Add missing documentation for all public modules and types

6 files changed, 86 insertions, 11 deletions

diff --git a/embassy/src/blocking_mutex/mod.rs b/embassy/src/blocking_mutex/mod.rs
index eb3cd9392..65daf15c4 100644
--- a/embassy/src/blocking_mutex/mod.rs
+++ b/embassy/src/blocking_mutex/mod.rs
@@ -1,14 +1,23 @@
-//! 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.
+///
+/// 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.
 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 +87,18 @@ 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/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/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>,
 }