r _build/en/esp32/html/* ../docs/.
           # warn if the PDF was not generated successfully
           if [ "$PDF_GENERATED" = "false" ]; then
             echo "Warning: PDF documentation was not generated successfully."

From 3a0aa2b416ccafdc1897bcb0dcda954f74edd7bc Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Fri, 12 Jun 2026 13:49:47 -0500
Subject: [PATCH 04/13] remove some non-ascii characters

---
 components/cobs/README.md                            |  8 ++++----
 components/cobs/include/cobs.hpp                     |  3 ++-
 components/color/include/color.hpp                   | 12 ++++++------
 .../rx8130ce/example/main/rx8130ce_example.cpp       |  4 ++--
 doc/en/cobs.rst                                      |  2 +-
 5 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/components/cobs/README.md b/components/cobs/README.md
index 604aec4fe..ab7560bfc 100644
--- a/components/cobs/README.md
+++ b/components/cobs/README.md
@@ -7,7 +7,7 @@ The COBS component provides efficient encoding and decoding for the Consistent O
 ## Features
 
 - **Zero-byte elimination**: Removes all zero bytes from data, using them as packet delimiters
-- **Consistent overhead**: Maximum overhead of ⌈n/254⌉ + 1 bytes per packet
+- **Consistent overhead**: Maximum overhead of ceil(n/254) + 1 bytes per packet
 - **Simple framing**: Uses zero bytes as reliable packet delimiters
 - **Streaming support**: Handle fragmented data streams and batch multiple packets
 - **Thread-safe**: Streaming classes are thread-safe with internal locking
@@ -170,7 +170,7 @@ decoder.clear();
 
 
 **Buffer Size Formulas:**
-- **`max_encoded_size(payload_len)`**: `payload_len + ⌈payload_len/254⌉ + 2`
+- **`max_encoded_size(payload_len)`**: `payload_len + ceil(payload_len/254) + 2`
 - **`max_decoded_size(encoded_len)`**: `encoded_len - 1` (accounts for delimiter)
 
 ## COBS Algorithm Details
@@ -179,7 +179,7 @@ COBS works by:
 1. **Eliminating zeros**: All zero bytes are removed from the data
 2. **Adding overhead bytes**: Each block of non-zero data gets a length prefix
 3. **Using zero as delimiter**: A single zero byte marks the end of each packet
-4. **Consistent overhead**: Maximum overhead is ⌈n/254⌉ + 1 bytes per packet
+4. **Consistent overhead**: Maximum overhead is ceil(n/254) + 1 bytes per packet
 
 ### Example Encoding
 ```
@@ -197,7 +197,7 @@ Output: [0x03, 0x01, 0x02, 0x02, 0x03, 0x04, 0x00]
 
 ## Performance Characteristics
 
-- **Encoding overhead**: At most ⌈n/254⌉ + 1 bytes per packet
+- **Encoding overhead**: At most ceil(n/254) + 1 bytes per packet
 - **Decoding complexity**: O(n) where n is packet size
 - **Speed**: Optimized for embedded systems with minimal overhead
 - **Large packet support**: Tested and verified with packets up to 1000+ bytes
diff --git a/components/cobs/include/cobs.hpp b/components/cobs/include/cobs.hpp
index ec28b284b..2d0b59287 100644
--- a/components/cobs/include/cobs.hpp
+++ b/components/cobs/include/cobs.hpp
@@ -13,7 +13,8 @@ namespace espp {
  *
  * Provides single-packet encoding and decoding using the COBS algorithm
  * with 0 as the delimiter.
- * COBS encoding can add at most ⌈n/254⌉ + 1 bytes overhead. Plus 1 byte for the delimiter
+ * COBS encoding can add at most ceil(n/254) + 1 bytes overhead, plus 1 byte
+ * for the delimiter.
  * COBS changes the size of the packet by at least 1 byte, so it's not possible to encode in
  * place. MAX_BLOCK_SIZE = 254 is the maximum number of non-zero bytes in an encoded block.
  *
diff --git a/components/color/include/color.hpp b/components/color/include/color.hpp
index e774a550e..630ef6d88 100644
--- a/components/color/include/color.hpp
+++ b/components/color/include/color.hpp
@@ -13,9 +13,9 @@ class Hsv;
  */
 class Rgb {
 public:
-  float r{0}; ///< Red value ∈ [0, 1]
-  float g{0}; ///< Green value ∈ [0, 1]
-  float b{0}; ///< Blue value ∈ [0, 1]
+  float r{0}; ///< Red value in [0, 1]
+  float g{0}; ///< Green value in [0, 1]
+  float b{0}; ///< Blue value in [0, 1]
 
   Rgb() = default;
 
@@ -106,9 +106,9 @@ class Rgb {
  */
 class Hsv {
 public:
-  float h{0}; ///< Hue ∈ [0, 360]
-  float s{0}; ///< Saturation ∈ [0, 1]
-  float v{0}; ///< Value ∈ [0, 1]
+  float h{0}; ///< Hue in [0, 360]
+  float s{0}; ///< Saturation in [0, 1]
+  float v{0}; ///< Value in [0, 1]
 
   Hsv() = default;
 
diff --git a/components/rx8130ce/example/main/rx8130ce_example.cpp b/components/rx8130ce/example/main/rx8130ce_example.cpp
index 7c994d2c6..f577bd17b 100644
--- a/components/rx8130ce/example/main/rx8130ce_example.cpp
+++ b/components/rx8130ce/example/main/rx8130ce_example.cpp
@@ -124,13 +124,13 @@ extern "C" void app_main(void) {
 
     // Check alarm
     if (rtc.is_alarm_triggered(ec) && !ec) {
-      logger.info("🚨 ALARM TRIGGERED!");
+      logger.info("ALARM TRIGGERED!");
       rtc.clear_alarm_flag(ec);
     }
 
     // Check timer
     if (rtc.is_timer_expired(ec) && !ec) {
-      logger.info("⏰ TIMER EXPIRED!");
+      logger.info("TIMER EXPIRED!");
       rtc.clear_timer_flag(ec);
 
       // Restart timer for another 5 seconds
diff --git a/doc/en/cobs.rst b/doc/en/cobs.rst
index 351eb4ffa..0f16dfe90 100644
--- a/doc/en/cobs.rst
+++ b/doc/en/cobs.rst
@@ -6,7 +6,7 @@ Overhead Byte Stuffing algorithm, a packet framing protocol that ensures reliabl
 packet boundaries in communication streams.
 
 Key features:
-* Zero-byte elimination with consistent overhead (max ⌈n/254⌉ + 1 bytes)
+* Zero-byte elimination with consistent overhead (max ceil(n/254) + 1 bytes)
 * Single packet API for basic encoding/decoding
 * Streaming API with thread-safe encoder/decoder classes
 * Support for fragmented data streams and packet batching

From 0cbc9bfbb6810fce85d3bae34b426541f8287871 Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Fri, 12 Jun 2026 14:23:16 -0500
Subject: [PATCH 05/13] minor update

---
 .github/workflows/build_and_publish_docs.yml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build_and_publish_docs.yml b/.github/workflows/build_and_publish_docs.yml
index 2c412aef2..bdc343816 100644
--- a/.github/workflows/build_and_publish_docs.yml
+++ b/.github/workflows/build_and_publish_docs.yml
@@ -44,13 +44,12 @@ jobs:
           cd doc
           if sh ./build_latex_pdf.sh _build/en/esp32/latex; then
             echo "PDF_GENERATED=true" >> $GITHUB_ENV
+            echo "Success: PDF documentation generated successfully."
           else
             rm -f _build/en/esp32/latex/refman.pdf
             rm -f _build/en/esp32/latex/espp_documentation.pdf
             echo "PDF_GENERATED=false" >> $GITHUB_ENV
-          fi
-          # warn if the PDF was not generated successfully
-          if [ "$PDF_GENERATED" = "false" ]; then
+            # warn if the PDF was not generated successfully
             echo "Warning: PDF documentation was not generated successfully."
           fi
 

From 37d22d1aabd849b5881eb4cc45b7f023fe4725fe Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Fri, 12 Jun 2026 14:50:02 -0500
Subject: [PATCH 06/13] update examples to remove ascii for testing latex
 generation

---
 .../example/main/tabulate_example.cpp         | 22 +++++++++----------
 .../example/main/thermistor_example.cpp       |  2 +-
 2 files changed, 11 insertions(+), 13 deletions(-)

diff --git a/components/tabulate/example/main/tabulate_example.cpp b/components/tabulate/example/main/tabulate_example.cpp
index e93a3f749..445bfdc21 100644
--- a/components/tabulate/example/main/tabulate_example.cpp
+++ b/components/tabulate/example/main/tabulate_example.cpp
@@ -21,16 +21,16 @@ extern "C" void app_main(void) {
   Table universal_constants;
 
   universal_constants.add_row({"Quantity", "Value"});
-  universal_constants.add_row({"Characteristic impedance of vacuum", "376.730 313 461... Ω"});
+  universal_constants.add_row({"Characteristic impedance of vacuum", "376.730 313 461... Ohm"});
   universal_constants.add_row(
-      {"Electric constant (permittivity of free space)", "8.854 187 817... × 10⁻¹²F·m⁻¹"});
+      {"Electric constant (permittivity of free space)", "8.854 187 817... x 10^-12 F*m^-1"});
   universal_constants.add_row({"Magnetic constant (permeability of free space)",
-                               "4π × 10⁻⁷ N·A⁻² = 1.2566 370 614... × 10⁻⁶ N·A⁻²"});
+                               "4*pi x 10^-7 N*A^-2 = 1.2566 370 614... x 10^-6 N*A^-2"});
   universal_constants.add_row({"Gravitational constant (Newtonian constant of gravitation)",
-                               "6.6742(10) × 10⁻¹¹m³·kg⁻¹·s⁻²"});
-  universal_constants.add_row({"Planck's constant", "6.626 0693(11) × 10⁻³⁴ J·s"});
-  universal_constants.add_row({"Dirac's constant", "1.054 571 68(18) × 10⁻³⁴ J·s"});
-  universal_constants.add_row({"Speed of light in vacuum", "299 792 458 m·s⁻¹"});
+                               "6.6742(10) x 10^-11 m^3*kg^-1*s^-2"});
+  universal_constants.add_row({"Planck's constant", "6.626 0693(11) x 10^-34 J*s"});
+  universal_constants.add_row({"Dirac's constant", "1.054 571 68(18) x 10^-34 J*s"});
+  universal_constants.add_row({"Speed of light in vacuum", "299 792 458 m*s^-1"});
 
   universal_constants.format()
       .font_style({FontStyle::bold})
@@ -99,7 +99,7 @@ extern "C" void app_main(void) {
   Table readme;
   readme.format().border_color(Color::yellow);
 
-  readme.add_row(Row_t{"🔥tabulate for Modern C++🔥"});
+  readme.add_row(Row_t{"tabulate for Modern C++"});
   readme[0].format().font_align(FontAlign::center).font_color(Color::yellow);
 
   readme.add_row(Row_t{"https://github.com/p-ranav/tabulate"});
@@ -182,9 +182,7 @@ extern "C" void app_main(void) {
 
   readme[9].format().hide_border_top().border_color(Color::white).font_color(Color::yellow);
 
-  readme.add_row(Row_t{"ᚠ ᚡ ᚢ ᚣ ᚤ ᚥ ᚦ ᚧ ᚨ ᚩ ᚪ ᚫ ᚬ ᚭ ᚮ ᚯ ᚰ ᚱ ᚲ ᚳ ᚴ ᚵ ᚶ ᚷ ᚸ ᚹ ᚺ "
-                       "ᚻ ᚼ ᚽ ᚾ ᚿ ᛀ ᛁ ᛂ ᛃ ᛄ ᛅ ᛆ ᛇ "
-                       "ᛈ ᛉ ᛊ ᛋ ᛌ ᛍ ᛎ ᛏ ᛐ ᛑ ᛒ ᛓ"});
+  readme.add_row(Row_t{"Multi-byte sample text rendered in a PDF-friendly ASCII form."});
   readme[10]
       .format()
       .font_background_color(Color::red)
@@ -301,7 +299,7 @@ extern "C" void app_main(void) {
   chart[8][17].set_text("This one's yellow and right-aligned");
   chart[8][17].format().color(Color::yellow).font_align(FontAlign::right);
 
-  chart[9][17].set_text("This one's on 🔥🔥🔥");
+  chart[9][17].set_text("This one's on fire!");
 
   std::cout << chart;
   std::cout << legend << "\n\n";
diff --git a/components/thermistor/example/main/thermistor_example.cpp b/components/thermistor/example/main/thermistor_example.cpp
index 927299649..55eae69d0 100644
--- a/components/thermistor/example/main/thermistor_example.cpp
+++ b/components/thermistor/example/main/thermistor_example.cpp
@@ -99,7 +99,7 @@ extern "C" void app_main(void) {
   // https://product.tdk.com/system/files/dam/doc/product/sensor/ntc/chip-ntc-thermistor/catalog/tpd_commercial_ntc-thermistor_ntcg_en.pdf
   // From the table (page 7):
   // clang-format off
-  // Part Number.    | R25(Ω) | Tolerance | B25/50(Κ) | B25/75(Κ) | B25/85(Κ) | B25/100(K) | Current (mA) | Operating Temp Range
+  // Part Number.    | R25(Ohm) | Tolerance | B25/50(K) | B25/75(K) | B25/85(K) | B25/100(K) | Current (mA) | Operating Temp Range
   // NTCG103JF103FT1 | 10,000 |   +/–1%   | 3380      | 3422      | 3435      | 3453 +/–1% | 0.31         | –40 to 152
   // clang-format on
   espp::Thermistor thermistor({.divider_config = espp::Thermistor::ResistorDividerConfig::UPPER,

From f7fcafbe2a805ad1172b7741a1f16d16efccfb6c Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Fri, 12 Jun 2026 15:52:51 -0500
Subject: [PATCH 07/13] fix ci

---
 .github/workflows/build_and_publish_docs.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build_and_publish_docs.yml b/.github/workflows/build_and_publish_docs.yml
index bdc343816..3b9ba94b8 100644
--- a/.github/workflows/build_and_publish_docs.yml
+++ b/.github/workflows/build_and_publish_docs.yml
@@ -37,17 +37,17 @@ jobs:
           build-docs -bs html -t esp32 -l en --project-path ../ --source-dir ./ --doxyfile_dir ./ || true
           # copy the generated HTML files to the docs directory for GitHub Pages
           mkdir -p ../docs
-          cp -r _build/en/esp32/html/* ../docs/.
+          cp -r ../_build/en/esp32/html/* ../docs/.
 
       - name: Build Documentation (PDF)
         run: |
           cd doc
-          if sh ./build_latex_pdf.sh _build/en/esp32/latex; then
+          if sh ./build_latex_pdf.sh ../_build/en/esp32/latex; then
             echo "PDF_GENERATED=true" >> $GITHUB_ENV
             echo "Success: PDF documentation generated successfully."
           else
-            rm -f _build/en/esp32/latex/refman.pdf
-            rm -f _build/en/esp32/latex/espp_documentation.pdf
+            rm -f ../_build/en/esp32/latex/refman.pdf
+            rm -f ../_build/en/esp32/latex/espp_documentation.pdf
             echo "PDF_GENERATED=false" >> $GITHUB_ENV
             # warn if the PDF was not generated successfully
             echo "Warning: PDF documentation was not generated successfully."
@@ -64,11 +64,11 @@ jobs:
         if: env.PDF_GENERATED == 'true'
         with:
           name: espp_documentation.pdf
-          path: doc/_build/en/esp32/latex/espp_documentation.pdf
+          path: _build/en/esp32/latex/espp_documentation.pdf
 
       - name: Attach files to release
         uses: softprops/action-gh-release@v2
         if: ${{ github.event.release && github.event.action == 'published' && env.PDF_GENERATED == 'true' }}
         with:
           files: |
-            doc/_build/en/esp32/latex/espp_documentation.pdf
+            _build/en/esp32/latex/espp_documentation.pdf

From 15c5154aaf7786fcb49bc3c0d9c4a7182791eb2b Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Fri, 12 Jun 2026 16:09:43 -0500
Subject: [PATCH 08/13] try to clean up and make it less brittle

---
 .github/workflows/build_and_publish_docs.yml | 24 +++++++++++++++-----
 1 file changed, 18 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build_and_publish_docs.yml b/.github/workflows/build_and_publish_docs.yml
index 3b9ba94b8..3df9e1c68 100644
--- a/.github/workflows/build_and_publish_docs.yml
+++ b/.github/workflows/build_and_publish_docs.yml
@@ -35,19 +35,31 @@ jobs:
           cd doc
           # ignore if the following command fails
           build-docs -bs html -t esp32 -l en --project-path ../ --source-dir ./ --doxyfile_dir ./ || true
+          if [ -d _build/en/esp32/html ]; then
+            build_dir_from_doc=_build/en/esp32
+            build_dir_root=doc/_build/en/esp32
+          elif [ -d ../_build/en/esp32/html ]; then
+            build_dir_from_doc=../_build/en/esp32
+            build_dir_root=_build/en/esp32
+          else
+            echo "Unable to find generated documentation output directory." >&2
+            exit 1
+          fi
+          echo "DOC_BUILD_DIR_FROM_DOC=${build_dir_from_doc}" >> $GITHUB_ENV
+          echo "DOC_BUILD_DIR_ROOT=${build_dir_root}" >> $GITHUB_ENV
           # copy the generated HTML files to the docs directory for GitHub Pages
           mkdir -p ../docs
-          cp -r ../_build/en/esp32/html/* ../docs/.
+          cp -r "${build_dir_from_doc}/html/"* ../docs/.
 
       - name: Build Documentation (PDF)
         run: |
           cd doc
-          if sh ./build_latex_pdf.sh ../_build/en/esp32/latex; then
+          if sh ./build_latex_pdf.sh "${DOC_BUILD_DIR_FROM_DOC}/latex"; then
             echo "PDF_GENERATED=true" >> $GITHUB_ENV
             echo "Success: PDF documentation generated successfully."
           else
-            rm -f ../_build/en/esp32/latex/refman.pdf
-            rm -f ../_build/en/esp32/latex/espp_documentation.pdf
+            rm -f "${DOC_BUILD_DIR_FROM_DOC}/latex/refman.pdf"
+            rm -f "${DOC_BUILD_DIR_FROM_DOC}/latex/espp_documentation.pdf"
             echo "PDF_GENERATED=false" >> $GITHUB_ENV
             # warn if the PDF was not generated successfully
             echo "Warning: PDF documentation was not generated successfully."
@@ -64,11 +76,11 @@ jobs:
         if: env.PDF_GENERATED == 'true'
         with:
           name: espp_documentation.pdf
-          path: _build/en/esp32/latex/espp_documentation.pdf
+          path: ${{ env.DOC_BUILD_DIR_ROOT }}/latex/espp_documentation.pdf
 
       - name: Attach files to release
         uses: softprops/action-gh-release@v2
         if: ${{ github.event.release && github.event.action == 'published' && env.PDF_GENERATED == 'true' }}
         with:
           files: |
-            _build/en/esp32/latex/espp_documentation.pdf
+            ${{ env.DOC_BUILD_DIR_ROOT }}/latex/espp_documentation.pdf

From 546c429986ac61666cdfa8e250c2b25d5399a76e Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Fri, 12 Jun 2026 16:36:44 -0500
Subject: [PATCH 09/13] fix script

---
 doc/build_latex_pdf.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/doc/build_latex_pdf.sh b/doc/build_latex_pdf.sh
index 4c578e0e3..f842f1f01 100755
--- a/doc/build_latex_pdf.sh
+++ b/doc/build_latex_pdf.sh
@@ -11,6 +11,9 @@ if [ ! -d "$latex_dir" ]; then
   echo "latex directory not found: $latex_dir" >&2
   exit 1
 fi
+latex_dir=$(
+  CDPATH= cd -- "$latex_dir" && pwd
+)
 
 script_dir=$(
   CDPATH= cd -- "$(dirname -- "$0")" && pwd

From 6d6cdadc48075d6a9dd53edeceecc48a5cc8296a Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Fri, 12 Jun 2026 16:52:26 -0500
Subject: [PATCH 10/13] Potential fix for pull request finding 'Unused local
 variable'

Co-authored-by: Copilot Autofix powered by AI <223894421+github-code-quality[bot]@users.noreply.github.com>
---
 doc/patch_doxygen_latex.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/doc/patch_doxygen_latex.py b/doc/patch_doxygen_latex.py
index 5fc237114..43f9b7837 100644
--- a/doc/patch_doxygen_latex.py
+++ b/doc/patch_doxygen_latex.py
@@ -86,7 +86,6 @@ def main() -> int:
 
     text = style_path.read_text()
     if NEW_NEWDOCUMENT_BLOCK in text or NEW_NEWENV_BLOCK in text:
-      replacements = 0
       updated_text = text
     else:
       updated_text, replacements = OLD_NEWDOCUMENT_PATTERN.subn(

From 9fb9ca9a1745b70ecd0655f6577b6789953a029b Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Fri, 12 Jun 2026 16:54:28 -0500
Subject: [PATCH 11/13] revert code changes to test build

---
 components/cobs/README.md                     |  8 +++----
 components/cobs/include/cobs.hpp              |  3 +--
 components/color/include/color.hpp            | 12 +++++-----
 .../example/main/rx8130ce_example.cpp         |  4 ++--
 .../example/main/tabulate_example.cpp         | 22 ++++++++++---------
 .../example/main/thermistor_example.cpp       |  2 +-
 6 files changed, 26 insertions(+), 25 deletions(-)

diff --git a/components/cobs/README.md b/components/cobs/README.md
index ab7560bfc..604aec4fe 100644
--- a/components/cobs/README.md
+++ b/components/cobs/README.md
@@ -7,7 +7,7 @@ The COBS component provides efficient encoding and decoding for the Consistent O
 ## Features
 
 - **Zero-byte elimination**: Removes all zero bytes from data, using them as packet delimiters
-- **Consistent overhead**: Maximum overhead of ceil(n/254) + 1 bytes per packet
+- **Consistent overhead**: Maximum overhead of ⌈n/254⌉ + 1 bytes per packet
 - **Simple framing**: Uses zero bytes as reliable packet delimiters
 - **Streaming support**: Handle fragmented data streams and batch multiple packets
 - **Thread-safe**: Streaming classes are thread-safe with internal locking
@@ -170,7 +170,7 @@ decoder.clear();
 
 
 **Buffer Size Formulas:**
-- **`max_encoded_size(payload_len)`**: `payload_len + ceil(payload_len/254) + 2`
+- **`max_encoded_size(payload_len)`**: `payload_len + ⌈payload_len/254⌉ + 2`
 - **`max_decoded_size(encoded_len)`**: `encoded_len - 1` (accounts for delimiter)
 
 ## COBS Algorithm Details
@@ -179,7 +179,7 @@ COBS works by:
 1. **Eliminating zeros**: All zero bytes are removed from the data
 2. **Adding overhead bytes**: Each block of non-zero data gets a length prefix
 3. **Using zero as delimiter**: A single zero byte marks the end of each packet
-4. **Consistent overhead**: Maximum overhead is ceil(n/254) + 1 bytes per packet
+4. **Consistent overhead**: Maximum overhead is ⌈n/254⌉ + 1 bytes per packet
 
 ### Example Encoding
 ```
@@ -197,7 +197,7 @@ Output: [0x03, 0x01, 0x02, 0x02, 0x03, 0x04, 0x00]
 
 ## Performance Characteristics
 
-- **Encoding overhead**: At most ceil(n/254) + 1 bytes per packet
+- **Encoding overhead**: At most ⌈n/254⌉ + 1 bytes per packet
 - **Decoding complexity**: O(n) where n is packet size
 - **Speed**: Optimized for embedded systems with minimal overhead
 - **Large packet support**: Tested and verified with packets up to 1000+ bytes
diff --git a/components/cobs/include/cobs.hpp b/components/cobs/include/cobs.hpp
index 2d0b59287..ec28b284b 100644
--- a/components/cobs/include/cobs.hpp
+++ b/components/cobs/include/cobs.hpp
@@ -13,8 +13,7 @@ namespace espp {
  *
  * Provides single-packet encoding and decoding using the COBS algorithm
  * with 0 as the delimiter.
- * COBS encoding can add at most ceil(n/254) + 1 bytes overhead, plus 1 byte
- * for the delimiter.
+ * COBS encoding can add at most ⌈n/254⌉ + 1 bytes overhead. Plus 1 byte for the delimiter
  * COBS changes the size of the packet by at least 1 byte, so it's not possible to encode in
  * place. MAX_BLOCK_SIZE = 254 is the maximum number of non-zero bytes in an encoded block.
  *
diff --git a/components/color/include/color.hpp b/components/color/include/color.hpp
index 630ef6d88..e774a550e 100644
--- a/components/color/include/color.hpp
+++ b/components/color/include/color.hpp
@@ -13,9 +13,9 @@ class Hsv;
  */
 class Rgb {
 public:
-  float r{0}; ///< Red value in [0, 1]
-  float g{0}; ///< Green value in [0, 1]
-  float b{0}; ///< Blue value in [0, 1]
+  float r{0}; ///< Red value ∈ [0, 1]
+  float g{0}; ///< Green value ∈ [0, 1]
+  float b{0}; ///< Blue value ∈ [0, 1]
 
   Rgb() = default;
 
@@ -106,9 +106,9 @@ class Rgb {
  */
 class Hsv {
 public:
-  float h{0}; ///< Hue in [0, 360]
-  float s{0}; ///< Saturation in [0, 1]
-  float v{0}; ///< Value in [0, 1]
+  float h{0}; ///< Hue ∈ [0, 360]
+  float s{0}; ///< Saturation ∈ [0, 1]
+  float v{0}; ///< Value ∈ [0, 1]
 
   Hsv() = default;
 
diff --git a/components/rx8130ce/example/main/rx8130ce_example.cpp b/components/rx8130ce/example/main/rx8130ce_example.cpp
index f577bd17b..7c994d2c6 100644
--- a/components/rx8130ce/example/main/rx8130ce_example.cpp
+++ b/components/rx8130ce/example/main/rx8130ce_example.cpp
@@ -124,13 +124,13 @@ extern "C" void app_main(void) {
 
     // Check alarm
     if (rtc.is_alarm_triggered(ec) && !ec) {
-      logger.info("ALARM TRIGGERED!");
+      logger.info("🚨 ALARM TRIGGERED!");
       rtc.clear_alarm_flag(ec);
     }
 
     // Check timer
     if (rtc.is_timer_expired(ec) && !ec) {
-      logger.info("TIMER EXPIRED!");
+      logger.info("⏰ TIMER EXPIRED!");
       rtc.clear_timer_flag(ec);
 
       // Restart timer for another 5 seconds
diff --git a/components/tabulate/example/main/tabulate_example.cpp b/components/tabulate/example/main/tabulate_example.cpp
index 445bfdc21..e93a3f749 100644
--- a/components/tabulate/example/main/tabulate_example.cpp
+++ b/components/tabulate/example/main/tabulate_example.cpp
@@ -21,16 +21,16 @@ extern "C" void app_main(void) {
   Table universal_constants;
 
   universal_constants.add_row({"Quantity", "Value"});
-  universal_constants.add_row({"Characteristic impedance of vacuum", "376.730 313 461... Ohm"});
+  universal_constants.add_row({"Characteristic impedance of vacuum", "376.730 313 461... Ω"});
   universal_constants.add_row(
-      {"Electric constant (permittivity of free space)", "8.854 187 817... x 10^-12 F*m^-1"});
+      {"Electric constant (permittivity of free space)", "8.854 187 817... × 10⁻¹²F·m⁻¹"});
   universal_constants.add_row({"Magnetic constant (permeability of free space)",
-                               "4*pi x 10^-7 N*A^-2 = 1.2566 370 614... x 10^-6 N*A^-2"});
+                               "4π × 10⁻⁷ N·A⁻² = 1.2566 370 614... × 10⁻⁶ N·A⁻²"});
   universal_constants.add_row({"Gravitational constant (Newtonian constant of gravitation)",
-                               "6.6742(10) x 10^-11 m^3*kg^-1*s^-2"});
-  universal_constants.add_row({"Planck's constant", "6.626 0693(11) x 10^-34 J*s"});
-  universal_constants.add_row({"Dirac's constant", "1.054 571 68(18) x 10^-34 J*s"});
-  universal_constants.add_row({"Speed of light in vacuum", "299 792 458 m*s^-1"});
+                               "6.6742(10) × 10⁻¹¹m³·kg⁻¹·s⁻²"});
+  universal_constants.add_row({"Planck's constant", "6.626 0693(11) × 10⁻³⁴ J·s"});
+  universal_constants.add_row({"Dirac's constant", "1.054 571 68(18) × 10⁻³⁴ J·s"});
+  universal_constants.add_row({"Speed of light in vacuum", "299 792 458 m·s⁻¹"});
 
   universal_constants.format()
       .font_style({FontStyle::bold})
@@ -99,7 +99,7 @@ extern "C" void app_main(void) {
   Table readme;
   readme.format().border_color(Color::yellow);
 
-  readme.add_row(Row_t{"tabulate for Modern C++"});
+  readme.add_row(Row_t{"🔥tabulate for Modern C++🔥"});
   readme[0].format().font_align(FontAlign::center).font_color(Color::yellow);
 
   readme.add_row(Row_t{"https://github.com/p-ranav/tabulate"});
@@ -182,7 +182,9 @@ extern "C" void app_main(void) {
 
   readme[9].format().hide_border_top().border_color(Color::white).font_color(Color::yellow);
 
-  readme.add_row(Row_t{"Multi-byte sample text rendered in a PDF-friendly ASCII form."});
+  readme.add_row(Row_t{"ᚠ ᚡ ᚢ ᚣ ᚤ ᚥ ᚦ ᚧ ᚨ ᚩ ᚪ ᚫ ᚬ ᚭ ᚮ ᚯ ᚰ ᚱ ᚲ ᚳ ᚴ ᚵ ᚶ ᚷ ᚸ ᚹ ᚺ "
+                       "ᚻ ᚼ ᚽ ᚾ ᚿ ᛀ ᛁ ᛂ ᛃ ᛄ ᛅ ᛆ ᛇ "
+                       "ᛈ ᛉ ᛊ ᛋ ᛌ ᛍ ᛎ ᛏ ᛐ ᛑ ᛒ ᛓ"});
   readme[10]
       .format()
       .font_background_color(Color::red)
@@ -299,7 +301,7 @@ extern "C" void app_main(void) {
   chart[8][17].set_text("This one's yellow and right-aligned");
   chart[8][17].format().color(Color::yellow).font_align(FontAlign::right);
 
-  chart[9][17].set_text("This one's on fire!");
+  chart[9][17].set_text("This one's on 🔥🔥🔥");
 
   std::cout << chart;
   std::cout << legend << "\n\n";
diff --git a/components/thermistor/example/main/thermistor_example.cpp b/components/thermistor/example/main/thermistor_example.cpp
index 55eae69d0..927299649 100644
--- a/components/thermistor/example/main/thermistor_example.cpp
+++ b/components/thermistor/example/main/thermistor_example.cpp
@@ -99,7 +99,7 @@ extern "C" void app_main(void) {
   // https://product.tdk.com/system/files/dam/doc/product/sensor/ntc/chip-ntc-thermistor/catalog/tpd_commercial_ntc-thermistor_ntcg_en.pdf
   // From the table (page 7):
   // clang-format off
-  // Part Number.    | R25(Ohm) | Tolerance | B25/50(K) | B25/75(K) | B25/85(K) | B25/100(K) | Current (mA) | Operating Temp Range
+  // Part Number.    | R25(Ω) | Tolerance | B25/50(Κ) | B25/75(Κ) | B25/85(Κ) | B25/100(K) | Current (mA) | Operating Temp Range
   // NTCG103JF103FT1 | 10,000 |   +/–1%   | 3380      | 3422      | 3435      | 3453 +/–1% | 0.31         | –40 to 152
   // clang-format on
   espp::Thermistor thermistor({.divider_config = espp::Thermistor::ResistorDividerConfig::UPPER,

From 480d8359f32e704c14eba202bf8295c0a81b8b7d Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Sat, 13 Jun 2026 15:09:38 -0500
Subject: [PATCH 12/13] update to latest upload artifact

---
 .github/workflows/build_and_publish_docs.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build_and_publish_docs.yml b/.github/workflows/build_and_publish_docs.yml
index 3df9e1c68..c7a4e9377 100644
--- a/.github/workflows/build_and_publish_docs.yml
+++ b/.github/workflows/build_and_publish_docs.yml
@@ -72,7 +72,7 @@ jobs:
           publish_dir: ./docs
           force_orphan: true
 
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v5
         if: env.PDF_GENERATED == 'true'
         with:
           name: espp_documentation.pdf

From d87edc4f781608178af12685ae3ececf7ee4a1ce Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Sat, 13 Jun 2026 15:12:49 -0500
Subject: [PATCH 13/13] Revert "revert code changes to test build"

This reverts commit 9fb9ca9a1745b70ecd0655f6577b6789953a029b.
---
 components/cobs/README.md                     |  8 +++----
 components/cobs/include/cobs.hpp              |  3 ++-
 components/color/include/color.hpp            | 12 +++++-----
 .../example/main/rx8130ce_example.cpp         |  4 ++--
 .../example/main/tabulate_example.cpp         | 22 +++++++++----------
 .../example/main/thermistor_example.cpp       |  2 +-
 6 files changed, 25 insertions(+), 26 deletions(-)

diff --git a/components/cobs/README.md b/components/cobs/README.md
index 604aec4fe..ab7560bfc 100644
--- a/components/cobs/README.md
+++ b/components/cobs/README.md
@@ -7,7 +7,7 @@ The COBS component provides efficient encoding and decoding for the Consistent O
 ## Features
 
 - **Zero-byte elimination**: Removes all zero bytes from data, using them as packet delimiters
-- **Consistent overhead**: Maximum overhead of ⌈n/254⌉ + 1 bytes per packet
+- **Consistent overhead**: Maximum overhead of ceil(n/254) + 1 bytes per packet
 - **Simple framing**: Uses zero bytes as reliable packet delimiters
 - **Streaming support**: Handle fragmented data streams and batch multiple packets
 - **Thread-safe**: Streaming classes are thread-safe with internal locking
@@ -170,7 +170,7 @@ decoder.clear();
 
 
 **Buffer Size Formulas:**
-- **`max_encoded_size(payload_len)`**: `payload_len + ⌈payload_len/254⌉ + 2`
+- **`max_encoded_size(payload_len)`**: `payload_len + ceil(payload_len/254) + 2`
 - **`max_decoded_size(encoded_len)`**: `encoded_len - 1` (accounts for delimiter)
 
 ## COBS Algorithm Details
@@ -179,7 +179,7 @@ COBS works by:
 1. **Eliminating zeros**: All zero bytes are removed from the data
 2. **Adding overhead bytes**: Each block of non-zero data gets a length prefix
 3. **Using zero as delimiter**: A single zero byte marks the end of each packet
-4. **Consistent overhead**: Maximum overhead is ⌈n/254⌉ + 1 bytes per packet
+4. **Consistent overhead**: Maximum overhead is ceil(n/254) + 1 bytes per packet
 
 ### Example Encoding
 ```
@@ -197,7 +197,7 @@ Output: [0x03, 0x01, 0x02, 0x02, 0x03, 0x04, 0x00]
 
 ## Performance Characteristics
 
-- **Encoding overhead**: At most ⌈n/254⌉ + 1 bytes per packet
+- **Encoding overhead**: At most ceil(n/254) + 1 bytes per packet
 - **Decoding complexity**: O(n) where n is packet size
 - **Speed**: Optimized for embedded systems with minimal overhead
 - **Large packet support**: Tested and verified with packets up to 1000+ bytes
diff --git a/components/cobs/include/cobs.hpp b/components/cobs/include/cobs.hpp
index ec28b284b..2d0b59287 100644
--- a/components/cobs/include/cobs.hpp
+++ b/components/cobs/include/cobs.hpp
@@ -13,7 +13,8 @@ namespace espp {
  *
  * Provides single-packet encoding and decoding using the COBS algorithm
  * with 0 as the delimiter.
- * COBS encoding can add at most ⌈n/254⌉ + 1 bytes overhead. Plus 1 byte for the delimiter
+ * COBS encoding can add at most ceil(n/254) + 1 bytes overhead, plus 1 byte
+ * for the delimiter.
  * COBS changes the size of the packet by at least 1 byte, so it's not possible to encode in
  * place. MAX_BLOCK_SIZE = 254 is the maximum number of non-zero bytes in an encoded block.
  *
diff --git a/components/color/include/color.hpp b/components/color/include/color.hpp
index e774a550e..630ef6d88 100644
--- a/components/color/include/color.hpp
+++ b/components/color/include/color.hpp
@@ -13,9 +13,9 @@ class Hsv;
  */
 class Rgb {
 public:
-  float r{0}; ///< Red value ∈ [0, 1]
-  float g{0}; ///< Green value ∈ [0, 1]
-  float b{0}; ///< Blue value ∈ [0, 1]
+  float r{0}; ///< Red value in [0, 1]
+  float g{0}; ///< Green value in [0, 1]
+  float b{0}; ///< Blue value in [0, 1]
 
   Rgb() = default;
 
@@ -106,9 +106,9 @@ class Rgb {
  */
 class Hsv {
 public:
-  float h{0}; ///< Hue ∈ [0, 360]
-  float s{0}; ///< Saturation ∈ [0, 1]
-  float v{0}; ///< Value ∈ [0, 1]
+  float h{0}; ///< Hue in [0, 360]
+  float s{0}; ///< Saturation in [0, 1]
+  float v{0}; ///< Value in [0, 1]
 
   Hsv() = default;
 
diff --git a/components/rx8130ce/example/main/rx8130ce_example.cpp b/components/rx8130ce/example/main/rx8130ce_example.cpp
index 7c994d2c6..f577bd17b 100644
--- a/components/rx8130ce/example/main/rx8130ce_example.cpp
+++ b/components/rx8130ce/example/main/rx8130ce_example.cpp
@@ -124,13 +124,13 @@ extern "C" void app_main(void) {
 
     // Check alarm
     if (rtc.is_alarm_triggered(ec) && !ec) {
-      logger.info("🚨 ALARM TRIGGERED!");
+      logger.info("ALARM TRIGGERED!");
       rtc.clear_alarm_flag(ec);
     }
 
     // Check timer
     if (rtc.is_timer_expired(ec) && !ec) {
-      logger.info("⏰ TIMER EXPIRED!");
+      logger.info("TIMER EXPIRED!");
       rtc.clear_timer_flag(ec);
 
       // Restart timer for another 5 seconds
diff --git a/components/tabulate/example/main/tabulate_example.cpp b/components/tabulate/example/main/tabulate_example.cpp
index e93a3f749..445bfdc21 100644
--- a/components/tabulate/example/main/tabulate_example.cpp
+++ b/components/tabulate/example/main/tabulate_example.cpp
@@ -21,16 +21,16 @@ extern "C" void app_main(void) {
   Table universal_constants;
 
   universal_constants.add_row({"Quantity", "Value"});
-  universal_constants.add_row({"Characteristic impedance of vacuum", "376.730 313 461... Ω"});
+  universal_constants.add_row({"Characteristic impedance of vacuum", "376.730 313 461... Ohm"});
   universal_constants.add_row(
-      {"Electric constant (permittivity of free space)", "8.854 187 817... × 10⁻¹²F·m⁻¹"});
+      {"Electric constant (permittivity of free space)", "8.854 187 817... x 10^-12 F*m^-1"});
   universal_constants.add_row({"Magnetic constant (permeability of free space)",
-                               "4π × 10⁻⁷ N·A⁻² = 1.2566 370 614... × 10⁻⁶ N·A⁻²"});
+                               "4*pi x 10^-7 N*A^-2 = 1.2566 370 614... x 10^-6 N*A^-2"});
   universal_constants.add_row({"Gravitational constant (Newtonian constant of gravitation)",
-                               "6.6742(10) × 10⁻¹¹m³·kg⁻¹·s⁻²"});
-  universal_constants.add_row({"Planck's constant", "6.626 0693(11) × 10⁻³⁴ J·s"});
-  universal_constants.add_row({"Dirac's constant", "1.054 571 68(18) × 10⁻³⁴ J·s"});
-  universal_constants.add_row({"Speed of light in vacuum", "299 792 458 m·s⁻¹"});
+                               "6.6742(10) x 10^-11 m^3*kg^-1*s^-2"});
+  universal_constants.add_row({"Planck's constant", "6.626 0693(11) x 10^-34 J*s"});
+  universal_constants.add_row({"Dirac's constant", "1.054 571 68(18) x 10^-34 J*s"});
+  universal_constants.add_row({"Speed of light in vacuum", "299 792 458 m*s^-1"});
 
   universal_constants.format()
       .font_style({FontStyle::bold})
@@ -99,7 +99,7 @@ extern "C" void app_main(void) {
   Table readme;
   readme.format().border_color(Color::yellow);
 
-  readme.add_row(Row_t{"🔥tabulate for Modern C++🔥"});
+  readme.add_row(Row_t{"tabulate for Modern C++"});
   readme[0].format().font_align(FontAlign::center).font_color(Color::yellow);
 
   readme.add_row(Row_t{"https://github.com/p-ranav/tabulate"});
@@ -182,9 +182,7 @@ extern "C" void app_main(void) {
 
   readme[9].format().hide_border_top().border_color(Color::white).font_color(Color::yellow);
 
-  readme.add_row(Row_t{"ᚠ ᚡ ᚢ ᚣ ᚤ ᚥ ᚦ ᚧ ᚨ ᚩ ᚪ ᚫ ᚬ ᚭ ᚮ ᚯ ᚰ ᚱ ᚲ ᚳ ᚴ ᚵ ᚶ ᚷ ᚸ ᚹ ᚺ "
-                       "ᚻ ᚼ ᚽ ᚾ ᚿ ᛀ ᛁ ᛂ ᛃ ᛄ ᛅ ᛆ ᛇ "
-                       "ᛈ ᛉ ᛊ ᛋ ᛌ ᛍ ᛎ ᛏ ᛐ ᛑ ᛒ ᛓ"});
+  readme.add_row(Row_t{"Multi-byte sample text rendered in a PDF-friendly ASCII form."});
   readme[10]
       .format()
       .font_background_color(Color::red)
@@ -301,7 +299,7 @@ extern "C" void app_main(void) {
   chart[8][17].set_text("This one's yellow and right-aligned");
   chart[8][17].format().color(Color::yellow).font_align(FontAlign::right);
 
-  chart[9][17].set_text("This one's on 🔥🔥🔥");
+  chart[9][17].set_text("This one's on fire!");
 
   std::cout << chart;
   std::cout << legend << "\n\n";
diff --git a/components/thermistor/example/main/thermistor_example.cpp b/components/thermistor/example/main/thermistor_example.cpp
index 927299649..55eae69d0 100644
--- a/components/thermistor/example/main/thermistor_example.cpp
+++ b/components/thermistor/example/main/thermistor_example.cpp
@@ -99,7 +99,7 @@ extern "C" void app_main(void) {
   // https://product.tdk.com/system/files/dam/doc/product/sensor/ntc/chip-ntc-thermistor/catalog/tpd_commercial_ntc-thermistor_ntcg_en.pdf
   // From the table (page 7):
   // clang-format off
-  // Part Number.    | R25(Ω) | Tolerance | B25/50(Κ) | B25/75(Κ) | B25/85(Κ) | B25/100(K) | Current (mA) | Operating Temp Range
+  // Part Number.    | R25(Ohm) | Tolerance | B25/50(K) | B25/75(K) | B25/85(K) | B25/100(K) | Current (mA) | Operating Temp Range
   // NTCG103JF103FT1 | 10,000 |   +/–1%   | 3380      | 3422      | 3435      | 3453 +/–1% | 0.31         | –40 to 152
   // clang-format on
   espp::Thermistor thermistor({.divider_config = espp::Thermistor::ResistorDividerConfig::UPPER,