doc: add the various markdown prose docs to the doxygen output

Note that the order of the includes matters - that's how doxygen will sort
them. There is no specific structure other than the include order - one reason
why the headers are being changed. Without polluting the markdown files with
doxygen commands we cannot use \subpage, so all files convert to a regular
\page and are listed as flat hierarchy in the sidebar (and in Related Pages).

Changing the headers at least provides some visual grouping with comon
prefixes.