diff --git a/Documentation/Doxyfile-internal.in b/Documentation/Doxyfile-internal.in
new file mode 100644
index 00000000..7b3cce49
--- /dev/null
+++ b/Documentation/Doxyfile-internal.in
@@ -0,0 +1,21 @@
+# SPDX-License-Identifier: CC-BY-SA-4.0
+
+INPUT                  = "@TOP_SRCDIR@/Documentation" \
+                         "@TOP_SRCDIR@/include/libcamera" \
+                         "@TOP_SRCDIR@/src/ipa/ipu3" \
+                         "@TOP_SRCDIR@/src/ipa/libipa" \
+                         "@TOP_SRCDIR@/src/libcamera" \
+                         "@TOP_BUILDDIR@/include/libcamera" \
+                         "@TOP_BUILDDIR@/src/libcamera"
+
+EXCLUDE                = @TOP_SRCDIR@/include/libcamera/base/span.h \
+                         @TOP_SRCDIR@/include/libcamera/internal/device_enumerator_sysfs.h \
+                         @TOP_SRCDIR@/include/libcamera/internal/device_enumerator_udev.h \
+                         @TOP_SRCDIR@/include/libcamera/internal/ipc_pipe_unixsocket.h \
+                         @TOP_SRCDIR@/src/libcamera/device_enumerator_sysfs.cpp \
+                         @TOP_SRCDIR@/src/libcamera/device_enumerator_udev.cpp \
+                         @TOP_SRCDIR@/src/libcamera/ipc_pipe_unixsocket.cpp \
+                         @TOP_SRCDIR@/src/libcamera/pipeline/ \
+                         @TOP_SRCDIR@/src/libcamera/tracepoints.cpp \
+                         @TOP_BUILDDIR@/include/libcamera/internal/tracepoints.h \
+                         @TOP_BUILDDIR@/src/libcamera/proxy/
diff --git a/Documentation/Doxyfile-public.in b/Documentation/Doxyfile-public.in
new file mode 100644
index 00000000..14c2556c
--- /dev/null
+++ b/Documentation/Doxyfile-public.in
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: CC-BY-SA-4.0
+
+INPUT                  = "@TOP_SRCDIR@/Documentation" \
+                         "@INPUT@" \
+                         "@TOP_BUILDDIR@/src/libcamera/version.cpp"
+
+EXCLUDE                = @TOP_SRCDIR@/include/libcamera/base/span.h
diff --git a/Documentation/Doxyfile.in b/Documentation/Doxyfile.in
index 48fea8bc..a271c7bc 100644
--- a/Documentation/Doxyfile.in
+++ b/Documentation/Doxyfile.in
@@ -21,14 +21,6 @@ CASE_SENSE_NAMES       = YES
 
 QUIET                  = YES
 
-INPUT                  = "@TOP_SRCDIR@/Documentation" \
-                         "@TOP_SRCDIR@/include/libcamera" \
-                         "@TOP_SRCDIR@/src/ipa/ipu3" \
-                         "@TOP_SRCDIR@/src/ipa/libipa" \
-                         "@TOP_SRCDIR@/src/libcamera" \
-                         "@TOP_BUILDDIR@/include/libcamera" \
-                         "@TOP_BUILDDIR@/src/libcamera"
-
 FILE_PATTERNS          = *.c \
                          *.cpp \
                          *.h \
@@ -36,17 +28,8 @@ FILE_PATTERNS          = *.c \
 
 RECURSIVE              = YES
 
-EXCLUDE                = @TOP_SRCDIR@/include/libcamera/base/span.h \
-                         @TOP_SRCDIR@/include/libcamera/internal/device_enumerator_sysfs.h \
-                         @TOP_SRCDIR@/include/libcamera/internal/device_enumerator_udev.h \
-                         @TOP_SRCDIR@/include/libcamera/internal/ipc_pipe_unixsocket.h \
-                         @TOP_SRCDIR@/src/libcamera/device_enumerator_sysfs.cpp \
-                         @TOP_SRCDIR@/src/libcamera/device_enumerator_udev.cpp \
-                         @TOP_SRCDIR@/src/libcamera/ipc_pipe_unixsocket.cpp \
-                         @TOP_SRCDIR@/src/libcamera/pipeline/ \
-                         @TOP_SRCDIR@/src/libcamera/tracepoints.cpp \
-                         @TOP_BUILDDIR@/include/libcamera/internal/tracepoints.h \
-                         @TOP_BUILDDIR@/src/libcamera/proxy/
+@INCLUDE_PATH          = @TOP_BUILDDIR@/Documentation
+@INCLUDE               = @INCLUDE_FILE@
 
 EXCLUDE_PATTERNS       = @TOP_BUILDDIR@/include/libcamera/ipa/*_serializer.h \
                          @TOP_BUILDDIR@/include/libcamera/ipa/*_proxy.h \
@@ -70,7 +53,10 @@ EXCLUDE_SYMBOLS        = libcamera::BoundMethodArgs \
 
 EXCLUDE_SYMLINKS       = YES
 
-HTML_OUTPUT            = api-html
+HIDE_UNDOC_CLASSES     = @HIDE_UNDOC_CLASSES@
+HIDE_UNDOC_MEMBERS     = @HIDE_UNDOC_MEMBERS@
+HTML_OUTPUT            = @HTML_OUTPUT@
+INTERNAL_DOCS          = @INTERNAL_DOCS@
 
 GENERATE_LATEX         = NO
 
diff --git a/Documentation/meson.build b/Documentation/meson.build
index 7a58fec8..afaad751 100644
--- a/Documentation/meson.build
+++ b/Documentation/meson.build
@@ -23,12 +23,7 @@ if doxygen.found() and dot.found()
 
     cdata.set('PREDEFINED', ' \\\n\t\t\t '.join(doxygen_predefined))
 
-    doxyfile = configure_file(input : 'Doxyfile.in',
-                              output : 'Doxyfile',
-                              configuration : cdata)
-
-    doxygen_input = [
-        doxyfile,
+    global_doxygen_input = [
         libcamera_base_headers,
         libcamera_base_sources,
         libcamera_internal_headers,
@@ -41,16 +36,79 @@ if doxygen.found() and dot.found()
     ]
 
     if is_variable('ipu3_ipa_sources')
-        doxygen_input += [ipu3_ipa_sources]
+        global_doxygen_input += [ipu3_ipa_sources]
     endif
 
+    # We need to generate two "include" files for the final Doxyfile which
+    # define a set of source files to use in the documentation parsing. We
+    # collected a list of the public sources in doxygen_public_sources, so we
+    # pass that to the doxyfiles so that Doxyfile-public refers only to those
+    # files. Although INPUT is sent to both, Doxyfile-internal.in doesn't refer
+    # to it and just hardcodes the directories to parse.
+    cdata.set('INPUT', '" \\\n\t\t\t "'.join(doxygen_public_sources))
+    doxyfile_include_public = configure_file(input : 'Doxyfile-public.in',
+                                             output : 'Doxyfile-include-public',
+                                             configuration : cdata)
+    doxyfile_include_internal = configure_file(input : 'Doxyfile-internal.in',
+                                               output : 'Doxyfile-include-internal',
+                                               configuration : cdata)
+
+    # We run doxygen twice - the first run excludes internal API objects as it
+    # is intended to document the public API only. A second run covers all of
+    # the library's objects for libcamera developers. To achieve this we need to
+    # flag as \internal some of the comments for objects which we wish to hide,
+    # and remove the auto generated documents via HIDE_UNDOC_CLASSES and
+    # HIDE_UNDOC_MEMBERS.
+
+    cdata_public = configuration_data()
+    cdata_public.merge_from(cdata)
+    cdata_public.set('HIDE_UNDOC_CLASSES', 'YES')
+    cdata_public.set('HIDE_UNDOC_MEMBERS', 'YES')
+    cdata_public.set('HTML_OUTPUT', 'api-html')
+    cdata_public.set('INCLUDE_FILE', 'Doxyfile-include-public')
+    cdata_public.set('INTERNAL_DOCS', 'NO')
+
+    doxyfile_public = configure_file(input : 'Doxyfile.in',
+                                     output : 'Doxyfile-public',
+                                     configuration : cdata_public)
+
+    public_doxygen_input = global_doxygen_input
+    public_doxygen_input += doxyfile_public
+
     custom_target('doxygen',
-                  input : doxygen_input,
+                  input : public_doxygen_input,
                   output : 'api-html',
-                  command : [doxygen, doxyfile],
+                  command : [doxygen, doxyfile_public],
                   install : true,
                   install_dir : doc_install_dir,
                   install_tag : 'doc')
+
+    # This is the internal documentation, so _don't_ hide undocumented classes
+    # as we want everything to show up and warnings to be generated if any
+    # documentation is missing.
+
+    cdata_internal = configuration_data()
+    cdata_internal.merge_from(cdata)
+    cdata_internal.set('HIDE_UNDOC_CLASSES', 'NO')
+    cdata_internal.set('HIDE_UNDOC_MEMBERS', 'NO')
+    cdata_internal.set('HTML_OUTPUT', 'internal-api-html')
+    cdata_internal.set('INCLUDE_FILE', 'Doxyfile-include-internal')
+    cdata_internal.set('INTERNAL_DOCS', 'YES')
+
+    doxyfile_internal = configure_file(input : 'Doxyfile.in',
+                                       output : 'Doxyfile-internal',
+                                       configuration : cdata_internal)
+
+    internal_doxygen_input = global_doxygen_input
+    internal_doxygen_input += doxyfile_internal
+
+    custom_target('doxygen-internal',
+                  input : internal_doxygen_input,
+                  output : 'internal-api-html',
+                  command : [doxygen, doxyfile_internal],
+                  install : true,
+                  install_dir : doc_install_dir,
+                  install_tag : 'doc-internal')
 endif
 
 #
diff --git a/include/libcamera/base/meson.build b/include/libcamera/base/meson.build
index bace25d5..837ef40a 100644
--- a/include/libcamera/base/meson.build
+++ b/include/libcamera/base/meson.build
@@ -38,3 +38,10 @@ libcamera_base_headers = [
 
 install_headers(libcamera_base_public_headers,
                 subdir : libcamera_base_include_dir)
+
+foreach lbph : libcamera_base_public_headers
+	doxygen_public_sources += '/'.join(
+		meson.project_source_root(),
+		'@0@'.format(lbph)
+	)
+endforeach
diff --git a/include/libcamera/internal/meson.build b/include/libcamera/internal/meson.build
index 4e36bf36..81721559 100644
--- a/include/libcamera/internal/meson.build
+++ b/include/libcamera/internal/meson.build
@@ -58,4 +58,11 @@ libcamera_internal_headers = [
     libcamera_internal_headers_undocumented
 ]
 
+foreach lph : libcamera_internal_headers_documented
+	doxygen_public_sources += '/'.join(
+		meson.project_source_root(),
+		'@0@'.format(lph)
+	)
+endforeach
+
 subdir('converter')
diff --git a/include/libcamera/meson.build b/include/libcamera/meson.build
index 84c6c4cb..59273785 100644
--- a/include/libcamera/meson.build
+++ b/include/libcamera/meson.build
@@ -26,6 +26,13 @@ subdir('ipa')
 install_headers(libcamera_public_headers,
                 subdir : libcamera_include_dir)
 
+foreach lph : libcamera_public_headers
+	doxygen_public_sources += '/'.join(
+		meson.project_source_root(),
+		'@0@'.format(lph)
+	)
+endforeach
+
 #
 # Generate headers from templates.
 #
@@ -86,6 +93,7 @@ foreach mode, entry : controls_map
                                                 '-r', ranges_file, '@INPUT@'],
                                      install : true,
                                      install_dir : libcamera_headers_install_dir)
+    doxygen_public_sources += control_headers.get(-1).full_path()
 endforeach
 
 libcamera_public_headers += control_headers
@@ -102,6 +110,7 @@ formats_h = custom_target('formats_h',
                           install : true,
                           install_dir : libcamera_headers_install_dir)
 libcamera_public_headers += formats_h
+doxygen_public_sources += formats_h.full_path()
 
 # libcamera.h
 libcamera_h = custom_target('gen-header',
@@ -112,6 +121,7 @@ libcamera_h = custom_target('gen-header',
                             install_dir : libcamera_headers_install_dir)
 
 libcamera_public_headers += libcamera_h
+doxygen_public_sources += libcamera_h.full_path()
 
 # version.h
 version = libcamera_version.split('.')
diff --git a/meson.build b/meson.build
index cb6b666a..2530c94b 100644
--- a/meson.build
+++ b/meson.build
@@ -231,6 +231,14 @@ endif
 # Utilities are parsed first to provide support for other components.
 subdir('utils')
 
+# To support auto-generation of documentation we need an array of the paths to
+# public headers and source files so that we can tell doxygen which files to
+# look at later. Unfortunately the inclusion of custom targets in some of the
+# existing arrays precludes using them directly and you cannot generate File
+# objects from generated files, so we need to collect paths to relevant files
+# within an array.
+doxygen_public_sources = []
+
 subdir('include')
 subdir('src')
 
diff --git a/src/libcamera/base/class.cpp b/src/libcamera/base/class.cpp
index 9c2d9f21..70fd5cd5 100644
--- a/src/libcamera/base/class.cpp
+++ b/src/libcamera/base/class.cpp
@@ -184,6 +184,7 @@ Extensible::Extensible(std::unique_ptr<Extensible::Private> d)
  */
 
 /**
+ * \internal
  * \class Extensible::Private
  * \brief Base class for private data managed through a d-pointer
  */
diff --git a/src/libcamera/base/meson.build b/src/libcamera/base/meson.build
index 523c5885..ae949a51 100644
--- a/src/libcamera/base/meson.build
+++ b/src/libcamera/base/meson.build
@@ -30,6 +30,13 @@ libcamera_base_sources = [
 	libcamera_base_internal_sources
 ]
 
+foreach lbps : libcamera_base_public_sources
+	doxygen_public_sources += '/'.join(
+		meson.project_source_root(),
+		'@0@'.format(lbps)
+	)
+endforeach
+
 libdw = dependency('libdw', required : false)
 libunwind = dependency('libunwind', required : false)
 
diff --git a/src/libcamera/camera.cpp b/src/libcamera/camera.cpp
index a71dc933..6e57f247 100644
--- a/src/libcamera/camera.cpp
+++ b/src/libcamera/camera.cpp
@@ -560,6 +560,13 @@ CameraConfiguration::Status CameraConfiguration::validateColorSpaces(ColorSpaceF
  */
 
 /**
+ * \internal
+ * \file libcamera\internal\camera.h
+ * \brief Internal Camera device handling
+ */
+
+/**
+ * \internal
  * \class Camera::Private
  * \brief Base class for camera private data
  *
diff --git a/src/libcamera/camera_manager.cpp b/src/libcamera/camera_manager.cpp
index 355f3ada..61d45256 100644
--- a/src/libcamera/camera_manager.cpp
+++ b/src/libcamera/camera_manager.cpp
@@ -23,6 +23,7 @@
  */
 
 /**
+ * \internal
  * \file libcamera/internal/camera_manager.h
  * \brief Internal camera manager support
  */
diff --git a/src/libcamera/framebuffer.cpp b/src/libcamera/framebuffer.cpp
index 5a7f3c0b..db450e11 100644
--- a/src/libcamera/framebuffer.cpp
+++ b/src/libcamera/framebuffer.cpp
@@ -16,7 +16,10 @@
 /**
  * \file libcamera/framebuffer.h
  * \brief Frame buffer handling
- *
+ */
+
+/**
+ * \internal
  * \file libcamera/internal/framebuffer.h
  * \brief Internal frame buffer handling support
  */
@@ -105,6 +108,7 @@ LOG_DEFINE_CATEGORY(Buffer)
  */
 
 /**
+ * \internal
  * \class FrameBuffer::Private
  * \brief Base class for FrameBuffer private data
  *
diff --git a/src/libcamera/meson.build b/src/libcamera/meson.build
index 676470c1..413e14db 100644
--- a/src/libcamera/meson.build
+++ b/src/libcamera/meson.build
@@ -59,6 +59,13 @@ libcamera_sources = [
 	libcamera_internal_sources
 ]
 
+foreach lps : libcamera_public_sources
+	doxygen_public_sources += '/'.join(
+		meson.project_source_root(),
+		'@0@'.format(lps)
+	)
+endforeach
+
 libcamera_sources += libcamera_public_headers
 libcamera_sources += libcamera_generated_ipa_headers
 libcamera_sources += libcamera_tracepoint_header
diff --git a/src/libcamera/request.cpp b/src/libcamera/request.cpp
index 949c556f..930d8c92 100644
--- a/src/libcamera/request.cpp
+++ b/src/libcamera/request.cpp
@@ -33,6 +33,7 @@ namespace libcamera {
 LOG_DEFINE_CATEGORY(Request)
 
 /**
+ * \internal
  * \class Request::Private
  * \brief Request private data
  *