Add Doxygen, clang-format, cppcheck, and Gitea CI

Doxygen:
- Doxyfile: minimal config, HTML output to docs/, no LaTeX
- @file/@brief on all source files, full @param/@return on public API
- docs/ added to .gitignore

clang-format (14, Linux brace style, 4-space, column 100):
- .clang-format added
- Applied to entire codebase; this commit is the canonical baseline
- just format rewrites in-place; just format-check is the CI gate

cppcheck (--enable=warning,style,performance,portability):
- Linker-symbol pointer comparisons in startup.c suppressed with
  inline cppcheck-suppress (false positives, not real bugs)
- just lint runs cppcheck; zero warnings required to pass

Dockerfile gains clang-format, cppcheck, doxygen packages so all
tools run inside the existing container -- host stays clean.

Gitea Actions (.gitea/workflows/ci.yml):
- Four parallel jobs: build, format, lint, docs
- All jobs use the same Dockerfile-based image
- Doxygen job fails on any warning line in output

Dockerfile

@@ -6,6 +6,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
         libnewlib-arm-none-eabi \
         cmake \
         ninja-build \
+        clang-format \
+        cppcheck \
+        doxygen \
     && rm -rf /var/lib/apt/lists/*
 
 WORKDIR /src