diff --git a/manual/tools/gen_invocations.py b/manual/tools/gen_invocations.py
new file mode 100755
index 000000000..0b6a51b7c
--- /dev/null
+++ b/manual/tools/gen_invocations.py
@@ -0,0 +1,104 @@
+#!/usr/bin/env python
+#
+# Copyright 2016, Data 61
+# Commonwealth Scientific and Industrial Research Organisation (CSIRO)
+# ABN 41 687 119 230.
+#
+# This software may be distributed and modified according to the terms of
+# the BSD 2-Clause license. Note that NO WARRANTY is provided.
+# See "LICENSE_BSD2.txt" for details.
+#
+# @TAG(D61_BSD)
+#
+
+import os
+import sys
+import argparse
+import operator
+from libsel4_tools import syscall_stub_gen
+
+# Word size is required by the syscall_stub_gen library, but won't affect the output
+WORD_SIZE = 32
+ARCH_NAMES = ["aarch32", "arm_hyp", "ia32", "x86_64"]
+FN_DECL_PREFIX = "static inline"
+DEFAULT_RETURN_TYPE = "int"
+
+def init_all_types():
+    data_type_arr = syscall_stub_gen.init_data_types(WORD_SIZE)
+    arch_type_dict = syscall_stub_gen.init_arch_types(WORD_SIZE)
+    arch_type_arr = reduce(operator.add, (arch_type_dict[a] for a in ARCH_NAMES), [])
+
+    return data_type_arr + arch_type_arr
+
+def generate_prototype(interface_name, method_name, method_id, inputs, outputs, comment):
+    prefix = FN_DECL_PREFIX
+    if syscall_stub_gen.generate_result_struct(interface_name, method_name, outputs):
+        return_type = "%s_%s_t" % (interface_name, method_name)
+    else:
+        return_type = DEFAULT_RETURN_TYPE
+
+    param_list = syscall_stub_gen.generate_param_list(inputs, outputs)
+    name = "%s_%s" % (interface_name, method_name)
+
+    return "%s\n%s %s %s(%s);" % (comment, prefix, return_type, name, param_list)
+
+def gen_invocations(input_files, output_file):
+    types = init_all_types()
+
+
+    for input_file in input_files:
+        methods, _, api = syscall_stub_gen.parse_xml_file(input_file, types)
+        prototypes = []
+        for (interface_name, method_name, method_id, inputs, outputs, _, comment) in methods:
+            prototype = generate_prototype(interface_name, method_name, method_id, inputs, outputs, comment)
+            prototypes.append(prototype)
+
+        prototypes.sort()
+
+        output_file.write("/**\n * @defgroup %s %s\n * @{\n */\n\n" % (api.name, api.name))
+
+        for prototype in prototypes:
+            output_file.write(prototype)
+            output_file.write("\n\n");
+
+        output_file.write("/** @} */\n")
+
+def process_args():
+    usage_str = "%(prog)s [OPTIONS] [FILES]"
+
+    parser = argparse.ArgumentParser(description='Generates doxygen-annotated header '
+                                                 'containing object invocation prototypes',
+                                     usage=usage_str)
+
+    parser.add_argument("-o", "--output", dest="output", default="/dev/stdout",
+                        type=str,
+                        help="Output file to write stub to. (default: %(default)s).")
+    parser.add_argument("files", metavar="FILES", nargs="+", type=argparse.FileType('r'),
+                        help="Input XML files.")
+    return parser
+
+def gen_header(output_file):
+    output_file.write("""
+/**
+ * @defgroup ObjectInvocations Object Invocations
+ * @{
+ */
+""")
+
+def gen_footer(output_file):
+    output_file.write("""
+/** @} */
+""")
+
+def main():
+    parser = process_args()
+    args = parser.parse_args()
+
+    if not os.path.exists(os.path.dirname(args.output)):
+        os.makedirs(os.path.dirname(args.output))
+
+    with open(args.output, "w") as output:
+        gen_invocations(args.files, output)
+
+if __name__ == "__main__":
+    sys.exit(main())