Merge #813

813: Document remaining public APIs in embassy crate r=lulf a=lulf

This also includes the README.md in the toplevel crate documentation, fixing a few formatting issues with it as well. 

Please review the mutex in detail in case I've misunderstood/missed a few things there.

Co-authored-by: Ulf Lilleengen <[email protected]>

10 files changed, 105 insertions, 24 deletions

diff --git a/README.md b/README.md
index f9b7486bc..a7a7ccd54 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,7 @@
 
 Embassy is the next-generation framework for embedded applications. Write safe, correct and energy-efficient embedded code faster, using the Rust programming language, its async facilities, and the Embassy libraries.
 
-## [Documentation](https://embassy.dev/embassy/dev/index.html) - [API reference](https://docs.embassy.dev/) - [Website](https://embassy.dev/) - [Chat](https://matrix.to/#/#embassy-rs:matrix.org)
+## <a href="https://embassy.dev/embassy/dev/index.html">Documentation</a> - <a href="https://docs.embassy.dev/">API reference</a> - <a href="https://embassy.dev/">Website</a> - <a href="https://matrix.to/#/#embassy-rs:matrix.org">Chat</a>
 ## Rust + async ❤️ embedded
 
 The Rust programming language is blazingly fast and memory-efficient, with no runtime, garbage collector or OS. It catches a wide variety of bugs at compile time, thanks to its full memory- and thread-safety, and expressive type system. 
@@ -42,7 +42,7 @@ The <a href="https://github.com/embassy-rs/nrf-softdevice">nrf-softdevice</a> cr
 
 ## Sneak peek
 
-```rust
+```rust,ignore
 use defmt::info;
 use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
@@ -93,20 +93,21 @@ Examples are found in the `examples/` folder seperated by the chip manufacturer
 ### Running examples
 
 - Setup git submodules (needed for STM32 examples)
-```
+
+```bash
 git submodule init
 git submodule update
 ```
 
 - Install `probe-run` with defmt support.
 
-```
+```bash
 cargo install probe-run
 ```
 
 - Change directory to the sample's base directory. For example:
 
-```
+```bash
 cd examples/nrf
 ```
 
@@ -114,7 +115,7 @@ cd examples/nrf
 
 For example:
 
-```
+```bash
 cargo run --bin blinky
 ```
 
@@ -145,8 +146,8 @@ EMBedded ASYnc! :)
 This work is licensed under either of
 
 - Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
-  http://www.apache.org/licenses/LICENSE-2.0)
-- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
+  <http://www.apache.org/licenses/LICENSE-2.0>)
+- MIT license ([LICENSE-MIT](LICENSE-MIT) or <http://opensource.org/licenses/MIT>)
 
 at your option.
 
diff --git a/embassy/src/blocking_mutex/mod.rs b/embassy/src/blocking_mutex/mod.rs
index eb3cd9392..602ec8a07 100644
--- a/embassy/src/blocking_mutex/mod.rs
+++ b/embassy/src/blocking_mutex/mod.rs
@@ -1,14 +1,27 @@
-//! Blocking mutex (not async)
-
+//! Blocking mutex.
+//!
+//! This module provides a blocking mutex that can be used to synchronize data.
 pub mod raw;
 
 use core::cell::UnsafeCell;
 
 use self::raw::RawMutex;
 
-/// Any object implementing this trait guarantees exclusive access to the data contained
-/// within the mutex for the duration of the lock.
-/// Adapted from <https://github.com/rust-embedded/mutex-trait>.
+/// Blocking mutex (not async)
+///
+/// Provides a blocking mutual exclusion primitive backed by an implementation of [`raw::RawMutex`].
+///
+/// Which implementation you select depends on the context in which you're using the mutex, and you can choose which kind
+/// of interior mutability fits your use case.
+///
+/// Use [`CriticalSectionMutex`] when data can be shared between threads and interrupts.
+///
+/// Use [`NoopMutex`] when data is only shared between tasks running on the same executor.
+///
+/// Use [`ThreadModeMutex`] when data is shared between tasks running on the same executor but you want a global singleton.
+///
+/// In all cases, the blocking mutex is intended to be short lived and not held across await points.
+/// Use the async [`Mutex`](crate::mutex::Mutex) if you need a lock that is held across await points.
 pub struct Mutex<R, T: ?Sized> {
     // NOTE: `raw` must be FIRST, so when using ThreadModeMutex the "can't drop in non-thread-mode" gets
     // to run BEFORE dropping `data`.
@@ -78,7 +91,18 @@ impl<R, T> Mutex<R, T> {
     }
 }
 
+/// A mutex that allows borrowing data across executors and interrupts.
+///
+/// # Safety
+///
+/// This mutex is safe to share between different executors and interrupts.
 pub type CriticalSectionMutex<T> = Mutex<raw::CriticalSectionRawMutex, T>;
+
+/// A mutex that allows borrowing data in the context of a single executor.
+///
+/// # Safety
+///
+/// **This Mutex is only safe within a single executor.**
 pub type NoopMutex<T> = Mutex<raw::NoopRawMutex, T>;
 
 impl<T> Mutex<raw::CriticalSectionRawMutex, T> {
diff --git a/embassy/src/blocking_mutex/raw.rs b/embassy/src/blocking_mutex/raw.rs
index f9d249b08..bdb443e4d 100644
--- a/embassy/src/blocking_mutex/raw.rs
+++ b/embassy/src/blocking_mutex/raw.rs
@@ -1,11 +1,22 @@
+//! Mutex primitives.
+//!
+//! This module provides a trait for mutexes that can be used in different contexts.
 use core::marker::PhantomData;
 
+/// Any object implementing this trait guarantees exclusive access to the data contained
+/// within the mutex for the duration of the lock.
+/// Adapted from <https://github.com/rust-embedded/mutex-trait>.
 pub trait RawMutex {
     const INIT: Self;
 
     fn lock<R>(&self, f: impl FnOnce() -> R) -> R;
 }
 
+/// A mutex that allows borrowing data across executors and interrupts.
+///
+/// # Safety
+///
+/// This mutex is safe to share between different executors and interrupts.
 pub struct CriticalSectionRawMutex {
     _phantom: PhantomData<()>,
 }
@@ -28,6 +39,11 @@ impl RawMutex for CriticalSectionRawMutex {
 
 // ================
 
+/// A mutex that allows borrowing data in the context of a single executor.
+///
+/// # Safety
+///
+/// **This Mutex is only safe within a single executor.**
 pub struct NoopRawMutex {
     _phantom: PhantomData<*mut ()>,
 }
@@ -53,6 +69,13 @@ impl RawMutex for NoopRawMutex {
 mod thread_mode {
     use super::*;
 
+    /// A "mutex" that only allows borrowing from thread mode.
+    ///
+    /// # Safety
+    ///
+    /// **This Mutex is only safe on single-core systems.**
+    ///
+    /// On multi-core systems, a `ThreadModeRawMutex` **is not sufficient** to ensure exclusive access.
     pub struct ThreadModeRawMutex {
         _phantom: PhantomData<()>,
     }
diff --git a/embassy/src/channel/mpmc.rs b/embassy/src/channel/mpmc.rs
index 48056cd8f..1d03eef19 100644
--- a/embassy/src/channel/mpmc.rs
+++ b/embassy/src/channel/mpmc.rs
@@ -433,7 +433,7 @@ where
 
     /// Attempt to immediately send a message.
     ///
-    /// This method differs from [`send`] by returning immediately if the channel's
+    /// This method differs from [`send`](Channel::send) by returning immediately if the channel's
     /// buffer is full, instead of waiting.
     ///
     /// # Errors
diff --git a/embassy/src/channel/signal.rs b/embassy/src/channel/signal.rs
index 5a2c9d47a..cf78dad8b 100644
--- a/embassy/src/channel/signal.rs
+++ b/embassy/src/channel/signal.rs
@@ -1,3 +1,4 @@
+//! A synchronization primitive for passing the latest value to a task.
 use core::cell::UnsafeCell;
 use core::future::Future;
 use core::mem;
diff --git a/embassy/src/executor/raw/mod.rs b/embassy/src/executor/raw/mod.rs
index 09429c19a..b8455442e 100644
--- a/embassy/src/executor/raw/mod.rs
+++ b/embassy/src/executor/raw/mod.rs
@@ -5,7 +5,7 @@
 //! ## WARNING: here be dragons!
 //!
 //! Using this module requires respecting subtle safety contracts. If you can, prefer using the safe
-//! executor wrappers in [`crate::executor`] and the [`crate::task`] macro, which are fully safe.
+//! executor wrappers in [`executor`](crate::executor) and the [`embassy::task`](embassy_macros::task) macro, which are fully safe.
 
 mod run_queue;
 #[cfg(feature = "time")]
@@ -115,7 +115,7 @@ impl TaskHeader {
 /// A `TaskStorage` must live forever, it may not be deallocated even after the task has finished
 /// running. Hence the relevant methods require `&'static self`. It may be reused, however.
 ///
-/// Internally, the [embassy::task](crate::task) macro allocates an array of `TaskStorage`s
+/// Internally, the [embassy::task](embassy_macros::task) macro allocates an array of `TaskStorage`s
 /// in a `static`. The most common reason to use the raw `Task` is to have control of where
 /// the memory for the task is allocated: on the stack, or on the heap with e.g. `Box::leak`, etc.
 
@@ -158,7 +158,7 @@ impl<F: Future + 'static> TaskStorage<F> {
     ///
     /// This function will fail if the task is already spawned and has not finished running.
     /// In this case, the error is delayed: a "poisoned" SpawnToken is returned, which will
-    /// cause [`Spawner::spawn()`] to return the error.
+    /// cause [`Spawner::spawn()`](super::Spawner::spawn) to return the error.
     ///
     /// Once the task has finished running, you may spawn it again. It is allowed to spawn it
     /// on a different executor.
@@ -230,7 +230,7 @@ impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
     ///
     /// This will loop over the pool and spawn the task in the first storage that
     /// is currently free. If none is free, a "poisoned" SpawnToken is returned,
-    /// which will cause [`Spawner::spawn()`] to return the error.
+    /// which will cause [`Spawner::spawn()`](super::Spawner::spawn) to return the error.
     pub fn spawn(&'static self, future: impl FnOnce() -> F) -> SpawnToken<impl Sized> {
         for task in &self.pool {
             if task.spawn_mark_used() {
diff --git a/embassy/src/lib.rs b/embassy/src/lib.rs
index 1b6ff2d4b..c3b2726aa 100644
--- a/embassy/src/lib.rs
+++ b/embassy/src/lib.rs
@@ -1,6 +1,7 @@
 #![cfg_attr(not(any(feature = "std", feature = "wasm")), no_std)]
 #![cfg_attr(feature = "nightly", feature(generic_associated_types, type_alias_impl_trait))]
 #![allow(clippy::new_without_default)]
+#![doc = include_str!("../../README.md")]
 
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
diff --git a/embassy/src/mutex.rs b/embassy/src/mutex.rs
index 7b6bcb147..9cfaaa845 100644
--- a/embassy/src/mutex.rs
+++ b/embassy/src/mutex.rs
@@ -1,9 +1,6 @@
-/// Async mutex.
-///
-/// The mutex is generic over a blocking [`RawMutex`](crate::blocking_mutex::raw::RawMutex).
-/// The raw mutex is used to guard access to the internal "is locked" flag. It
-/// is held for very short periods only, while locking and unlocking. It is *not* held
-/// for the entire time the async Mutex is locked.
+//! Async mutex.
+//!
+//! This module provides a mutex that can be used to synchronize data between asynchronous tasks.
 use core::cell::{RefCell, UnsafeCell};
 use core::ops::{Deref, DerefMut};
 use core::task::Poll;
@@ -24,6 +21,21 @@ struct State {
     waker: WakerRegistration,
 }
 
+/// Async mutex.
+///
+/// The mutex is generic over a blocking [`RawMutex`](crate::blocking_mutex::raw::RawMutex).
+/// The raw mutex is used to guard access to the internal "is locked" flag. It
+/// is held for very short periods only, while locking and unlocking. It is *not* held
+/// for the entire time the async Mutex is locked.
+///
+/// Which implementation you select depends on the context in which you're using the mutex.
+///
+/// Use [`CriticalSectionRawMutex`](crate::blocking_mutex::raw::CriticalSectionRawMutex) when data can be shared between threads and interrupts.
+///
+/// Use [`NoopRawMutex`](crate::blocking_mutex::raw::NoopRawMutex) when data is only shared between tasks running on the same executor.
+///
+/// Use [`ThreadModeRawMutex`](crate::blocking_mutex::raw::ThreadModeRawMutex) when data is shared between tasks running on the same executor but you want a singleton.
+///
 pub struct Mutex<M, T>
 where
     M: RawMutex,
diff --git a/embassy/src/util/steal.rs b/embassy/src/util/steal.rs
index a0d5f1359..07eb5fffd 100644
--- a/embassy/src/util/steal.rs
+++ b/embassy/src/util/steal.rs
@@ -1,3 +1,13 @@
+/// A type that can retrieved unsafely from anywhere.
 pub trait Steal {
+    /// Retrieve and instance of this type.
+    ///
+    /// # Safety
+    ///
+    /// It is the responsibility of the application to ensure that the
+    /// usage of the returned instance is not in conflict with other uses
+    /// of this instance.
+    ///
+    /// The implementation may panic if the instance is already in use.
     unsafe fn steal() -> Self;
 }
diff --git a/embassy/src/waitqueue/waker.rs b/embassy/src/waitqueue/waker.rs
index 1ac6054f9..da907300a 100644
--- a/embassy/src/waitqueue/waker.rs
+++ b/embassy/src/waitqueue/waker.rs
@@ -6,6 +6,10 @@ use atomic_polyfill::{compiler_fence, AtomicPtr, Ordering};
 use crate::executor::raw::{task_from_waker, wake_task, TaskHeader};
 
 /// Utility struct to register and wake a waker.
+///
+/// # Safety
+///
+/// This type is optimized for (and only works with) embassy tasks.
 #[derive(Debug)]
 pub struct WakerRegistration {
     waker: Option<NonNull<TaskHeader>>,
@@ -53,6 +57,11 @@ impl WakerRegistration {
 unsafe impl Send for WakerRegistration {}
 unsafe impl Sync for WakerRegistration {}
 
+/// Utility struct to atomically register and wake a waker.
+///
+/// # Safety
+///
+/// This type is optimized for (and only works with) embassy tasks.
 pub struct AtomicWaker {
     waker: AtomicPtr<TaskHeader>,
 }