17 files changed, 264 insertions, 42 deletions

diff --git a/embassy-net-driver/README.md b/embassy-net-driver/README.md
new file mode 100644
index 000000000..84f25492d
--- /dev/null
+++ b/embassy-net-driver/README.md
@@ -0,0 +1,12 @@
+# embassy-net-driver
+
+
+## License
+
+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)
+
+at your option.
diff --git a/embassy-net-driver/src/lib.rs b/embassy-net-driver/src/lib.rs
index a39cfecc1..4149bf4a4 100644
--- a/embassy-net-driver/src/lib.rs
+++ b/embassy-net-driver/src/lib.rs
@@ -1,20 +1,57 @@
 #![no_std]
+#![warn(missing_docs)]
+#![doc = include_str!("../README.md")]
 
 use core::task::Context;
 
+/// Main `embassy-net` driver API.
+///
+/// This is essentially an interface for sending and receiving raw network frames.
+///
+/// The interface is based on _tokens_, which are types that allow to receive/transmit a
+/// single packet. The `receive` and `transmit` functions only construct such tokens, the
+/// real sending/receiving operation are performed when the tokens are consumed.
 pub trait Driver {
+    /// A token to receive a single network packet.
     type RxToken<'a>: RxToken
     where
         Self: 'a;
+
+    /// A token to transmit a single network packet.
     type TxToken<'a>: TxToken
     where
         Self: 'a;
 
+    /// Construct a token pair consisting of one receive token and one transmit token.
+    ///
+    /// If there is a packet ready to be received, this function must return `Some`.
+    /// If there isn't, it must return `None`, and wake `cx.waker()` when a packet is ready.
+    ///
+    /// The additional transmit token makes it possible to generate a reply packet based
+    /// on the contents of the received packet. For example, this makes it possible to
+    /// handle arbitrarily large ICMP echo ("ping") requests, where the all received bytes
+    /// need to be sent back, without heap allocation.
     fn receive(&mut self, cx: &mut Context) -> Option<(Self::RxToken<'_>, Self::TxToken<'_>)>;
+
+    /// Construct a transmit token.
+    ///
+    /// If there is free space in the transmit buffer to transmit a packet, this function must return `Some`.
+    /// If there isn't, it must return `None`, and wake `cx.waker()` when space becomes available.
+    ///
+    /// Note that [`TxToken::consume`] is infallible, so it is not allowed to return a token
+    /// if there is no free space and fail later.
     fn transmit(&mut self, cx: &mut Context) -> Option<Self::TxToken<'_>>;
+
+    /// Get the link state.
+    ///
+    /// This function must return the current link state of the device, and wake `cx.waker()` when
+    /// the link state changes.
     fn link_state(&mut self, cx: &mut Context) -> LinkState;
 
+    /// Get a description of device capabilities.
     fn capabilities(&self) -> Capabilities;
+
+    /// Get the device's Ethernet address.
     fn ethernet_address(&self) -> [u8; 6];
 }
 
@@ -140,10 +177,15 @@ impl Default for Medium {
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
 pub struct ChecksumCapabilities {
+    /// Checksum behavior for IPv4.
     pub ipv4: Checksum,
+    /// Checksum behavior for UDP.
     pub udp: Checksum,
+    /// Checksum behavior for TCP.
     pub tcp: Checksum,
+    /// Checksum behavior for ICMPv4.
     pub icmpv4: Checksum,
+    /// Checksum behavior for ICMPv6.
     pub icmpv6: Checksum,
 }
 
@@ -167,9 +209,12 @@ impl Default for Checksum {
     }
 }
 
+/// The link state of a network device.
 #[derive(PartialEq, Eq, Clone, Copy)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum LinkState {
+    /// The link is down.
     Down,
+    /// The link is up.
     Up,
 }
diff --git a/embassy-net/Cargo.toml b/embassy-net/Cargo.toml
index fe9514e46..0a47c5d94 100644
--- a/embassy-net/Cargo.toml
+++ b/embassy-net/Cargo.toml
@@ -11,6 +11,9 @@ src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-net/s
 features = ["nightly", "unstable-traits", "defmt", "tcp", "udp", "dns", "dhcpv4", "proto-ipv6", "medium-ethernet", "medium-ip", "igmp"]
 target = "thumbv7em-none-eabi"
 
+[package.metadata.docs.rs]
+features = ["nightly", "unstable-traits", "defmt", "tcp", "udp", "dns", "dhcpv4", "proto-ipv6", "medium-ethernet", "medium-ip", "igmp"]
+
 [features]
 default = []
 std = []
diff --git a/embassy-net/src/dns.rs b/embassy-net/src/dns.rs
index 97320e44b..3fd235b2c 100644
--- a/embassy-net/src/dns.rs
+++ b/embassy-net/src/dns.rs
@@ -1,4 +1,9 @@
-//! DNS socket with async support.
+//! DNS client compatible with the `embedded-nal-async` traits.
+//!
+//! This exists only for compatibility with crates that use `embedded-nal-async`.
+//! Prefer using [`Stack::dns_query`](crate::Stack::dns_query) directly if you're
+//! not using `embedded-nal-async`.
+
 use heapless::Vec;
 pub use smoltcp::socket::dns::{DnsQuery, Socket};
 pub(crate) use smoltcp::socket::dns::{GetQueryResultError, StartQueryError};
@@ -34,7 +39,11 @@ impl From<StartQueryError> for Error {
     }
 }
 
-/// Async socket for making DNS queries.
+/// DNS client compatible with the `embedded-nal-async` traits.
+///
+/// This exists only for compatibility with crates that use `embedded-nal-async`.
+/// Prefer using [`Stack::dns_query`](crate::Stack::dns_query) directly if you're
+/// not using `embedded-nal-async`.
 pub struct DnsSocket<'a, D>
 where
     D: Driver + 'static,
diff --git a/embassy-net/src/lib.rs b/embassy-net/src/lib.rs
index b80784c2b..9487c0913 100644
--- a/embassy-net/src/lib.rs
+++ b/embassy-net/src/lib.rs
@@ -1,17 +1,18 @@
 #![cfg_attr(not(feature = "std"), no_std)]
 #![cfg_attr(feature = "nightly", feature(async_fn_in_trait, impl_trait_projections))]
 #![cfg_attr(feature = "nightly", allow(incomplete_features))]
+#![warn(missing_docs)]
+#![doc = include_str!("../README.md")]
 
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
 
-pub use embassy_net_driver as driver;
-
 mod device;
 #[cfg(feature = "dns")]
 pub mod dns;
 #[cfg(feature = "tcp")]
 pub mod tcp;
+mod time;
 #[cfg(feature = "udp")]
 pub mod udp;
 
@@ -19,33 +20,34 @@ use core::cell::RefCell;
 use core::future::{poll_fn, Future};
 use core::task::{Context, Poll};
 
+pub use embassy_net_driver as driver;
 use embassy_net_driver::{Driver, LinkState, Medium};
 use embassy_sync::waitqueue::WakerRegistration;
 use embassy_time::{Instant, Timer};
 use futures::pin_mut;
 use heapless::Vec;
+#[cfg(feature = "igmp")]
+pub use smoltcp::iface::MulticastError;
 use smoltcp::iface::{Interface, SocketHandle, SocketSet, SocketStorage};
 #[cfg(feature = "dhcpv4")]
 use smoltcp::socket::dhcpv4::{self, RetryConfig};
-#[cfg(feature = "dhcpv4")]
-use smoltcp::time::Duration;
-// smoltcp reexports
-pub use smoltcp::time::{Duration as SmolDuration, Instant as SmolInstant};
+#[cfg(feature = "udp")]
+pub use smoltcp::wire::IpListenEndpoint;
 #[cfg(feature = "medium-ethernet")]
 pub use smoltcp::wire::{EthernetAddress, HardwareAddress};
 pub use smoltcp::wire::{IpAddress, IpCidr, Ipv4Address, Ipv4Cidr};
 #[cfg(feature = "proto-ipv6")]
 pub use smoltcp::wire::{Ipv6Address, Ipv6Cidr};
-#[cfg(feature = "udp")]
-pub use smoltcp::{socket::udp::PacketMetadata, wire::IpListenEndpoint};
 
 use crate::device::DriverAdapter;
+use crate::time::{instant_from_smoltcp, instant_to_smoltcp};
 
 const LOCAL_PORT_MIN: u16 = 1025;
 const LOCAL_PORT_MAX: u16 = 65535;
 #[cfg(feature = "dns")]
 const MAX_QUERIES: usize = 4;
 
+/// Memory resources needed for a network stack.
 pub struct StackResources<const SOCK: usize> {
     sockets: [SocketStorage<'static>; SOCK],
     #[cfg(feature = "dns")]
@@ -53,6 +55,7 @@ pub struct StackResources<const SOCK: usize> {
 }
 
 impl<const SOCK: usize> StackResources<SOCK> {
+    /// Create a new set of stack resources.
     pub fn new() -> Self {
         #[cfg(feature = "dns")]
         const INIT: Option<dns::DnsQuery> = None;
@@ -64,23 +67,35 @@ impl<const SOCK: usize> StackResources<SOCK> {
     }
 }
 
+/// Static IP address configuration.
 #[derive(Debug, Clone, PartialEq, Eq)]
 pub struct StaticConfig {
+    /// IP address and subnet mask.
     pub address: Ipv4Cidr,
+    /// Default gateway.
     pub gateway: Option<Ipv4Address>,
+    /// DNS servers.
     pub dns_servers: Vec<Ipv4Address, 3>,
 }
 
+/// DHCP configuration.
 #[cfg(feature = "dhcpv4")]
 #[derive(Debug, Clone, PartialEq, Eq)]
 pub struct DhcpConfig {
-    pub max_lease_duration: Option<Duration>,
+    /// Maximum lease duration.
+    ///
+    /// If not set, the lease duration specified by the server will be used.
+    /// If set, the lease duration will be capped at this value.
+    pub max_lease_duration: Option<embassy_time::Duration>,
+    /// Retry configuration.
     pub retry_config: RetryConfig,
-    /// Ignore NAKs.
+    /// Ignore NAKs from DHCP servers.
+    ///
+    /// This is not compliant with the DHCP RFCs, since theoretically we must stop using the assigned IP when receiving a NAK. This can increase reliability on broken networks with buggy routers or rogue DHCP servers, however.
     pub ignore_naks: bool,
-    /// Server port config
+    /// Server port. This is almost always 67. Do not change unless you know what you're doing.
     pub server_port: u16,
-    /// Client port config
+    /// Client port. This is almost always 68. Do not change unless you know what you're doing.
     pub client_port: u16,
 }
 
@@ -97,12 +112,18 @@ impl Default for DhcpConfig {
     }
 }
 
+/// Network stack configuration.
 pub enum Config {
+    /// Use a static IP address configuration.
     Static(StaticConfig),
+    /// Use DHCP to obtain an IP address configuration.
     #[cfg(feature = "dhcpv4")]
     Dhcp(DhcpConfig),
 }
 
+/// A network stack.
+///
+/// This is the main entry point for the network stack.
 pub struct Stack<D: Driver> {
     pub(crate) socket: RefCell<SocketStack>,
     inner: RefCell<Inner<D>>,
@@ -128,6 +149,7 @@ pub(crate) struct SocketStack {
 }
 
 impl<D: Driver + 'static> Stack<D> {
+    /// Create a new network stack.
     pub fn new<const SOCK: usize>(
         mut device: D,
         config: Config,
@@ -205,22 +227,30 @@ impl<D: Driver + 'static> Stack<D> {
         f(&mut *self.socket.borrow_mut(), &mut *self.inner.borrow_mut())
     }
 
+    /// Get the MAC address of the network interface.
     pub fn ethernet_address(&self) -> [u8; 6] {
         self.with(|_s, i| i.device.ethernet_address())
     }
 
+    /// Get whether the link is up.
     pub fn is_link_up(&self) -> bool {
         self.with(|_s, i| i.link_up)
     }
 
+    /// Get whether the network stack has a valid IP configuration.
+    /// This is true if the network stack has a static IP configuration or if DHCP has completed
     pub fn is_config_up(&self) -> bool {
         self.with(|_s, i| i.config.is_some())
     }
 
+    /// Get the current IP configuration.
     pub fn config(&self) -> Option<StaticConfig> {
         self.with(|_s, i| i.config.clone())
     }
 
+    /// Run the network stack.
+    ///
+    /// You must call this in a background task, to process network events.
     pub async fn run(&self) -> ! {
         poll_fn(|cx| {
             self.with_mut(|s, i| i.poll(cx, s));
@@ -303,7 +333,8 @@ impl<D: Driver + 'static> Stack<D> {
 
 #[cfg(feature = "igmp")]
 impl<D: Driver + smoltcp::phy::Device + 'static> Stack<D> {
-    pub fn join_multicast_group<T>(&self, addr: T) -> Result<bool, smoltcp::iface::MulticastError>
+    /// Join a multicast group.
+    pub fn join_multicast_group<T>(&self, addr: T) -> Result<bool, MulticastError>
     where
         T: Into<IpAddress>,
     {
@@ -315,7 +346,8 @@ impl<D: Driver + smoltcp::phy::Device + 'static> Stack<D> {
         })
     }
 
-    pub fn leave_multicast_group<T>(&self, addr: T) -> Result<bool, smoltcp::iface::MulticastError>
+    /// Leave a multicast group.
+    pub fn leave_multicast_group<T>(&self, addr: T) -> Result<bool, MulticastError>
     where
         T: Into<IpAddress>,
     {
@@ -327,6 +359,7 @@ impl<D: Driver + smoltcp::phy::Device + 'static> Stack<D> {
         })
     }
 
+    /// Get whether the network stack has joined the given multicast group.
     pub fn has_multicast_group<T: Into<IpAddress>>(&self, addr: T) -> bool {
         self.socket.borrow().iface.has_multicast_group(addr)
     }
@@ -384,7 +417,7 @@ impl<D: Driver + 'static> Inner<D> {
     #[cfg(feature = "dhcpv4")]
     fn apply_dhcp_config(&self, socket: &mut smoltcp::socket::dhcpv4::Socket, config: DhcpConfig) {
         socket.set_ignore_naks(config.ignore_naks);
-        socket.set_max_lease_duration(config.max_lease_duration);
+        socket.set_max_lease_duration(config.max_lease_duration.map(crate::time::duration_to_smoltcp));
         socket.set_ports(config.server_port, config.client_port);
         socket.set_retry_config(config.retry_config);
     }
@@ -465,11 +498,3 @@ impl<D: Driver + 'static> Inner<D> {
         }
     }
 }
-
-fn instant_to_smoltcp(instant: Instant) -> SmolInstant {
-    SmolInstant::from_millis(instant.as_millis() as i64)
-}
-
-fn instant_from_smoltcp(instant: SmolInstant) -> Instant {
-    Instant::from_millis(instant.total_millis() as u64)
-}
diff --git a/embassy-net/src/tcp.rs b/embassy-net/src/tcp.rs
index c3d8764b0..732b6d217 100644
--- a/embassy-net/src/tcp.rs
+++ b/embassy-net/src/tcp.rs
@@ -1,22 +1,39 @@
+//! TCP sockets.
+//!
+//! # Listening
+//!
+//! `embassy-net` does not have a `TcpListener`. Instead, individual `TcpSocket`s can be put into
+//! listening mode by calling [`TcpSocket::accept`].
+//!
+//! Incoming connections when no socket is listening are rejected. To accept many incoming
+//! connections, create many sockets and put them all into listening mode.
+
 use core::cell::RefCell;
 use core::future::poll_fn;
 use core::mem;
 use core::task::Poll;
 
 use embassy_net_driver::Driver;
+use embassy_time::Duration;
 use smoltcp::iface::{Interface, SocketHandle};
 use smoltcp::socket::tcp;
-use smoltcp::time::Duration;
+pub use smoltcp::socket::tcp::State;
 use smoltcp::wire::{IpEndpoint, IpListenEndpoint};
 
+use crate::time::duration_to_smoltcp;
 use crate::{SocketStack, Stack};
 
+/// Error returned by TcpSocket read/write functions.
 #[derive(PartialEq, Eq, Clone, Copy, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
+    /// The connection was reset.
+    ///
+    /// This can happen on receiving a RST packet, or on timeout.
     ConnectionReset,
 }
 
+/// Error returned by [`TcpSocket::connect`].
 #[derive(PartialEq, Eq, Clone, Copy, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum ConnectError {
@@ -30,6 +47,7 @@ pub enum ConnectError {
     NoRoute,
 }
 
+/// Error returned by [`TcpSocket::accept`].
 #[derive(PartialEq, Eq, Clone, Copy, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum AcceptError {
@@ -41,35 +59,50 @@ pub enum AcceptError {
     ConnectionReset,
 }
 
+/// A TCP socket.
 pub struct TcpSocket<'a> {
     io: TcpIo<'a>,
 }
 
+/// The reader half of a TCP socket.
 pub struct TcpReader<'a> {
     io: TcpIo<'a>,
 }
 
+/// The writer half of a TCP socket.
 pub struct TcpWriter<'a> {
     io: TcpIo<'a>,
 }
 
 impl<'a> TcpReader<'a> {
+    /// Read data from the socket.
+    ///
+    /// Returns how many bytes were read, or an error. If no data is available, it waits
+    /// until there is at least one byte available.
     pub async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Error> {
         self.io.read(buf).await
     }
 }
 
 impl<'a> TcpWriter<'a> {
+    /// Write data to the socket.
+    ///
+    /// Returns how many bytes were written, or an error. If the socket is not ready to
+    /// accept data, it waits until it is.
     pub async fn write(&mut self, buf: &[u8]) -> Result<usize, Error> {
         self.io.write(buf).await
     }
 
+    /// Flushes the written data to the socket.
+    ///
+    /// This waits until all data has been sent, and ACKed by the remote host.
     pub async fn flush(&mut self) -> Result<(), Error> {
         self.io.flush().await
     }
 }
 
 impl<'a> TcpSocket<'a> {
+    /// Create a new TCP socket on the given stack, with the given buffers.
     pub fn new<D: Driver>(stack: &'a Stack<D>, rx_buffer: &'a mut [u8], tx_buffer: &'a mut [u8]) -> Self {
         let s = &mut *stack.socket.borrow_mut();
         let rx_buffer: &'static mut [u8] = unsafe { mem::transmute(rx_buffer) };
@@ -87,10 +120,12 @@ impl<'a> TcpSocket<'a> {
         }
     }
 
+    /// Split the socket into reader and a writer halves.
     pub fn split(&mut self) -> (TcpReader<'_>, TcpWriter<'_>) {
         (TcpReader { io: self.io }, TcpWriter { io: self.io })
     }
 
+    /// Connect to a remote host.
     pub async fn connect<T>(&mut self, remote_endpoint: T) -> Result<(), ConnectError>
     where
         T: Into<IpEndpoint>,
@@ -120,6 +155,9 @@ impl<'a> TcpSocket<'a> {
         .await
     }
 
+    /// Accept a connection from a remote host.
+    ///
+    /// This function puts the socket in listening mode, and waits until a connection is received.
     pub async fn accept<T>(&mut self, local_endpoint: T) -> Result<(), AcceptError>
     where
         T: Into<IpListenEndpoint>,
@@ -142,54 +180,98 @@ impl<'a> TcpSocket<'a> {
         .await
     }
 
+    /// Read data from the socket.
+    ///
+    /// Returns how many bytes were read, or an error. If no data is available, it waits
+    /// until there is at least one byte available.
     pub async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Error> {
         self.io.read(buf).await
     }
 
+    /// Write data to the socket.
+    ///
+    /// Returns how many bytes were written, or an error. If the socket is not ready to
+    /// accept data, it waits until it is.
     pub async fn write(&mut self, buf: &[u8]) -> Result<usize, Error> {
         self.io.write(buf).await
     }
 
+    /// Flushes the written data to the socket.
+    ///
+    /// This waits until all data has been sent, and ACKed by the remote host.
     pub async fn flush(&mut self) -> Result<(), Error> {
         self.io.flush().await
     }
 
+    /// Set the timeout for the socket.
+    ///
+    /// If the timeout is set, the socket will be closed if no data is received for the
+    /// specified duration.
     pub fn set_timeout(&mut self, duration: Option<Duration>) {
-        self.io.with_mut(|s, _| s.set_timeout(duration))
+        self.io
+            .with_mut(|s, _| s.set_timeout(duration.map(duration_to_smoltcp)))
     }
 
+    /// Set the keep-alive interval for the socket.
+    ///
+    /// If the keep-alive interval is set, the socket will send keep-alive packets after
+    /// the specified duration of inactivity.
+    ///
+    /// If not set, the socket will not send keep-alive packets.
     pub fn set_keep_alive(&mut self, interval: Option<Duration>) {
-        self.io.with_mut(|s, _| s.set_keep_alive(interval))
+        self.io
+            .with_mut(|s, _| s.set_keep_alive(interval.map(duration_to_smoltcp)))
     }
 
+    /// Set the hop limit field in the IP header of sent packets.
     pub fn set_hop_limit(&mut self, hop_limit: Option<u8>) {
         self.io.with_mut(|s, _| s.set_hop_limit(hop_limit))
     }
 
+    /// Get the local endpoint of the socket.
+    ///
+    /// Returns `None` if the socket is not bound (listening) or not connected.
     pub fn local_endpoint(&self) -> Option<IpEndpoint> {
         self.io.with(|s, _| s.local_endpoint())
     }
 
+    /// Get the remote endpoint of the socket.
+    ///
+    /// Returns `None` if the socket is not connected.
     pub fn remote_endpoint(&self) -> Option<IpEndpoint> {
         self.io.with(|s, _| s.remote_endpoint())
     }
 
-    pub fn state(&self) -> tcp::State {
+    /// Get the state of the socket.
+    pub fn state(&self) -> State {
         self.io.with(|s, _| s.state())
     }
 
+    /// Close the write half of the socket.
+    ///
+    /// This closes only the write half of the socket. The read half side remains open, the
+    /// socket can still receive data.
+    ///
+    /// Data that has been written to the socket and not yet sent (or not yet ACKed) will still
+    /// still sent. The last segment of the pending to send data is sent with the FIN flag set.
     pub fn close(&mut self) {
         self.io.with_mut(|s, _| s.close())
     }
 
+    /// Forcibly close the socket.
+    ///
+    /// This instantly closes both the read and write halves of the socket. Any pending data
+    /// that has not been sent will be lost.
     pub fn abort(&mut self) {
         self.io.with_mut(|s, _| s.abort())
     }
 
+    /// Get whether the socket is ready to send data, i.e. whether there is space in the send buffer.
     pub fn may_send(&self) -> bool {
         self.io.with(|s, _| s.may_send())
     }
 
+    /// Get whether the socket is ready to receive data, i.e. whether there is some pending data in the receive buffer.
     pub fn may_recv(&self) -> bool {
         self.io.with(|s, _| s.may_recv())
     }
@@ -341,6 +423,7 @@ mod embedded_io_impls {
     }
 }
 
+/// TCP client compatible with `embedded-nal-async` traits.
 #[cfg(all(feature = "unstable-traits", feature = "nightly"))]
 pub mod client {
     use core::cell::UnsafeCell;
@@ -352,14 +435,16 @@ pub mod client {
 
     use super::*;
 
-    /// TCP client capable of creating up to N multiple connections with tx and rx buffers according to TX_SZ and RX_SZ.
+    /// TCP client connection pool compatible with `embedded-nal-async` traits.
+    ///
+    /// The pool is capable of managing up to N concurrent connections with tx and rx buffers according to TX_SZ and RX_SZ.
     pub struct TcpClient<'d, D: Driver, const N: usize, const TX_SZ: usize = 1024, const RX_SZ: usize = 1024> {
         stack: &'d Stack<D>,
         state: &'d TcpClientState<N, TX_SZ, RX_SZ>,
     }
 
     impl<'d, D: Driver, const N: usize, const TX_SZ: usize, const RX_SZ: usize> TcpClient<'d, D, N, TX_SZ, RX_SZ> {
-        /// Create a new TcpClient
+        /// Create a new `TcpClient`.
         pub fn new(stack: &'d Stack<D>, state: &'d TcpClientState<N, TX_SZ, RX_SZ>) -> Self {
             Self { stack, state }
         }
@@ -396,6 +481,7 @@ pub mod client {
         }
     }
 
+    /// Opened TCP connection in a [`TcpClient`].
     pub struct TcpConnection<'d, const N: usize, const TX_SZ: usize, const RX_SZ: usize> {
         socket: TcpSocket<'d>,
         state: &'d TcpClientState<N, TX_SZ, RX_SZ>,
@@ -454,6 +540,7 @@ pub mod client {
     }
 
     impl<const N: usize, const TX_SZ: usize, const RX_SZ: usize> TcpClientState<N, TX_SZ, RX_SZ> {
+        /// Create a new `TcpClientState`.
         pub const fn new() -> Self {
             Self { pool: Pool::new() }
         }
diff --git a/embassy-net/src/time.rs b/embassy-net/src/time.rs
new file mode 100644
index 000000000..b98d40fdc
--- /dev/null
+++ b/embassy-net/src/time.rs
@@ -0,0 +1,20 @@
+#![allow(unused)]
+
+use embassy_time::{Duration, Instant};
+use smoltcp::time::{Duration as SmolDuration, Instant as SmolInstant};
+
+pub(crate) fn instant_to_smoltcp(instant: Instant) -> SmolInstant {
+    SmolInstant::from_micros(instant.as_micros() as i64)
+}
+
+pub(crate) fn instant_from_smoltcp(instant: SmolInstant) -> Instant {
+    Instant::from_micros(instant.total_micros() as u64)
+}
+
+pub(crate) fn duration_to_smoltcp(duration: Duration) -> SmolDuration {
+    SmolDuration::from_micros(duration.as_micros())
+}
+
+pub(crate) fn duration_from_smoltcp(duration: SmolDuration) -> Duration {
+    Duration::from_micros(duration.total_micros())
+}
diff --git a/embassy-net/src/udp.rs b/embassy-net/src/udp.rs
index 476aef12f..c9843cfe8 100644
--- a/embassy-net/src/udp.rs
+++ b/embassy-net/src/udp.rs
@@ -1,3 +1,5 @@
+//! UDP sockets.
+
 use core::cell::RefCell;
 use core::future::poll_fn;
 use core::mem;
@@ -5,11 +7,13 @@ use core::task::Poll;
 
 use embassy_net_driver::Driver;
 use smoltcp::iface::{Interface, SocketHandle};
-use smoltcp::socket::udp::{self, PacketMetadata};
+use smoltcp::socket::udp;
+pub use smoltcp::socket::udp::PacketMetadata;
 use smoltcp::wire::{IpEndpoint, IpListenEndpoint};
 
 use crate::{SocketStack, Stack};
 
+/// Error returned by [`UdpSocket::bind`].
 #[derive(PartialEq, Eq, Clone, Copy, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum BindError {
@@ -19,6 +23,7 @@ pub enum BindError {
     NoRoute,
 }
 
+/// Error returned by [`UdpSocket::recv_from`] and [`UdpSocket::send_to`].
 #[derive(PartialEq, Eq, Clone, Copy, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
@@ -26,12 +31,14 @@ pub enum Error {
     NoRoute,
 }
 
+/// An UDP socket.
 pub struct UdpSocket<'a> {
     stack: &'a RefCell<SocketStack>,
     handle: SocketHandle,
 }
 
 impl<'a> UdpSocket<'a> {
+    /// Create a new UDP socket using the provided stack and buffers.
     pub fn new<D: Driver>(
         stack: &'a Stack<D>,
         rx_meta: &'a mut [PacketMetadata],
@@ -56,6 +63,7 @@ impl<'a> UdpSocket<'a> {
         }
     }
 
+    /// Bind the socket to a local endpoint.
     pub fn bind<T>(&mut self, endpoint: T) -> Result<(), BindError>
     where
         T: Into<IpListenEndpoint>,
@@ -88,6 +96,11 @@ impl<'a> UdpSocket<'a> {
         res
     }
 
+    /// Receive a datagram.
+    ///
+    /// This method will wait until a datagram is received.
+    ///
+    /// Returns the number of bytes received and the remote endpoint.
     pub async fn recv_from(&self, buf: &mut [u8]) -> Result<(usize, IpEndpoint), Error> {
         poll_fn(move |cx| {
             self.with_mut(|s, _| match s.recv_slice(buf) {
@@ -102,6 +115,7 @@ impl<'a> UdpSocket<'a> {
         .await
     }
 
+    /// Send a datagram to the specified remote endpoint.
     pub async fn send_to<T>(&self, buf: &[u8], remote_endpoint: T) -> Result<(), Error>
     where
         T: Into<IpEndpoint>,
@@ -121,22 +135,28 @@ impl<'a> UdpSocket<'a> {
         .await
     }
 
+    /// Returns the local endpoint of the socket.
     pub fn endpoint(&self) -> IpListenEndpoint {
         self.with(|s, _| s.endpoint())
     }
 
+    /// Returns whether the socket is open.
+
     pub fn is_open(&self) -> bool {
         self.with(|s, _| s.is_open())
     }
 
+    /// Close the socket.
     pub fn close(&mut self) {
         self.with_mut(|s, _| s.close())
     }
 
+    /// Returns whether the socket is ready to send data, i.e. it has enough buffer space to hold a packet.
     pub fn may_send(&self) -> bool {
         self.with(|s, _| s.can_send())
     }
 
+    /// Returns whether the socket is ready to receive data, i.e. it has received a packet that's now in the buffer.
     pub fn may_recv(&self) -> bool {
         self.with(|s, _| s.can_recv())
     }
diff --git a/examples/nrf52840/src/bin/usb_ethernet.rs b/examples/nrf52840/src/bin/usb_ethernet.rs
index b8a72313a..786025c43 100644
--- a/examples/nrf52840/src/bin/usb_ethernet.rs
+++ b/examples/nrf52840/src/bin/usb_ethernet.rs
@@ -132,7 +132,7 @@ async fn main(spawner: Spawner) {
 
     loop {
         let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
-        socket.set_timeout(Some(embassy_net::SmolDuration::from_secs(10)));
+        socket.set_timeout(Some(embassy_time::Duration::from_secs(10)));
 
         info!("Listening on TCP:1234...");
         if let Err(e) = socket.accept(1234).await {
diff --git a/examples/rp/src/bin/usb_ethernet.rs b/examples/rp/src/bin/usb_ethernet.rs
index 66a6ed4d0..431db63eb 100644
--- a/examples/rp/src/bin/usb_ethernet.rs
+++ b/examples/rp/src/bin/usb_ethernet.rs
@@ -114,7 +114,7 @@ async fn main(spawner: Spawner) {
 
     loop {
         let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
-        socket.set_timeout(Some(embassy_net::SmolDuration::from_secs(10)));
+        socket.set_timeout(Some(embassy_time::Duration::from_secs(10)));
 
         info!("Listening on TCP:1234...");
         if let Err(e) = socket.accept(1234).await {
diff --git a/examples/std/src/bin/net.rs b/examples/std/src/bin/net.rs
index e018e18c9..d93616254 100644
--- a/examples/std/src/bin/net.rs
+++ b/examples/std/src/bin/net.rs
@@ -6,6 +6,7 @@ use clap::Parser;
 use embassy_executor::{Executor, Spawner};
 use embassy_net::tcp::TcpSocket;
 use embassy_net::{Config, Ipv4Address, Ipv4Cidr, Stack, StackResources};
+use embassy_time::Duration;
 use embedded_io::asynch::Write;
 use heapless::Vec;
 use log::*;
@@ -75,7 +76,7 @@ async fn main_task(spawner: Spawner) {
     let mut tx_buffer = [0; 4096];
     let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
 
-    socket.set_timeout(Some(embassy_net::SmolDuration::from_secs(10)));
+    socket.set_timeout(Some(Duration::from_secs(10)));
 
     let remote_endpoint = (Ipv4Address::new(192, 168, 69, 100), 8000);
     info!("connecting to {:?}...", remote_endpoint);
diff --git a/examples/std/src/bin/net_udp.rs b/examples/std/src/bin/net_udp.rs
index 328a0536c..4df23edf6 100644
--- a/examples/std/src/bin/net_udp.rs
+++ b/examples/std/src/bin/net_udp.rs
@@ -2,8 +2,8 @@
 
 use clap::Parser;
 use embassy_executor::{Executor, Spawner};
-use embassy_net::udp::UdpSocket;
-use embassy_net::{Config, Ipv4Address, Ipv4Cidr, PacketMetadata, Stack, StackResources};
+use embassy_net::udp::{PacketMetadata, UdpSocket};
+use embassy_net::{Config, Ipv4Address, Ipv4Cidr, Stack, StackResources};
 use heapless::Vec;
 use log::*;
 use rand_core::{OsRng, RngCore};
diff --git a/examples/stm32f4/src/bin/usb_ethernet.rs b/examples/stm32f4/src/bin/usb_ethernet.rs
index db9e18393..9131e5896 100644
--- a/examples/stm32f4/src/bin/usb_ethernet.rs
+++ b/examples/stm32f4/src/bin/usb_ethernet.rs
@@ -126,7 +126,7 @@ async fn main(spawner: Spawner) {
 
     loop {
         let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
-        socket.set_timeout(Some(embassy_net::SmolDuration::from_secs(10)));
+        socket.set_timeout(Some(embassy_time::Duration::from_secs(10)));
 
         info!("Listening on TCP:1234...");
         if let Err(e) = socket.accept(1234).await {
diff --git a/examples/stm32f7/src/bin/eth.rs b/examples/stm32f7/src/bin/eth.rs
index 9febb14e6..b947361ac 100644
--- a/examples/stm32f7/src/bin/eth.rs
+++ b/examples/stm32f7/src/bin/eth.rs
@@ -91,7 +91,7 @@ async fn main(spawner: Spawner) -> ! {
     loop {
         let mut socket = TcpSocket::new(&stack, &mut rx_buffer, &mut tx_buffer);
 
-        socket.set_timeout(Some(embassy_net::SmolDuration::from_secs(10)));
+        socket.set_timeout(Some(embassy_time::Duration::from_secs(10)));
 
         let remote_endpoint = (Ipv4Address::new(10, 42, 0, 1), 8000);
         info!("connecting...");
diff --git a/examples/stm32h5/src/bin/eth.rs b/examples/stm32h5/src/bin/eth.rs
index 6d650da9e..b2e252fc7 100644
--- a/examples/stm32h5/src/bin/eth.rs
+++ b/examples/stm32h5/src/bin/eth.rs
@@ -110,7 +110,7 @@ async fn main(spawner: Spawner) -> ! {
     loop {
         let mut socket = TcpSocket::new(&stack, &mut rx_buffer, &mut tx_buffer);
 
-        socket.set_timeout(Some(embassy_net::SmolDuration::from_secs(10)));
+        socket.set_timeout(Some(embassy_time::Duration::from_secs(10)));
 
         let remote_endpoint = (Ipv4Address::new(10, 42, 0, 1), 8000);
         info!("connecting...");
diff --git a/examples/stm32h7/src/bin/eth.rs b/examples/stm32h7/src/bin/eth.rs
index 541e49762..61bb7e37b 100644
--- a/examples/stm32h7/src/bin/eth.rs
+++ b/examples/stm32h7/src/bin/eth.rs
@@ -92,7 +92,7 @@ async fn main(spawner: Spawner) -> ! {
     loop {
         let mut socket = TcpSocket::new(&stack, &mut rx_buffer, &mut tx_buffer);
 
-        socket.set_timeout(Some(embassy_net::SmolDuration::from_secs(10)));
+        socket.set_timeout(Some(embassy_time::Duration::from_secs(10)));
 
         let remote_endpoint = (Ipv4Address::new(10, 42, 0, 1), 8000);
         info!("connecting...");
diff --git a/examples/stm32l5/src/bin/usb_ethernet.rs b/examples/stm32l5/src/bin/usb_ethernet.rs
index 98ec0e836..6c5645a41 100644
--- a/examples/stm32l5/src/bin/usb_ethernet.rs
+++ b/examples/stm32l5/src/bin/usb_ethernet.rs
@@ -121,7 +121,7 @@ async fn main(spawner: Spawner) {
 
     loop {
         let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
-        socket.set_timeout(Some(embassy_net::SmolDuration::from_secs(10)));
+        socket.set_timeout(Some(embassy_time::Duration::from_secs(10)));
 
         info!("Listening on TCP:1234...");
         if let Err(e) = socket.accept(1234).await {