37 files changed, 537 insertions, 117 deletions

diff --git a/embassy-nrf/src/gpio.rs b/embassy-nrf/src/gpio.rs
index 85977a804..a47fb8350 100644
--- a/embassy-nrf/src/gpio.rs
+++ b/embassy-nrf/src/gpio.rs
@@ -50,19 +50,19 @@ impl<'d, T: Pin> Input<'d, T> {
         Self { pin }
     }
 
-    /// Test if current pin level is high.
+    /// Get whether the pin input level is high.
     #[inline]
     pub fn is_high(&mut self) -> bool {
         self.pin.is_high()
     }
 
-    /// Test if current pin level is low.
+    /// Get whether the pin input level is low.
     #[inline]
     pub fn is_low(&mut self) -> bool {
         self.pin.is_low()
     }
 
-    /// Returns current pin level
+    /// Get the pin input level.
     #[inline]
     pub fn get_level(&mut self) -> Level {
         self.pin.get_level()
@@ -158,19 +158,19 @@ impl<'d, T: Pin> Output<'d, T> {
         self.pin.set_level(level)
     }
 
-    /// Is the output pin set as high?
+    /// Get whether the output level is set to high.
     #[inline]
     pub fn is_set_high(&mut self) -> bool {
         self.pin.is_set_high()
     }
 
-    /// Is the output pin set as low?
+    /// Get whether the output level is set to low.
     #[inline]
     pub fn is_set_low(&mut self) -> bool {
         self.pin.is_set_low()
     }
 
-    /// What level output is set to
+    /// Get the current output level.
     #[inline]
     pub fn get_output_level(&mut self) -> Level {
         self.pin.get_output_level()
@@ -275,13 +275,13 @@ impl<'d, T: Pin> Flex<'d, T> {
         self.pin.conf().reset();
     }
 
-    /// Test if current pin level is high.
+    /// Get whether the pin input level is high.
     #[inline]
     pub fn is_high(&mut self) -> bool {
         !self.is_low()
     }
 
-    /// Test if current pin level is low.
+    /// Get whether the pin input level is low.
     #[inline]
     pub fn is_low(&mut self) -> bool {
         self.ref_is_low()
@@ -292,7 +292,7 @@ impl<'d, T: Pin> Flex<'d, T> {
         self.pin.block().in_.read().bits() & (1 << self.pin.pin()) == 0
     }
 
-    /// Returns current pin level
+    /// Get the pin input level.
     #[inline]
     pub fn get_level(&mut self) -> Level {
         self.is_high().into()
@@ -319,25 +319,24 @@ impl<'d, T: Pin> Flex<'d, T> {
         }
     }
 
-    /// Is the output pin set as high?
+    /// Get whether the output level is set to high.
     #[inline]
     pub fn is_set_high(&mut self) -> bool {
         !self.is_set_low()
     }
 
-    /// Is the output pin set as low?
+    /// Get whether the output level is set to low.
     #[inline]
     pub fn is_set_low(&mut self) -> bool {
         self.ref_is_set_low()
     }
 
-    /// Is the output pin set as low?
     #[inline]
     pub(crate) fn ref_is_set_low(&self) -> bool {
         self.pin.block().out.read().bits() & (1 << self.pin.pin()) == 0
     }
 
-    /// What level output is set to
+    /// Get the current output level.
     #[inline]
     pub fn get_output_level(&mut self) -> Level {
         self.is_set_high().into()
diff --git a/embassy-stm32/src/adc/mod.rs b/embassy-stm32/src/adc/mod.rs
index dbe53c807..2e470662d 100644
--- a/embassy-stm32/src/adc/mod.rs
+++ b/embassy-stm32/src/adc/mod.rs
@@ -1,3 +1,4 @@
+//! Analog to Digital (ADC) converter driver.
 #![macro_use]
 
 #[cfg(not(adc_f3_v2))]
@@ -24,6 +25,7 @@ pub use sample_time::SampleTime;
 
 use crate::peripherals;
 
+/// Analog to Digital driver.
 pub struct Adc<'d, T: Instance> {
     #[allow(unused)]
     adc: crate::PeripheralRef<'d, T>,
@@ -75,12 +77,16 @@ pub(crate) mod sealed {
     }
 }
 
+/// ADC instance.
 #[cfg(not(any(adc_f1, adc_v1, adc_v2, adc_v3, adc_v4, adc_f3, adc_f3_v1_1, adc_g0)))]
 pub trait Instance: sealed::Instance + crate::Peripheral<P = Self> {}
+/// ADC instance.
 #[cfg(any(adc_f1, adc_v1, adc_v2, adc_v3, adc_v4, adc_f3, adc_f3_v1_1, adc_g0))]
 pub trait Instance: sealed::Instance + crate::Peripheral<P = Self> + crate::rcc::RccPeripheral {}
 
+/// ADC pin.
 pub trait AdcPin<T: Instance>: sealed::AdcPin<T> {}
+/// ADC internal channel.
 pub trait InternalChannel<T>: sealed::InternalChannel<T> {}
 
 foreach_adc!(
diff --git a/embassy-stm32/src/adc/resolution.rs b/embassy-stm32/src/adc/resolution.rs
index 383980b5a..64c25a776 100644
--- a/embassy-stm32/src/adc/resolution.rs
+++ b/embassy-stm32/src/adc/resolution.rs
@@ -1,3 +1,5 @@
+/// ADC resolution
+#[allow(missing_docs)]
 #[cfg(any(adc_v1, adc_v2, adc_v3, adc_g0, adc_f3, adc_f3_v1_1))]
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -8,6 +10,8 @@ pub enum Resolution {
     SixBit,
 }
 
+/// ADC resolution
+#[allow(missing_docs)]
 #[cfg(adc_v4)]
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -49,6 +53,9 @@ impl From<Resolution> for crate::pac::adc::vals::Res {
 }
 
 impl Resolution {
+    /// Get the maximum reading value for this resolution.
+    ///
+    /// This is `2**n - 1`.
     pub fn to_max_count(&self) -> u32 {
         match self {
             #[cfg(adc_v4)]
diff --git a/embassy-stm32/src/adc/v4.rs b/embassy-stm32/src/adc/v4.rs
index d74617cb3..048e73184 100644
--- a/embassy-stm32/src/adc/v4.rs
+++ b/embassy-stm32/src/adc/v4.rs
@@ -32,6 +32,7 @@ const TEMP_CHANNEL: u8 = 18;
 const VBAT_CHANNEL: u8 = 17;
 
 // NOTE: Vrefint/Temperature/Vbat are not available on all ADCs, this currently cannot be modeled with stm32-data, so these are available from the software on all ADCs
+/// Internal voltage reference channel.
 pub struct VrefInt;
 impl<T: Instance> InternalChannel<T> for VrefInt {}
 impl<T: Instance> super::sealed::InternalChannel<T> for VrefInt {
@@ -40,6 +41,7 @@ impl<T: Instance> super::sealed::InternalChannel<T> for VrefInt {
     }
 }
 
+/// Internal temperature channel.
 pub struct Temperature;
 impl<T: Instance> InternalChannel<T> for Temperature {}
 impl<T: Instance> super::sealed::InternalChannel<T> for Temperature {
@@ -48,6 +50,7 @@ impl<T: Instance> super::sealed::InternalChannel<T> for Temperature {
     }
 }
 
+/// Internal battery voltage channel.
 pub struct Vbat;
 impl<T: Instance> InternalChannel<T> for Vbat {}
 impl<T: Instance> super::sealed::InternalChannel<T> for Vbat {
@@ -125,6 +128,7 @@ impl Prescaler {
 }
 
 impl<'d, T: Instance> Adc<'d, T> {
+    /// Create a new ADC driver.
     pub fn new(adc: impl Peripheral<P = T> + 'd, delay: &mut impl DelayUs<u16>) -> Self {
         embassy_hal_internal::into_ref!(adc);
         T::enable_and_reset();
@@ -212,6 +216,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         });
     }
 
+    /// Enable reading the voltage reference internal channel.
     pub fn enable_vrefint(&self) -> VrefInt {
         T::common_regs().ccr().modify(|reg| {
             reg.set_vrefen(true);
@@ -220,6 +225,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         VrefInt {}
     }
 
+    /// Enable reading the temperature internal channel.
     pub fn enable_temperature(&self) -> Temperature {
         T::common_regs().ccr().modify(|reg| {
             reg.set_vsenseen(true);
@@ -228,6 +234,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         Temperature {}
     }
 
+    /// Enable reading the vbat internal channel.
     pub fn enable_vbat(&self) -> Vbat {
         T::common_regs().ccr().modify(|reg| {
             reg.set_vbaten(true);
@@ -236,10 +243,12 @@ impl<'d, T: Instance> Adc<'d, T> {
         Vbat {}
     }
 
+    /// Set the ADC sample time.
     pub fn set_sample_time(&mut self, sample_time: SampleTime) {
         self.sample_time = sample_time;
     }
 
+    /// Set the ADC resolution.
     pub fn set_resolution(&mut self, resolution: Resolution) {
         T::regs().cfgr().modify(|reg| reg.set_res(resolution.into()));
     }
@@ -263,6 +272,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         T::regs().dr().read().0 as u16
     }
 
+    /// Read an ADC pin.
     pub fn read<P>(&mut self, pin: &mut P) -> u16
     where
         P: AdcPin<T>,
@@ -273,6 +283,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         self.read_channel(pin.channel())
     }
 
+    /// Read an ADC internal channel.
     pub fn read_internal(&mut self, channel: &mut impl InternalChannel<T>) -> u16 {
         self.read_channel(channel.channel())
     }
diff --git a/embassy-stm32/src/can/fdcan.rs b/embassy-stm32/src/can/fdcan.rs
index f77788db3..0cc2559cf 100644
--- a/embassy-stm32/src/can/fdcan.rs
+++ b/embassy-stm32/src/can/fdcan.rs
@@ -1,6 +1,3 @@
-pub use bxcan;
-use embassy_hal_internal::PeripheralRef;
-
 use crate::peripherals;
 
 pub(crate) mod sealed {
@@ -25,27 +22,19 @@ pub(crate) mod sealed {
     }
 
     pub trait Instance {
-        const REGISTERS: *mut bxcan::RegisterBlock;
-
         fn regs() -> &'static crate::pac::can::Fdcan;
         fn state() -> &'static State;
     }
 }
 
+/// Interruptable FDCAN instance.
 pub trait InterruptableInstance {}
+/// FDCAN instance.
 pub trait Instance: sealed::Instance + InterruptableInstance + 'static {}
 
-pub struct BxcanInstance<'a, T>(PeripheralRef<'a, T>);
-
-unsafe impl<'d, T: Instance> bxcan::Instance for BxcanInstance<'d, T> {
-    const REGISTERS: *mut bxcan::RegisterBlock = T::REGISTERS;
-}
-
 foreach_peripheral!(
     (can, $inst:ident) => {
         impl sealed::Instance for peripherals::$inst {
-            const REGISTERS: *mut bxcan::RegisterBlock = crate::pac::$inst.as_ptr() as *mut _;
-
             fn regs() -> &'static crate::pac::can::Fdcan {
                 &crate::pac::$inst
             }
diff --git a/embassy-stm32/src/crc/v2v3.rs b/embassy-stm32/src/crc/v2v3.rs
index b36f6018c..0c4ae55ce 100644
--- a/embassy-stm32/src/crc/v2v3.rs
+++ b/embassy-stm32/src/crc/v2v3.rs
@@ -6,15 +6,19 @@ use crate::peripherals::CRC;
 use crate::rcc::sealed::RccPeripheral;
 use crate::Peripheral;
 
+/// CRC driver.
 pub struct Crc<'d> {
     _peripheral: PeripheralRef<'d, CRC>,
     _config: Config,
 }
 
+/// CRC configuration errlr
 pub enum ConfigError {
+    /// The selected polynomial is invalid.
     InvalidPolynomial,
 }
 
+/// CRC configuration
 pub struct Config {
     reverse_in: InputReverseConfig,
     reverse_out: bool,
@@ -25,14 +29,20 @@ pub struct Config {
     crc_poly: u32,
 }
 
+/// Input reverse configuration.
 pub enum InputReverseConfig {
+    /// Don't reverse anything
     None,
+    /// Reverse bytes
     Byte,
+    /// Reverse 16-bit halfwords.
     Halfword,
+    /// Reverse 32-bit words.
     Word,
 }
 
 impl Config {
+    /// Create a new CRC config.
     pub fn new(
         reverse_in: InputReverseConfig,
         reverse_out: bool,
@@ -57,7 +67,9 @@ impl Config {
     }
 }
 
+/// Polynomial size
 #[cfg(crc_v3)]
+#[allow(missing_docs)]
 pub enum PolySize {
     Width7,
     Width8,
@@ -81,6 +93,7 @@ impl<'d> Crc<'d> {
         instance
     }
 
+    /// Reset the CRC engine.
     pub fn reset(&mut self) {
         PAC_CRC.cr().modify(|w| w.set_reset(true));
     }
diff --git a/embassy-stm32/src/dac/mod.rs b/embassy-stm32/src/dac/mod.rs
index 500eac4c1..9c670195d 100644
--- a/embassy-stm32/src/dac/mod.rs
+++ b/embassy-stm32/src/dac/mod.rs
@@ -62,11 +62,11 @@ impl Mode {
 ///
 /// 12-bit values outside the permitted range are silently truncated.
 pub enum Value {
-    // 8 bit value
+    /// 8 bit value
     Bit8(u8),
-    // 12 bit value stored in a u16, left-aligned
+    /// 12 bit value stored in a u16, left-aligned
     Bit12Left(u16),
-    // 12 bit value stored in a u16, right-aligned
+    /// 12 bit value stored in a u16, right-aligned
     Bit12Right(u16),
 }
 
@@ -76,11 +76,11 @@ pub enum Value {
 ///
 /// 12-bit values outside the permitted range are silently truncated.
 pub enum DualValue {
-    // 8 bit value
+    /// 8 bit value
     Bit8(u8, u8),
-    // 12 bit value stored in a u16, left-aligned
+    /// 12 bit value stored in a u16, left-aligned
     Bit12Left(u16, u16),
-    // 12 bit value stored in a u16, right-aligned
+    /// 12 bit value stored in a u16, right-aligned
     Bit12Right(u16, u16),
 }
 
@@ -88,11 +88,11 @@ pub enum DualValue {
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 /// Array variant of [`Value`].
 pub enum ValueArray<'a> {
-    // 8 bit values
+    /// 8 bit values
     Bit8(&'a [u8]),
-    // 12 bit value stored in a u16, left-aligned
+    /// 12 bit value stored in a u16, left-aligned
     Bit12Left(&'a [u16]),
-    // 12 bit values stored in a u16, right-aligned
+    /// 12 bit values stored in a u16, right-aligned
     Bit12Right(&'a [u16]),
 }
 
@@ -106,7 +106,9 @@ pub struct DacChannel<'d, T: Instance, const N: u8, DMA = NoDma> {
     dma: PeripheralRef<'d, DMA>,
 }
 
+/// DAC channel 1 type alias.
 pub type DacCh1<'d, T, DMA = NoDma> = DacChannel<'d, T, 1, DMA>;
+/// DAC channel 2 type alias.
 pub type DacCh2<'d, T, DMA = NoDma> = DacChannel<'d, T, 2, DMA>;
 
 impl<'d, T: Instance, const N: u8, DMA> DacChannel<'d, T, N, DMA> {
@@ -492,6 +494,7 @@ pub(crate) mod sealed {
     }
 }
 
+/// DAC instance.
 pub trait Instance: sealed::Instance + RccPeripheral + 'static {}
 dma_trait!(DacDma1, Instance);
 dma_trait!(DacDma2, Instance);
diff --git a/embassy-stm32/src/dac/tsel.rs b/embassy-stm32/src/dac/tsel.rs
index f38dd8fd7..22d8d3dfa 100644
--- a/embassy-stm32/src/dac/tsel.rs
+++ b/embassy-stm32/src/dac/tsel.rs
@@ -1,3 +1,5 @@
+#![allow(missing_docs)]
+
 /// Trigger selection for STM32F0.
 #[cfg(stm32f0)]
 #[derive(Debug, Copy, Clone, Eq, PartialEq)]
diff --git a/embassy-stm32/src/dcmi.rs b/embassy-stm32/src/dcmi.rs
index b12230794..139d8fd1b 100644
--- a/embassy-stm32/src/dcmi.rs
+++ b/embassy-stm32/src/dcmi.rs
@@ -36,6 +36,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
 }
 
 /// The level on the VSync pin when the data is not valid on the parallel interface.
+#[allow(missing_docs)]
 #[derive(Clone, Copy, PartialEq)]
 pub enum VSyncDataInvalidLevel {
     Low,
@@ -43,6 +44,7 @@ pub enum VSyncDataInvalidLevel {
 }
 
 /// The level on the VSync pin when the data is not valid on the parallel interface.
+#[allow(missing_docs)]
 #[derive(Clone, Copy, PartialEq)]
 pub enum HSyncDataInvalidLevel {
     Low,
@@ -50,14 +52,16 @@ pub enum HSyncDataInvalidLevel {
 }
 
 #[derive(Clone, Copy, PartialEq)]
+#[allow(missing_docs)]
 pub enum PixelClockPolarity {
     RisingEdge,
     FallingEdge,
 }
 
-pub struct State {
+struct State {
     waker: AtomicWaker,
 }
+
 impl State {
     const fn new() -> State {
         State {
@@ -68,18 +72,25 @@ impl State {
 
 static STATE: State = State::new();
 
+/// DCMI error.
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
 pub enum Error {
+    /// Overrun error: the hardware generated data faster than we could read it.
     Overrun,
+    /// Internal peripheral error.
     PeripheralError,
 }
 
+/// DCMI configuration.
 #[non_exhaustive]
 pub struct Config {
+    /// VSYNC level.
     pub vsync_level: VSyncDataInvalidLevel,
+    /// HSYNC level.
     pub hsync_level: HSyncDataInvalidLevel,
+    /// PIXCLK polarity.
     pub pixclk_polarity: PixelClockPolarity,
 }
 
@@ -105,6 +116,7 @@ macro_rules! config_pins {
     };
 }
 
+/// DCMI driver.
 pub struct Dcmi<'d, T: Instance, Dma: FrameDma<T>> {
     inner: PeripheralRef<'d, T>,
     dma: PeripheralRef<'d, Dma>,
@@ -115,6 +127,7 @@ where
     T: Instance,
     Dma: FrameDma<T>,
 {
+    /// Create a new DCMI driver with 8 data bits.
     pub fn new_8bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -139,6 +152,7 @@ where
         Self::new_inner(peri, dma, config, false, 0b00)
     }
 
+    /// Create a new DCMI driver with 10 data bits.
     pub fn new_10bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -165,6 +179,7 @@ where
         Self::new_inner(peri, dma, config, false, 0b01)
     }
 
+    /// Create a new DCMI driver with 12 data bits.
     pub fn new_12bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -193,6 +208,7 @@ where
         Self::new_inner(peri, dma, config, false, 0b10)
     }
 
+    /// Create a new DCMI driver with 14 data bits.
     pub fn new_14bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -223,6 +239,7 @@ where
         Self::new_inner(peri, dma, config, false, 0b11)
     }
 
+    /// Create a new DCMI driver with 8 data bits, with embedded synchronization.
     pub fn new_es_8bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -245,6 +262,7 @@ where
         Self::new_inner(peri, dma, config, true, 0b00)
     }
 
+    /// Create a new DCMI driver with 10 data bits, with embedded synchronization.
     pub fn new_es_10bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -269,6 +287,7 @@ where
         Self::new_inner(peri, dma, config, true, 0b01)
     }
 
+    /// Create a new DCMI driver with 12 data bits, with embedded synchronization.
     pub fn new_es_12bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -295,6 +314,7 @@ where
         Self::new_inner(peri, dma, config, true, 0b10)
     }
 
+    /// Create a new DCMI driver with 14 data bits, with embedded synchronization.
     pub fn new_es_14bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -538,7 +558,9 @@ mod sealed {
     }
 }
 
+/// DCMI instance.
 pub trait Instance: sealed::Instance + 'static {
+    /// Interrupt for this instance.
     type Interrupt: interrupt::typelevel::Interrupt;
 }
 
diff --git a/embassy-stm32/src/dma/bdma.rs b/embassy-stm32/src/dma/bdma.rs
index a7422f66b..5102330c0 100644
--- a/embassy-stm32/src/dma/bdma.rs
+++ b/embassy-stm32/src/dma/bdma.rs
@@ -1,4 +1,4 @@
-#![macro_use]
+//! Basic Direct Memory Acccess (BDMA)
 
 use core::future::Future;
 use core::pin::Pin;
@@ -17,6 +17,7 @@ use crate::interrupt::Priority;
 use crate::pac;
 use crate::pac::bdma::{regs, vals};
 
+/// BDMA transfer options.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
@@ -140,13 +141,17 @@ pub(crate) unsafe fn on_irq_inner(dma: pac::bdma::Dma, channel_num: usize, index
     STATE.ch_wakers[index].wake();
 }
 
+/// DMA request type alias.
 #[cfg(any(bdma_v2, dmamux))]
 pub type Request = u8;
+/// DMA request type alias.
 #[cfg(not(any(bdma_v2, dmamux)))]
 pub type Request = ();
 
+/// DMA channel.
 #[cfg(dmamux)]
 pub trait Channel: sealed::Channel + Peripheral<P = Self> + 'static + super::dmamux::MuxChannel {}
+/// DMA channel.
 #[cfg(not(dmamux))]
 pub trait Channel: sealed::Channel + Peripheral<P = Self> + 'static {}
 
@@ -161,12 +166,14 @@ pub(crate) mod sealed {
     }
 }
 
+/// DMA transfer.
 #[must_use = "futures do nothing unless you `.await` or poll them"]
 pub struct Transfer<'a, C: Channel> {
     channel: PeripheralRef<'a, C>,
 }
 
 impl<'a, C: Channel> Transfer<'a, C> {
+    /// Create a new read DMA transfer (peripheral to memory).
     pub unsafe fn new_read<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -177,6 +184,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         Self::new_read_raw(channel, request, peri_addr, buf, options)
     }
 
+    /// Create a new read DMA transfer (peripheral to memory), using raw pointers.
     pub unsafe fn new_read_raw<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -202,6 +210,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         )
     }
 
+    /// Create a new write DMA transfer (memory to peripheral).
     pub unsafe fn new_write<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -212,6 +221,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         Self::new_write_raw(channel, request, buf, peri_addr, options)
     }
 
+    /// Create a new write DMA transfer (memory to peripheral), using raw pointers.
     pub unsafe fn new_write_raw<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -237,6 +247,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         )
     }
 
+    /// Create a new write DMA transfer (memory to peripheral), writing the same value repeatedly.
     pub unsafe fn new_write_repeated<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -321,6 +332,9 @@ impl<'a, C: Channel> Transfer<'a, C> {
         });
     }
 
+    /// Request the transfer to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().ch(self.channel.num());
 
@@ -331,6 +345,10 @@ impl<'a, C: Channel> Transfer<'a, C> {
         });
     }
 
+    /// Return whether this transfer is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().ch(self.channel.num());
         let en = ch.cr().read().en();
@@ -339,13 +357,15 @@ impl<'a, C: Channel> Transfer<'a, C> {
         en && (circular || !tcif)
     }
 
-    /// Gets the total remaining transfers for the channel
-    /// Note: this will be zero for transfers that completed without cancellation.
+    /// Get the total remaining transfers for the channel.
+    ///
+    /// This will be zero for transfers that completed instead of being canceled with [`request_stop`](Self::request_stop).
     pub fn get_remaining_transfers(&self) -> u16 {
         let ch = self.channel.regs().ch(self.channel.num());
         ch.ndtr().read().ndt()
     }
 
+    /// Blocking wait until the transfer finishes.
     pub fn blocking_wait(mut self) {
         while self.is_running() {}
         self.request_stop();
@@ -411,6 +431,7 @@ impl<'a, C: Channel> DmaCtrl for DmaCtrlImpl<'a, C> {
     }
 }
 
+/// Ringbuffer for reading data using DMA circular mode.
 pub struct ReadableRingBuffer<'a, C: Channel, W: Word> {
     cr: regs::Cr,
     channel: PeripheralRef<'a, C>,
@@ -418,7 +439,8 @@ pub struct ReadableRingBuffer<'a, C: Channel, W: Word> {
 }
 
 impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
-    pub unsafe fn new_read(
+    /// Create a new ring buffer.
+    pub unsafe fn new(
         channel: impl Peripheral<P = C> + 'a,
         _request: Request,
         peri_addr: *mut W,
@@ -473,11 +495,15 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         this
     }
 
+    /// Start the ring buffer operation.
+    ///
+    /// You must call this after creating it for it to work.
     pub fn start(&mut self) {
         let ch = self.channel.regs().ch(self.channel.num());
         ch.cr().write_value(self.cr)
     }
 
+    /// Clear all data in the ring buffer.
     pub fn clear(&mut self) {
         self.ringbuf.clear(&mut DmaCtrlImpl(self.channel.reborrow()));
     }
@@ -509,10 +535,11 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
     }
 
     /// The capacity of the ringbuffer.
-    pub const fn cap(&self) -> usize {
+    pub const fn capacity(&self) -> usize {
         self.ringbuf.cap()
     }
 
+    /// Set a waker to be woken when at least one byte is received.
     pub fn set_waker(&mut self, waker: &Waker) {
         DmaCtrlImpl(self.channel.reborrow()).set_waker(waker);
     }
@@ -526,6 +553,9 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Request DMA to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().ch(self.channel.num());
 
@@ -539,6 +569,10 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Return whether DMA is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().ch(self.channel.num());
         ch.cr().read().en()
@@ -555,6 +589,7 @@ impl<'a, C: Channel, W: Word> Drop for ReadableRingBuffer<'a, C, W> {
     }
 }
 
+/// Ringbuffer for writing data using DMA circular mode.
 pub struct WritableRingBuffer<'a, C: Channel, W: Word> {
     cr: regs::Cr,
     channel: PeripheralRef<'a, C>,
@@ -562,7 +597,8 @@ pub struct WritableRingBuffer<'a, C: Channel, W: Word> {
 }
 
 impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
-    pub unsafe fn new_write(
+    /// Create a new ring buffer.
+    pub unsafe fn new(
         channel: impl Peripheral<P = C> + 'a,
         _request: Request,
         peri_addr: *mut W,
@@ -617,11 +653,15 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         this
     }
 
+    /// Start the ring buffer operation.
+    ///
+    /// You must call this after creating it for it to work.
     pub fn start(&mut self) {
         let ch = self.channel.regs().ch(self.channel.num());
         ch.cr().write_value(self.cr)
     }
 
+    /// Clear all data in the ring buffer.
     pub fn clear(&mut self) {
         self.ringbuf.clear(&mut DmaCtrlImpl(self.channel.reborrow()));
     }
@@ -640,10 +680,11 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
     }
 
     /// The capacity of the ringbuffer.
-    pub const fn cap(&self) -> usize {
+    pub const fn capacity(&self) -> usize {
         self.ringbuf.cap()
     }
 
+    /// Set a waker to be woken when at least one byte is sent.
     pub fn set_waker(&mut self, waker: &Waker) {
         DmaCtrlImpl(self.channel.reborrow()).set_waker(waker);
     }
@@ -657,6 +698,9 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Request DMA to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().ch(self.channel.num());
 
@@ -670,6 +714,10 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Return whether DMA is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().ch(self.channel.num());
         ch.cr().read().en()
diff --git a/embassy-stm32/src/dma/dma.rs b/embassy-stm32/src/dma/dma.rs
index cce0407c1..64e492c10 100644
--- a/embassy-stm32/src/dma/dma.rs
+++ b/embassy-stm32/src/dma/dma.rs
@@ -16,6 +16,7 @@ use crate::interrupt::Priority;
 use crate::pac::dma::{regs, vals};
 use crate::{interrupt, pac};
 
+/// DMA transfer options.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
@@ -69,6 +70,7 @@ impl From<Dir> for vals::Dir {
     }
 }
 
+/// DMA transfer burst setting.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Burst {
@@ -93,6 +95,7 @@ impl From<Burst> for vals::Burst {
     }
 }
 
+/// DMA flow control setting.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FlowControl {
@@ -111,6 +114,7 @@ impl From<FlowControl> for vals::Pfctrl {
     }
 }
 
+/// DMA FIFO threshold.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FifoThreshold {
@@ -208,13 +212,17 @@ pub(crate) unsafe fn on_irq_inner(dma: pac::dma::Dma, channel_num: usize, index:
     STATE.ch_wakers[index].wake();
 }
 
+/// DMA request type alias. (also known as DMA channel number in some chips)
 #[cfg(any(dma_v2, dmamux))]
 pub type Request = u8;
+/// DMA request type alias. (also known as DMA channel number in some chips)
 #[cfg(not(any(dma_v2, dmamux)))]
 pub type Request = ();
 
+/// DMA channel.
 #[cfg(dmamux)]
 pub trait Channel: sealed::Channel + Peripheral<P = Self> + 'static + super::dmamux::MuxChannel {}
+/// DMA channel.
 #[cfg(not(dmamux))]
 pub trait Channel: sealed::Channel + Peripheral<P = Self> + 'static {}
 
@@ -229,12 +237,14 @@ pub(crate) mod sealed {
     }
 }
 
+/// DMA transfer.
 #[must_use = "futures do nothing unless you `.await` or poll them"]
 pub struct Transfer<'a, C: Channel> {
     channel: PeripheralRef<'a, C>,
 }
 
 impl<'a, C: Channel> Transfer<'a, C> {
+    /// Create a new read DMA transfer (peripheral to memory).
     pub unsafe fn new_read<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -245,6 +255,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         Self::new_read_raw(channel, request, peri_addr, buf, options)
     }
 
+    /// Create a new read DMA transfer (peripheral to memory), using raw pointers.
     pub unsafe fn new_read_raw<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -270,6 +281,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         )
     }
 
+    /// Create a new write DMA transfer (memory to peripheral).
     pub unsafe fn new_write<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -280,6 +292,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         Self::new_write_raw(channel, request, buf, peri_addr, options)
     }
 
+    /// Create a new write DMA transfer (memory to peripheral), using raw pointers.
     pub unsafe fn new_write_raw<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -305,6 +318,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         )
     }
 
+    /// Create a new write DMA transfer (memory to peripheral), writing the same value repeatedly.
     pub unsafe fn new_write_repeated<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -407,6 +421,9 @@ impl<'a, C: Channel> Transfer<'a, C> {
         });
     }
 
+    /// Request the transfer to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
 
@@ -417,6 +434,10 @@ impl<'a, C: Channel> Transfer<'a, C> {
         });
     }
 
+    /// Return whether this transfer is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().read().en()
@@ -429,6 +450,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         ch.ndtr().read().ndt()
     }
 
+    /// Blocking wait until the transfer finishes.
     pub fn blocking_wait(mut self) {
         while self.is_running() {}
 
@@ -465,12 +487,14 @@ impl<'a, C: Channel> Future for Transfer<'a, C> {
 
 // ==================================
 
+/// Double-buffered DMA transfer.
 pub struct DoubleBuffered<'a, C: Channel, W: Word> {
     channel: PeripheralRef<'a, C>,
     _phantom: PhantomData<W>,
 }
 
 impl<'a, C: Channel, W: Word> DoubleBuffered<'a, C, W> {
+    /// Create a new read DMA transfer (peripheral to memory).
     pub unsafe fn new_read(
         channel: impl Peripheral<P = C> + 'a,
         _request: Request,
@@ -554,25 +578,36 @@ impl<'a, C: Channel, W: Word> DoubleBuffered<'a, C, W> {
         });
     }
 
+    /// Set the first buffer address.
+    ///
+    /// You may call this while DMA is transferring the other buffer.
     pub unsafe fn set_buffer0(&mut self, buffer: *mut W) {
         let ch = self.channel.regs().st(self.channel.num());
         ch.m0ar().write_value(buffer as _);
     }
 
+    /// Set the second buffer address.
+    ///
+    /// You may call this while DMA is transferring the other buffer.
     pub unsafe fn set_buffer1(&mut self, buffer: *mut W) {
         let ch = self.channel.regs().st(self.channel.num());
         ch.m1ar().write_value(buffer as _);
     }
 
+    /// Returh whether buffer0 is accessible (i.e. whether DMA is transferring buffer1 now)
     pub fn is_buffer0_accessible(&mut self) -> bool {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().read().ct() == vals::Ct::MEMORY1
     }
 
+    /// Set a waker to be woken when one of the buffers is being transferred.
     pub fn set_waker(&mut self, waker: &Waker) {
         STATE.ch_wakers[self.channel.index()].register(waker);
     }
 
+    /// Request the transfer to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
 
@@ -583,6 +618,10 @@ impl<'a, C: Channel, W: Word> DoubleBuffered<'a, C, W> {
         });
     }
 
+    /// Return whether this transfer is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().read().en()
@@ -629,6 +668,7 @@ impl<'a, C: Channel> DmaCtrl for DmaCtrlImpl<'a, C> {
     }
 }
 
+/// Ringbuffer for receiving data using DMA circular mode.
 pub struct ReadableRingBuffer<'a, C: Channel, W: Word> {
     cr: regs::Cr,
     channel: PeripheralRef<'a, C>,
@@ -636,7 +676,8 @@ pub struct ReadableRingBuffer<'a, C: Channel, W: Word> {
 }
 
 impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
-    pub unsafe fn new_read(
+    /// Create a new ring buffer.
+    pub unsafe fn new(
         channel: impl Peripheral<P = C> + 'a,
         _request: Request,
         peri_addr: *mut W,
@@ -706,11 +747,15 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         this
     }
 
+    /// Start the ring buffer operation.
+    ///
+    /// You must call this after creating it for it to work.
     pub fn start(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().write_value(self.cr);
     }
 
+    /// Clear all data in the ring buffer.
     pub fn clear(&mut self) {
         self.ringbuf.clear(&mut DmaCtrlImpl(self.channel.reborrow()));
     }
@@ -741,11 +786,12 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
             .await
     }
 
-    // The capacity of the ringbuffer
-    pub const fn cap(&self) -> usize {
+    /// The capacity of the ringbuffer
+    pub const fn capacity(&self) -> usize {
         self.ringbuf.cap()
     }
 
+    /// Set a waker to be woken when at least one byte is received.
     pub fn set_waker(&mut self, waker: &Waker) {
         DmaCtrlImpl(self.channel.reborrow()).set_waker(waker);
     }
@@ -763,6 +809,9 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Request DMA to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
 
@@ -774,6 +823,10 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Return whether DMA is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().read().en()
@@ -790,6 +843,7 @@ impl<'a, C: Channel, W: Word> Drop for ReadableRingBuffer<'a, C, W> {
     }
 }
 
+/// Ringbuffer for writing data using DMA circular mode.
 pub struct WritableRingBuffer<'a, C: Channel, W: Word> {
     cr: regs::Cr,
     channel: PeripheralRef<'a, C>,
@@ -797,7 +851,8 @@ pub struct WritableRingBuffer<'a, C: Channel, W: Word> {
 }
 
 impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
-    pub unsafe fn new_write(
+    /// Create a new ring buffer.
+    pub unsafe fn new(
         channel: impl Peripheral<P = C> + 'a,
         _request: Request,
         peri_addr: *mut W,
@@ -867,11 +922,15 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         this
     }
 
+    /// Start the ring buffer operation.
+    ///
+    /// You must call this after creating it for it to work.
     pub fn start(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().write_value(self.cr);
     }
 
+    /// Clear all data in the ring buffer.
     pub fn clear(&mut self) {
         self.ringbuf.clear(&mut DmaCtrlImpl(self.channel.reborrow()));
     }
@@ -889,11 +948,12 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
             .await
     }
 
-    // The capacity of the ringbuffer
-    pub const fn cap(&self) -> usize {
+    /// The capacity of the ringbuffer
+    pub const fn capacity(&self) -> usize {
         self.ringbuf.cap()
     }
 
+    /// Set a waker to be woken when at least one byte is received.
     pub fn set_waker(&mut self, waker: &Waker) {
         DmaCtrlImpl(self.channel.reborrow()).set_waker(waker);
     }
@@ -911,6 +971,9 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Request DMA to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
 
@@ -922,6 +985,10 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Return whether DMA is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().read().en()
diff --git a/embassy-stm32/src/dma/dmamux.rs b/embassy-stm32/src/dma/dmamux.rs
index 20601dc86..9cd494724 100644
--- a/embassy-stm32/src/dma/dmamux.rs
+++ b/embassy-stm32/src/dma/dmamux.rs
@@ -22,11 +22,15 @@ pub(crate) mod dmamux_sealed {
     }
 }
 
+/// DMAMUX1 instance.
 pub struct DMAMUX1;
+/// DMAMUX2 instance.
 #[cfg(stm32h7)]
 pub struct DMAMUX2;
 
+/// DMAMUX channel trait.
 pub trait MuxChannel: dmamux_sealed::MuxChannel {
+    /// DMAMUX instance this channel is on.
     type Mux;
 }
 
diff --git a/embassy-stm32/src/dma/mod.rs b/embassy-stm32/src/dma/mod.rs
index 29fced8fc..fb40a4b5e 100644
--- a/embassy-stm32/src/dma/mod.rs
+++ b/embassy-stm32/src/dma/mod.rs
@@ -39,6 +39,13 @@ enum Dir {
     PeripheralToMemory,
 }
 
+/// "No DMA" placeholder.
+///
+/// You may pass this in place of a real DMA channel when creating a driver
+/// to indicate it should not use DMA.
+///
+/// This often causes async functionality to not be available on the instance,
+/// leaving only blocking functionality.
 pub struct NoDma;
 
 impl_peripheral!(NoDma);
diff --git a/embassy-stm32/src/dma/word.rs b/embassy-stm32/src/dma/word.rs
index aef6e9700..a72c4b7d9 100644
--- a/embassy-stm32/src/dma/word.rs
+++ b/embassy-stm32/src/dma/word.rs
@@ -1,3 +1,6 @@
+//! DMA word sizes.
+
+#[allow(missing_docs)]
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum WordSize {
@@ -7,6 +10,7 @@ pub enum WordSize {
 }
 
 impl WordSize {
+    /// Amount of bytes of this word size.
     pub fn bytes(&self) -> usize {
         match self {
             Self::OneByte => 1,
@@ -20,8 +24,13 @@ mod sealed {
     pub trait Word {}
 }
 
+/// DMA word trait.
+///
+/// This is implemented for u8, u16, u32, etc.
 pub trait Word: sealed::Word + Default + Copy + 'static {
+    /// Word size
     fn size() -> WordSize;
+    /// Amount of bits of this word size.
     fn bits() -> usize;
 }
 
@@ -40,6 +49,7 @@ macro_rules! impl_word {
     ($T:ident, $uX:ident, $bits:literal, $size:ident) => {
         #[repr(transparent)]
         #[derive(Copy, Clone, Default)]
+        #[doc = concat!(stringify!($T), " word size")]
         pub struct $T(pub $uX);
         impl_word!(_, $T, $bits, $size);
     };
diff --git a/embassy-stm32/src/eth/generic_smi.rs b/embassy-stm32/src/eth/generic_smi.rs
index 1e1094a1c..9c26e90f1 100644
--- a/embassy-stm32/src/eth/generic_smi.rs
+++ b/embassy-stm32/src/eth/generic_smi.rs
@@ -102,6 +102,7 @@ unsafe impl PHY for GenericSMI {
 
 /// Public functions for the PHY
 impl GenericSMI {
+    /// Set the SMI polling interval.
     #[cfg(feature = "time")]
     pub fn set_poll_interval(&mut self, poll_interval: Duration) {
         self.poll_interval = poll_interval
diff --git a/embassy-stm32/src/eth/mod.rs b/embassy-stm32/src/eth/mod.rs
index 556aadd73..dbf91eedc 100644
--- a/embassy-stm32/src/eth/mod.rs
+++ b/embassy-stm32/src/eth/mod.rs
@@ -22,6 +22,14 @@ const RX_BUFFER_SIZE: usize = 1536;
 #[derive(Copy, Clone)]
 pub(crate) struct Packet<const N: usize>([u8; N]);
 
+/// Ethernet packet queue.
+///
+/// This struct owns the memory used for reading and writing packets.
+///
+/// `TX` is the number of packets in the transmit queue, `RX` in the receive
+/// queue. A bigger queue allows the hardware to receive more packets while the
+/// CPU is busy doing other things, which may increase performance (especially for RX)
+/// at the cost of more RAM usage.
 pub struct PacketQueue<const TX: usize, const RX: usize> {
     tx_desc: [TDes; TX],
     rx_desc: [RDes; RX],
@@ -30,6 +38,7 @@ pub struct PacketQueue<const TX: usize, const RX: usize> {
 }
 
 impl<const TX: usize, const RX: usize> PacketQueue<TX, RX> {
+    /// Create a new packet queue.
     pub const fn new() -> Self {
         const NEW_TDES: TDes = TDes::new();
         const NEW_RDES: RDes = RDes::new();
@@ -41,7 +50,18 @@ impl<const TX: usize, const RX: usize> PacketQueue<TX, RX> {
         }
     }
 
-    // Allow to initialize a Self without requiring it to go on the stack
+    /// Initialize a packet queue in-place.
+    ///
+    /// This can be helpful to avoid accidentally stack-allocating the packet queue in the stack. The
+    /// Rust compiler can sometimes be a bit dumb when working with large owned values: if you call `new()`
+    /// and then store the returned PacketQueue in its final place (like a `static`), the compiler might
+    /// place it temporarily on the stack then move it. Since this struct is quite big, it may result
+    /// in a stack overflow.
+    ///
+    /// With this function, you can create an uninitialized `static` with type `MaybeUninit<PacketQueue<...>>`
+    /// and initialize it in-place, guaranteeing no stack usage.
+    ///
+    /// After calling this function, calling `assume_init` on the MaybeUninit is guaranteed safe.
     pub fn init(this: &mut MaybeUninit<Self>) {
         unsafe {
             this.as_mut_ptr().write_bytes(0u8, 1);
@@ -93,6 +113,7 @@ impl<'d, T: Instance, P: PHY> embassy_net_driver::Driver for Ethernet<'d, T, P>
     }
 }
 
+/// `embassy-net` RX token.
 pub struct RxToken<'a, 'd> {
     rx: &'a mut RDesRing<'d>,
 }
@@ -110,6 +131,7 @@ impl<'a, 'd> embassy_net_driver::RxToken for RxToken<'a, 'd> {
     }
 }
 
+/// `embassy-net` TX token.
 pub struct TxToken<'a, 'd> {
     tx: &'a mut TDesRing<'d>,
 }
@@ -159,6 +181,7 @@ pub(crate) mod sealed {
     }
 }
 
+/// Ethernet instance.
 pub trait Instance: sealed::Instance + Send + 'static {}
 
 impl sealed::Instance for crate::peripherals::ETH {
diff --git a/embassy-stm32/src/eth/v2/mod.rs b/embassy-stm32/src/eth/v2/mod.rs
index c77155fea..59745cba0 100644
--- a/embassy-stm32/src/eth/v2/mod.rs
+++ b/embassy-stm32/src/eth/v2/mod.rs
@@ -34,6 +34,7 @@ impl interrupt::typelevel::Handler<interrupt::typelevel::ETH> for InterruptHandl
     }
 }
 
+/// Ethernet driver.
 pub struct Ethernet<'d, T: Instance, P: PHY> {
     _peri: PeripheralRef<'d, T>,
     pub(crate) tx: TDesRing<'d>,
@@ -56,6 +57,7 @@ macro_rules! config_pins {
 }
 
 impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
+    /// Create a new Ethernet driver.
     pub fn new<const TX: usize, const RX: usize>(
         queue: &'d mut PacketQueue<TX, RX>,
         peri: impl Peripheral<P = T> + 'd,
@@ -237,6 +239,7 @@ impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
     }
 }
 
+/// Ethernet SMI driver.
 pub struct EthernetStationManagement<T: Instance> {
     peri: PhantomData<T>,
     clock_range: u8,
diff --git a/embassy-stm32/src/exti.rs b/embassy-stm32/src/exti.rs
index e77ac30fb..371be913e 100644
--- a/embassy-stm32/src/exti.rs
+++ b/embassy-stm32/src/exti.rs
@@ -39,7 +39,7 @@ fn exticr_regs() -> pac::afio::Afio {
     pac::AFIO
 }
 
-pub unsafe fn on_irq() {
+unsafe fn on_irq() {
     #[cfg(feature = "low-power")]
     crate::low_power::on_wakeup_irq();
 
@@ -85,7 +85,13 @@ impl Iterator for BitIter {
     }
 }
 
-/// EXTI input driver
+/// EXTI input driver.
+///
+/// This driver augments a GPIO `Input` with EXTI functionality. EXTI is not
+/// built into `Input` itself because it needs to take ownership of the corresponding
+/// EXTI channel, which is a limited resource.
+///
+/// Pins PA5, PB5, PC5... all use EXTI channel 5, so you can't use EXTI on, say, PA5 and PC5 at the same time.
 pub struct ExtiInput<'d, T: GpioPin> {
     pin: Input<'d, T>,
 }
@@ -93,23 +99,30 @@ pub struct ExtiInput<'d, T: GpioPin> {
 impl<'d, T: GpioPin> Unpin for ExtiInput<'d, T> {}
 
 impl<'d, T: GpioPin> ExtiInput<'d, T> {
+    /// Create an EXTI input.
     pub fn new(pin: Input<'d, T>, _ch: impl Peripheral<P = T::ExtiChannel> + 'd) -> Self {
         Self { pin }
     }
 
+    /// Get whether the pin is high.
     pub fn is_high(&mut self) -> bool {
         self.pin.is_high()
     }
 
+    /// Get whether the pin is low.
     pub fn is_low(&mut self) -> bool {
         self.pin.is_low()
     }
 
+    /// Get the pin level.
     pub fn get_level(&mut self) -> Level {
         self.pin.get_level()
     }
 
-    pub async fn wait_for_high<'a>(&'a mut self) {
+    /// Asynchronously wait until the pin is high.
+    ///
+    /// This returns immediately if the pin is already high.
+    pub async fn wait_for_high(&mut self) {
         let fut = ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), true, false);
         if self.is_high() {
             return;
@@ -117,7 +130,10 @@ impl<'d, T: GpioPin> ExtiInput<'d, T> {
         fut.await
     }
 
-    pub async fn wait_for_low<'a>(&'a mut self) {
+    /// Asynchronously wait until the pin is low.
+    ///
+    /// This returns immediately if the pin is already low.
+    pub async fn wait_for_low(&mut self) {
         let fut = ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), false, true);
         if self.is_low() {
             return;
@@ -125,15 +141,22 @@ impl<'d, T: GpioPin> ExtiInput<'d, T> {
         fut.await
     }
 
-    pub async fn wait_for_rising_edge<'a>(&'a mut self) {
+    /// Asynchronously wait until the pin sees a rising edge.
+    ///
+    /// If the pin is already high, it will wait for it to go low then back high.
+    pub async fn wait_for_rising_edge(&mut self) {
         ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), true, false).await
     }
 
-    pub async fn wait_for_falling_edge<'a>(&'a mut self) {
+    /// Asynchronously wait until the pin sees a falling edge.
+    ///
+    /// If the pin is already low, it will wait for it to go high then back low.
+    pub async fn wait_for_falling_edge(&mut self) {
         ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), false, true).await
     }
 
-    pub async fn wait_for_any_edge<'a>(&'a mut self) {
+    /// Asynchronously wait until the pin sees any edge (either rising or falling).
+    pub async fn wait_for_any_edge(&mut self) {
         ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), true, true).await
     }
 }
@@ -284,6 +307,7 @@ macro_rules! foreach_exti_irq {
 
 macro_rules! impl_irq {
     ($e:ident) => {
+        #[allow(non_snake_case)]
         #[cfg(feature = "rt")]
         #[interrupt]
         unsafe fn $e() {
@@ -298,8 +322,16 @@ pub(crate) mod sealed {
     pub trait Channel {}
 }
 
+/// EXTI channel trait.
 pub trait Channel: sealed::Channel + Sized {
+    /// Get the EXTI channel number.
     fn number(&self) -> usize;
+
+    /// Type-erase (degrade) this channel into an `AnyChannel`.
+    ///
+    /// This converts EXTI channel singletons (`EXTI0`, `EXTI1`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of channels, or avoiding generics.
     fn degrade(self) -> AnyChannel {
         AnyChannel {
             number: self.number() as u8,
@@ -307,9 +339,13 @@ pub trait Channel: sealed::Channel + Sized {
     }
 }
 
+/// Type-erased (degraded) EXTI channel.
+///
+/// This represents ownership over any EXTI channel, known at runtime.
 pub struct AnyChannel {
     number: u8,
 }
+
 impl_peripheral!(AnyChannel);
 impl sealed::Channel for AnyChannel {}
 impl Channel for AnyChannel {
diff --git a/embassy-stm32/src/flash/asynch.rs b/embassy-stm32/src/flash/asynch.rs
index eae40c7ec..e3c6d4d67 100644
--- a/embassy-stm32/src/flash/asynch.rs
+++ b/embassy-stm32/src/flash/asynch.rs
@@ -59,7 +59,7 @@ impl embedded_storage_async::nor_flash::ReadNorFlash for Flash<'_, Async> {
     const READ_SIZE: usize = super::READ_SIZE;
 
     async fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
-        self.read(offset, bytes)
+        self.blocking_read(offset, bytes)
     }
 
     fn capacity(&self) -> usize {
diff --git a/embassy-stm32/src/flash/common.rs b/embassy-stm32/src/flash/common.rs
index 8acad1c7c..f8561edb3 100644
--- a/embassy-stm32/src/flash/common.rs
+++ b/embassy-stm32/src/flash/common.rs
@@ -12,12 +12,14 @@ use super::{
 use crate::peripherals::FLASH;
 use crate::Peripheral;
 
+/// Internal flash memory driver.
 pub struct Flash<'d, MODE = Async> {
     pub(crate) inner: PeripheralRef<'d, FLASH>,
     pub(crate) _mode: PhantomData<MODE>,
 }
 
 impl<'d> Flash<'d, Blocking> {
+    /// Create a new flash driver, usable in blocking mode.
     pub fn new_blocking(p: impl Peripheral<P = FLASH> + 'd) -> Self {
         into_ref!(p);
 
@@ -29,15 +31,26 @@ impl<'d> Flash<'d, Blocking> {
 }
 
 impl<'d, MODE> Flash<'d, MODE> {
+    /// Split this flash driver into one instance per flash memory region.
+    ///
+    /// See module-level documentation for details on how memory regions work.
     pub fn into_blocking_regions(self) -> FlashLayout<'d, Blocking> {
         assert!(family::is_default_layout());
         FlashLayout::new(self.inner)
     }
 
-    pub fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Error> {
+    /// Blocking read.
+    ///
+    /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
+    /// For example, to read address `0x0800_1234` you have to use offset `0x1234`.
+    pub fn blocking_read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Error> {
         blocking_read(FLASH_BASE as u32, FLASH_SIZE as u32, offset, bytes)
     }
 
+    /// Blocking write.
+    ///
+    /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
+    /// For example, to write address `0x0800_1234` you have to use offset `0x1234`.
     pub fn blocking_write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Error> {
         unsafe {
             blocking_write(
@@ -50,6 +63,10 @@ impl<'d, MODE> Flash<'d, MODE> {
         }
     }
 
+    /// Blocking erase.
+    ///
+    /// NOTE: `from` and `to` are offsets from the flash start, NOT an absolute address.
+    /// For example, to erase address `0x0801_0000` you have to use offset `0x1_0000`.
     pub fn blocking_erase(&mut self, from: u32, to: u32) -> Result<(), Error> {
         unsafe { blocking_erase(FLASH_BASE as u32, from, to, erase_sector_unlocked) }
     }
@@ -206,7 +223,7 @@ impl<MODE> embedded_storage::nor_flash::ReadNorFlash for Flash<'_, MODE> {
     const READ_SIZE: usize = READ_SIZE;
 
     fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
-        self.read(offset, bytes)
+        self.blocking_read(offset, bytes)
     }
 
     fn capacity(&self) -> usize {
@@ -230,16 +247,28 @@ impl<MODE> embedded_storage::nor_flash::NorFlash for Flash<'_, MODE> {
 foreach_flash_region! {
     ($type_name:ident, $write_size:literal, $erase_size:literal) => {
         impl<MODE> crate::_generated::flash_regions::$type_name<'_, MODE> {
+            /// Blocking read.
+            ///
+            /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
+            /// For example, to read address `0x0800_1234` you have to use offset `0x1234`.
             pub fn blocking_read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Error> {
                 blocking_read(self.0.base, self.0.size, offset, bytes)
             }
         }
 
         impl crate::_generated::flash_regions::$type_name<'_, Blocking> {
+            /// Blocking write.
+            ///
+            /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
+            /// For example, to write address `0x0800_1234` you have to use offset `0x1234`.
             pub fn blocking_write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Error> {
                 unsafe { blocking_write(self.0.base, self.0.size, offset, bytes, write_chunk_with_critical_section) }
             }
 
+            /// Blocking erase.
+            ///
+            /// NOTE: `from` and `to` are offsets from the flash start, NOT an absolute address.
+            /// For example, to erase address `0x0801_0000` you have to use offset `0x1_0000`.
             pub fn blocking_erase(&mut self, from: u32, to: u32) -> Result<(), Error> {
                 unsafe { blocking_erase(self.0.base, from, to, erase_sector_with_critical_section) }
             }
diff --git a/embassy-stm32/src/flash/f0.rs b/embassy-stm32/src/flash/f0.rs
index 80d2a8166..c0a8d7022 100644
--- a/embassy-stm32/src/flash/f0.rs
+++ b/embassy-stm32/src/flash/f0.rs
@@ -6,11 +6,11 @@ use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
diff --git a/embassy-stm32/src/flash/f3.rs b/embassy-stm32/src/flash/f3.rs
index 27d5281a7..817ccef4d 100644
--- a/embassy-stm32/src/flash/f3.rs
+++ b/embassy-stm32/src/flash/f3.rs
@@ -6,11 +6,11 @@ use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
diff --git a/embassy-stm32/src/flash/f7.rs b/embassy-stm32/src/flash/f7.rs
index 017393e80..6b3e66ac6 100644
--- a/embassy-stm32/src/flash/f7.rs
+++ b/embassy-stm32/src/flash/f7.rs
@@ -6,11 +6,11 @@ use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
diff --git a/embassy-stm32/src/flash/g.rs b/embassy-stm32/src/flash/g.rs
index 08145e9c4..d97b4a932 100644
--- a/embassy-stm32/src/flash/g.rs
+++ b/embassy-stm32/src/flash/g.rs
@@ -8,11 +8,11 @@ use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
diff --git a/embassy-stm32/src/flash/h7.rs b/embassy-stm32/src/flash/h7.rs
index 555f8d155..65d163d29 100644
--- a/embassy-stm32/src/flash/h7.rs
+++ b/embassy-stm32/src/flash/h7.rs
@@ -6,7 +6,7 @@ use super::{FlashRegion, FlashSector, BANK1_REGION, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
@@ -14,7 +14,7 @@ const fn is_dual_bank() -> bool {
     FLASH_REGIONS.len() >= 2
 }
 
-pub fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
diff --git a/embassy-stm32/src/flash/l.rs b/embassy-stm32/src/flash/l.rs
index e0159a3f6..0b332dc61 100644
--- a/embassy-stm32/src/flash/l.rs
+++ b/embassy-stm32/src/flash/l.rs
@@ -5,11 +5,11 @@ use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
diff --git a/embassy-stm32/src/flash/mod.rs b/embassy-stm32/src/flash/mod.rs
index 3e8f2830b..6b6b4d41c 100644
--- a/embassy-stm32/src/flash/mod.rs
+++ b/embassy-stm32/src/flash/mod.rs
@@ -14,50 +14,84 @@ pub use crate::_generated::flash_regions::*;
 pub use crate::_generated::MAX_ERASE_SIZE;
 pub use crate::pac::{FLASH_BASE, FLASH_SIZE, WRITE_SIZE};
 
+/// Get whether the default flash layout is being used.
+///
+/// In some chips, dual-bank is not default. This will then return `false`
+/// when dual-bank is enabled.
+pub fn is_default_layout() -> bool {
+    family::is_default_layout()
+}
+
+/// Get all flash regions.
+pub fn get_flash_regions() -> &'static [&'static FlashRegion] {
+    family::get_flash_regions()
+}
+
+/// Read size (always 1)
 pub const READ_SIZE: usize = 1;
 
-pub struct Blocking;
-pub struct Async;
+/// Blocking flash mode typestate.
+pub enum Blocking {}
+/// Async flash mode typestate.
+pub enum Async {}
 
+/// Flash memory region
 #[derive(Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct FlashRegion {
+    /// Bank number.
     pub bank: FlashBank,
+    /// Absolute base address.
     pub base: u32,
+    /// Size in bytes.
     pub size: u32,
+    /// Erase size (sector size).
     pub erase_size: u32,
+    /// Minimum write size.
     pub write_size: u32,
+    /// Erase value (usually `0xFF`, but is `0x00` in some chips)
     pub erase_value: u8,
     pub(crate) _ensure_internal: (),
 }
 
+impl FlashRegion {
+    /// Absolute end address.
+    pub const fn end(&self) -> u32 {
+        self.base + self.size
+    }
+
+    /// Number of sectors in the region.
+    pub const fn sectors(&self) -> u8 {
+        (self.size / self.erase_size) as u8
+    }
+}
+
+/// Flash sector.
 #[derive(Debug, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct FlashSector {
+    /// Bank number.
     pub bank: FlashBank,
+    /// Sector number within the bank.
     pub index_in_bank: u8,
+    /// Absolute start address.
     pub start: u32,
+    /// Size in bytes.
     pub size: u32,
 }
 
+/// Flash bank.
 #[derive(Clone, Copy, Debug, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FlashBank {
+    /// Bank 1
     Bank1 = 0,
+    /// Bank 2
     Bank2 = 1,
+    /// OTP region
     Otp,
 }
 
-impl FlashRegion {
-    pub const fn end(&self) -> u32 {
-        self.base + self.size
-    }
-
-    pub const fn sectors(&self) -> u8 {
-        (self.size / self.erase_size) as u8
-    }
-}
-
 #[cfg_attr(any(flash_l0, flash_l1, flash_l4, flash_wl, flash_wb), path = "l.rs")]
 #[cfg_attr(flash_f0, path = "f0.rs")]
 #[cfg_attr(flash_f3, path = "f3.rs")]
@@ -78,6 +112,10 @@ mod family;
 #[allow(unused_imports)]
 pub use family::*;
 
+/// Flash error
+///
+/// See STM32 Reference Manual for your chip for details.
+#[allow(missing_docs)]
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
diff --git a/embassy-stm32/src/flash/other.rs b/embassy-stm32/src/flash/other.rs
index a7e8d1d57..20f84a72f 100644
--- a/embassy-stm32/src/flash/other.rs
+++ b/embassy-stm32/src/flash/other.rs
@@ -2,11 +2,11 @@
 
 use super::{Error, FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
diff --git a/embassy-stm32/src/gpio.rs b/embassy-stm32/src/gpio.rs
index bb3cf2bc4..083b3237c 100644
--- a/embassy-stm32/src/gpio.rs
+++ b/embassy-stm32/src/gpio.rs
@@ -29,6 +29,11 @@ impl<'d, T: Pin> Flex<'d, T> {
         Self { pin }
     }
 
+    /// Type-erase (degrade) this pin into an `AnyPin`.
+    ///
+    /// This converts pin singletons (`PA5`, `PB6`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of pins, or avoiding generics.
     #[inline]
     pub fn degrade(self) -> Flex<'d, AnyPin> {
         // Safety: We are about to drop the other copy of this pin, so
@@ -141,11 +146,13 @@ impl<'d, T: Pin> Flex<'d, T> {
         });
     }
 
+    /// Get whether the pin input level is high.
     #[inline]
     pub fn is_high(&mut self) -> bool {
         !self.ref_is_low()
     }
 
+    /// Get whether the pin input level is low.
     #[inline]
     pub fn is_low(&mut self) -> bool {
         self.ref_is_low()
@@ -157,17 +164,19 @@ impl<'d, T: Pin> Flex<'d, T> {
         state == vals::Idr::LOW
     }
 
+    /// Get the current pin input level.
     #[inline]
     pub fn get_level(&mut self) -> Level {
         self.is_high().into()
     }
 
+    /// Get whether the output level is set to high.
     #[inline]
     pub fn is_set_high(&mut self) -> bool {
         !self.ref_is_set_low()
     }
 
-    /// Is the output pin set as low?
+    /// Get whether the output level is set to low.
     #[inline]
     pub fn is_set_low(&mut self) -> bool {
         self.ref_is_set_low()
@@ -179,12 +188,13 @@ impl<'d, T: Pin> Flex<'d, T> {
         state == vals::Odr::LOW
     }
 
-    /// What level output is set to
+    /// Get the current output level.
     #[inline]
     pub fn get_output_level(&mut self) -> Level {
         self.is_set_high().into()
     }
 
+    /// Set the output as high.
     #[inline]
     pub fn set_high(&mut self) {
         self.pin.set_high();
@@ -196,6 +206,7 @@ impl<'d, T: Pin> Flex<'d, T> {
         self.pin.set_low();
     }
 
+    /// Set the output level.
     #[inline]
     pub fn set_level(&mut self, level: Level) {
         match level {
@@ -204,7 +215,7 @@ impl<'d, T: Pin> Flex<'d, T> {
         }
     }
 
-    /// Toggle pin output
+    /// Toggle the output level.
     #[inline]
     pub fn toggle(&mut self) {
         if self.is_set_low() {
@@ -242,8 +253,11 @@ impl<'d, T: Pin> Drop for Flex<'d, T> {
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Pull {
+    /// No pull
     None,
+    /// Pull up
     Up,
+    /// Pull down
     Down,
 }
 
@@ -261,6 +275,9 @@ impl From<Pull> for vals::Pupdr {
 }
 
 /// Speed settings
+///
+/// These vary dpeending on the chip, ceck the reference manual or datasheet for details.
+#[allow(missing_docs)]
 #[derive(Debug, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Speed {
@@ -305,6 +322,7 @@ pub struct Input<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> Input<'d, T> {
+    /// Create GPIO input driver for a [Pin] with the provided [Pull] configuration.
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd, pull: Pull) -> Self {
         let mut pin = Flex::new(pin);
@@ -312,6 +330,11 @@ impl<'d, T: Pin> Input<'d, T> {
         Self { pin }
     }
 
+    /// Type-erase (degrade) this pin into an `AnyPin`.
+    ///
+    /// This converts pin singletons (`PA5`, `PB6`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of pins, or avoiding generics.
     #[inline]
     pub fn degrade(self) -> Input<'d, AnyPin> {
         Input {
@@ -319,16 +342,19 @@ impl<'d, T: Pin> Input<'d, T> {
         }
     }
 
+    /// Get whether the pin input level is high.
     #[inline]
     pub fn is_high(&mut self) -> bool {
         self.pin.is_high()
     }
 
+    /// Get whether the pin input level is low.
     #[inline]
     pub fn is_low(&mut self) -> bool {
         self.pin.is_low()
     }
 
+    /// Get the current pin input level.
     #[inline]
     pub fn get_level(&mut self) -> Level {
         self.pin.get_level()
@@ -339,7 +365,9 @@ impl<'d, T: Pin> Input<'d, T> {
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Level {
+    /// Low
     Low,
+    /// High
     High,
 }
 
@@ -371,6 +399,7 @@ pub struct Output<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> Output<'d, T> {
+    /// Create GPIO output driver for a [Pin] with the provided [Level] and [Speed] configuration.
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd, initial_output: Level, speed: Speed) -> Self {
         let mut pin = Flex::new(pin);
@@ -382,6 +411,11 @@ impl<'d, T: Pin> Output<'d, T> {
         Self { pin }
     }
 
+    /// Type-erase (degrade) this pin into an `AnyPin`.
+    ///
+    /// This converts pin singletons (`PA5`, `PB6`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of pins, or avoiding generics.
     #[inline]
     pub fn degrade(self) -> Output<'d, AnyPin> {
         Output {
@@ -442,6 +476,7 @@ pub struct OutputOpenDrain<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> OutputOpenDrain<'d, T> {
+    /// Create a new GPIO open drain output driver for a [Pin] with the provided [Level] and [Speed], [Pull] configuration.
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd, initial_output: Level, speed: Speed, pull: Pull) -> Self {
         let mut pin = Flex::new(pin);
@@ -455,6 +490,11 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         Self { pin }
     }
 
+    /// Type-erase (degrade) this pin into an `AnyPin`.
+    ///
+    /// This converts pin singletons (`PA5`, `PB6`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of pins, or avoiding generics.
     #[inline]
     pub fn degrade(self) -> Output<'d, AnyPin> {
         Output {
@@ -462,17 +502,19 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         }
     }
 
+    /// Get whether the pin input level is high.
     #[inline]
     pub fn is_high(&mut self) -> bool {
         !self.pin.is_low()
     }
 
+    /// Get whether the pin input level is low.
     #[inline]
     pub fn is_low(&mut self) -> bool {
         self.pin.is_low()
     }
 
-    /// Returns current pin level
+    /// Get the current pin input level.
     #[inline]
     pub fn get_level(&mut self) -> Level {
         self.pin.get_level()
@@ -496,19 +538,19 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         self.pin.set_level(level);
     }
 
-    /// Is the output pin set as high?
+    /// Get whether the output level is set to high.
     #[inline]
     pub fn is_set_high(&mut self) -> bool {
         self.pin.is_set_high()
     }
 
-    /// Is the output pin set as low?
+    /// Get whether the output level is set to low.
     #[inline]
     pub fn is_set_low(&mut self) -> bool {
         self.pin.is_set_low()
     }
 
-    /// What level output is set to
+    /// Get the current output level.
     #[inline]
     pub fn get_output_level(&mut self) -> Level {
         self.pin.get_output_level()
@@ -521,8 +563,11 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
     }
 }
 
+/// GPIO output type
 pub enum OutputType {
+    /// Drive the pin both high or low.
     PushPull,
+    /// Drive the pin low, or don't drive it at all if the output level is high.
     OpenDrain,
 }
 
@@ -535,6 +580,7 @@ impl From<OutputType> for sealed::AFType {
     }
 }
 
+#[allow(missing_docs)]
 pub(crate) mod sealed {
     use super::*;
 
@@ -542,8 +588,11 @@ pub(crate) mod sealed {
     #[derive(Debug, Copy, Clone)]
     #[cfg_attr(feature = "defmt", derive(defmt::Format))]
     pub enum AFType {
+        /// Input
         Input,
+        /// Output, drive the pin both high or low.
         OutputPushPull,
+        /// Output, drive the pin low, or don't drive it at all if the output level is high.
         OutputOpenDrain,
     }
 
@@ -686,7 +735,11 @@ pub(crate) mod sealed {
     }
 }
 
+/// GPIO pin trait.
 pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'static {
+    /// EXTI channel assigned to this pin.
+    ///
+    /// For example, PC4 uses EXTI4.
     #[cfg(feature = "exti")]
     type ExtiChannel: crate::exti::Channel;
 
@@ -702,7 +755,11 @@ pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'stat
         self._port()
     }
 
-    /// Convert from concrete pin type PX_XX to type erased `AnyPin`.
+    /// Type-erase (degrade) this pin into an `AnyPin`.
+    ///
+    /// This converts pin singletons (`PA5`, `PB6`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of pins, or avoiding generics.
     #[inline]
     fn degrade(self) -> AnyPin {
         AnyPin {
@@ -711,12 +768,15 @@ pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'stat
     }
 }
 
-// Type-erased GPIO pin
+/// Type-erased GPIO pin
 pub struct AnyPin {
     pin_port: u8,
 }
 
 impl AnyPin {
+    /// Unsafely create an `AnyPin` from a pin+port number.
+    ///
+    /// `pin_port` is `port_num * 16 + pin_num`, where `port_num` is 0 for port `A`, 1 for port `B`, etc...
     #[inline]
     pub unsafe fn steal(pin_port: u8) -> Self {
         Self { pin_port }
@@ -727,6 +787,8 @@ impl AnyPin {
         self.pin_port / 16
     }
 
+    /// Get the GPIO register block for this pin.
+    #[cfg(feature = "unstable-pac")]
     #[inline]
     pub fn block(&self) -> gpio::Gpio {
         pac::GPIO(self._port() as _)
@@ -1072,6 +1134,7 @@ impl<'d, T: Pin> embedded_hal_1::digital::StatefulOutputPin for Flex<'d, T> {
     }
 }
 
+/// Low-level GPIO manipulation.
 #[cfg(feature = "unstable-pac")]
 pub mod low_level {
     pub use super::sealed::*;
diff --git a/embassy-stm32/src/i2c/mod.rs b/embassy-stm32/src/i2c/mod.rs
index d2a50cf7e..a8dc8e0e5 100644
--- a/embassy-stm32/src/i2c/mod.rs
+++ b/embassy-stm32/src/i2c/mod.rs
@@ -13,15 +13,23 @@ use embassy_sync::waitqueue::AtomicWaker;
 
 use crate::peripherals;
 
+/// I2C error.
 #[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
+    /// Bus error
     Bus,
+    /// Arbitration lost
     Arbitration,
+    /// ACK not received (either to the address or to a data byte)
     Nack,
+    /// Timeout
     Timeout,
+    /// CRC error
     Crc,
+    /// Overrun error
     Overrun,
+    /// Zero-length transfers are not allowed.
     ZeroLengthTransfer,
 }
 
@@ -47,8 +55,11 @@ pub(crate) mod sealed {
     }
 }
 
+/// I2C peripheral instance
 pub trait Instance: sealed::Instance + 'static {
+    /// Event interrupt for this instance
     type EventInterrupt: interrupt::typelevel::Interrupt;
+    /// Error interrupt for this instance
     type ErrorInterrupt: interrupt::typelevel::Interrupt;
 }
 
@@ -57,7 +68,7 @@ pin_trait!(SdaPin, Instance);
 dma_trait!(RxDma, Instance);
 dma_trait!(TxDma, Instance);
 
-/// Interrupt handler.
+/// Event interrupt handler.
 pub struct EventInterruptHandler<T: Instance> {
     _phantom: PhantomData<T>,
 }
@@ -68,6 +79,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::EventInterrupt> for EventInte
     }
 }
 
+/// Error interrupt handler.
 pub struct ErrorInterruptHandler<T: Instance> {
     _phantom: PhantomData<T>,
 }
diff --git a/embassy-stm32/src/qspi/enums.rs b/embassy-stm32/src/qspi/enums.rs
index 0412d991a..e9e7fd482 100644
--- a/embassy-stm32/src/qspi/enums.rs
+++ b/embassy-stm32/src/qspi/enums.rs
@@ -18,12 +18,17 @@ impl Into<u8> for QspiMode {
     }
 }
 
+/// QSPI lane width
 #[allow(dead_code)]
 #[derive(Copy, Clone)]
 pub enum QspiWidth {
+    /// None
     NONE,
+    /// Single lane
     SING,
+    /// Dual lanes
     DUAL,
+    /// Quad lanes
     QUAD,
 }
 
@@ -38,10 +43,13 @@ impl Into<u8> for QspiWidth {
     }
 }
 
+/// Flash bank selection
 #[allow(dead_code)]
 #[derive(Copy, Clone)]
 pub enum FlashSelection {
+    /// Bank 1
     Flash1,
+    /// Bank 2
     Flash2,
 }
 
@@ -54,6 +62,8 @@ impl Into<bool> for FlashSelection {
     }
 }
 
+/// QSPI memory size.
+#[allow(missing_docs)]
 #[derive(Copy, Clone)]
 pub enum MemorySize {
     _1KiB,
@@ -113,11 +123,16 @@ impl Into<u8> for MemorySize {
     }
 }
 
+/// QSPI Address size
 #[derive(Copy, Clone)]
 pub enum AddressSize {
+    /// 8-bit address
     _8Bit,
+    /// 16-bit address
     _16Bit,
+    /// 24-bit address
     _24bit,
+    /// 32-bit address
     _32bit,
 }
 
@@ -132,8 +147,10 @@ impl Into<u8> for AddressSize {
     }
 }
 
+/// Time the Chip Select line stays high.
+#[allow(missing_docs)]
 #[derive(Copy, Clone)]
-pub enum ChipSelectHightTime {
+pub enum ChipSelectHighTime {
     _1Cycle,
     _2Cycle,
     _3Cycle,
@@ -144,21 +161,23 @@ pub enum ChipSelectHightTime {
     _8Cycle,
 }
 
-impl Into<u8> for ChipSelectHightTime {
+impl Into<u8> for ChipSelectHighTime {
     fn into(self) -> u8 {
         match self {
-            ChipSelectHightTime::_1Cycle => 0,
-            ChipSelectHightTime::_2Cycle => 1,
-            ChipSelectHightTime::_3Cycle => 2,
-            ChipSelectHightTime::_4Cycle => 3,
-            ChipSelectHightTime::_5Cycle => 4,
-            ChipSelectHightTime::_6Cycle => 5,
-            ChipSelectHightTime::_7Cycle => 6,
-            ChipSelectHightTime::_8Cycle => 7,
+            ChipSelectHighTime::_1Cycle => 0,
+            ChipSelectHighTime::_2Cycle => 1,
+            ChipSelectHighTime::_3Cycle => 2,
+            ChipSelectHighTime::_4Cycle => 3,
+            ChipSelectHighTime::_5Cycle => 4,
+            ChipSelectHighTime::_6Cycle => 5,
+            ChipSelectHighTime::_7Cycle => 6,
+            ChipSelectHighTime::_8Cycle => 7,
         }
     }
 }
 
+/// FIFO threshold.
+#[allow(missing_docs)]
 #[derive(Copy, Clone)]
 pub enum FIFOThresholdLevel {
     _1Bytes,
@@ -234,6 +253,8 @@ impl Into<u8> for FIFOThresholdLevel {
     }
 }
 
+/// Dummy cycle count
+#[allow(missing_docs)]
 #[derive(Copy, Clone)]
 pub enum DummyCycles {
     _0,
diff --git a/embassy-stm32/src/qspi/mod.rs b/embassy-stm32/src/qspi/mod.rs
index 1153455c7..bac91f300 100644
--- a/embassy-stm32/src/qspi/mod.rs
+++ b/embassy-stm32/src/qspi/mod.rs
@@ -54,7 +54,7 @@ pub struct Config {
     /// Number of bytes to trigger FIFO threshold flag.
     pub fifo_threshold: FIFOThresholdLevel,
     /// Minimum number of cycles that chip select must be high between issued commands
-    pub cs_high_time: ChipSelectHightTime,
+    pub cs_high_time: ChipSelectHighTime,
 }
 
 impl Default for Config {
@@ -64,7 +64,7 @@ impl Default for Config {
             address_size: AddressSize::_24bit,
             prescaler: 128,
             fifo_threshold: FIFOThresholdLevel::_17Bytes,
-            cs_high_time: ChipSelectHightTime::_5Cycle,
+            cs_high_time: ChipSelectHighTime::_5Cycle,
         }
     }
 }
diff --git a/embassy-stm32/src/sai/mod.rs b/embassy-stm32/src/sai/mod.rs
index a16d38af1..3d7f65996 100644
--- a/embassy-stm32/src/sai/mod.rs
+++ b/embassy-stm32/src/sai/mod.rs
@@ -583,10 +583,10 @@ fn get_ring_buffer<'d, T: Instance, C: Channel, W: word::Word>(
     };
     match tx_rx {
         TxRx::Transmitter => RingBuffer::Writable(unsafe {
-            WritableRingBuffer::new_write(dma, request, dr(T::REGS, sub_block), dma_buf, opts)
+            WritableRingBuffer::new(dma, request, dr(T::REGS, sub_block), dma_buf, opts)
         }),
         TxRx::Receiver => RingBuffer::Readable(unsafe {
-            ReadableRingBuffer::new_read(dma, request, dr(T::REGS, sub_block), dma_buf, opts)
+            ReadableRingBuffer::new(dma, request, dr(T::REGS, sub_block), dma_buf, opts)
         }),
     }
 }
diff --git a/embassy-stm32/src/traits.rs b/embassy-stm32/src/traits.rs
index ffce7bd42..b4166e71a 100644
--- a/embassy-stm32/src/traits.rs
+++ b/embassy-stm32/src/traits.rs
@@ -2,7 +2,9 @@
 
 macro_rules! pin_trait {
     ($signal:ident, $instance:path) => {
+        #[doc = concat!(stringify!($signal), " pin trait")]
         pub trait $signal<T: $instance>: crate::gpio::Pin {
+            #[doc = concat!("Get the AF number needed to use this pin as", stringify!($signal))]
             fn af_num(&self) -> u8;
         }
     };
@@ -22,7 +24,11 @@ macro_rules! pin_trait_impl {
 
 macro_rules! dma_trait {
     ($signal:ident, $instance:path) => {
+        #[doc = concat!(stringify!($signal), " DMA request trait")]
         pub trait $signal<T: $instance>: crate::dma::Channel {
+            #[doc = concat!("Get the DMA request number needed to use this channel as", stringify!($signal))]
+            /// Note: in some chips, ST calls this the "channel", and calls channels "streams".
+            /// `embassy-stm32` always uses the "channel" and "request number" names.
             fn request(&self) -> crate::dma::Request;
         }
     };
diff --git a/embassy-stm32/src/usart/ringbuffered.rs b/embassy-stm32/src/usart/ringbuffered.rs
index b8d17e4e4..f8ada3926 100644
--- a/embassy-stm32/src/usart/ringbuffered.rs
+++ b/embassy-stm32/src/usart/ringbuffered.rs
@@ -39,7 +39,7 @@ impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> UartRx<'d, T, RxDma> {
         let rx_dma = unsafe { self.rx_dma.clone_unchecked() };
         let _peri = unsafe { self._peri.clone_unchecked() };
 
-        let ring_buf = unsafe { ReadableRingBuffer::new_read(rx_dma, request, rdr(T::regs()), dma_buf, opts) };
+        let ring_buf = unsafe { ReadableRingBuffer::new(rx_dma, request, rdr(T::regs()), dma_buf, opts) };
 
         // Don't disable the clock
         mem::forget(self);
diff --git a/examples/stm32f4/src/bin/flash.rs b/examples/stm32f4/src/bin/flash.rs
index 93c54e943..56a35ddee 100644
--- a/examples/stm32f4/src/bin/flash.rs
+++ b/examples/stm32f4/src/bin/flash.rs
@@ -31,7 +31,7 @@ fn test_flash(f: &mut Flash<'_, Blocking>, offset: u32, size: u32) {
 
     info!("Reading...");
     let mut buf = [0u8; 32];
-    unwrap!(f.read(offset, &mut buf));
+    unwrap!(f.blocking_read(offset, &mut buf));
     info!("Read: {=[u8]:x}", buf);
 
     info!("Erasing...");
@@ -39,7 +39,7 @@ fn test_flash(f: &mut Flash<'_, Blocking>, offset: u32, size: u32) {
 
     info!("Reading...");
     let mut buf = [0u8; 32];
-    unwrap!(f.read(offset, &mut buf));
+    unwrap!(f.blocking_read(offset, &mut buf));
     info!("Read after erase: {=[u8]:x}", buf);
 
     info!("Writing...");
@@ -53,7 +53,7 @@ fn test_flash(f: &mut Flash<'_, Blocking>, offset: u32, size: u32) {
 
     info!("Reading...");
     let mut buf = [0u8; 32];
-    unwrap!(f.read(offset, &mut buf));
+    unwrap!(f.blocking_read(offset, &mut buf));
     info!("Read: {=[u8]:x}", buf);
     assert_eq!(
         &buf[..],
diff --git a/examples/stm32f4/src/bin/flash_async.rs b/examples/stm32f4/src/bin/flash_async.rs
index f0a65a725..1624d842e 100644
--- a/examples/stm32f4/src/bin/flash_async.rs
+++ b/examples/stm32f4/src/bin/flash_async.rs
@@ -48,7 +48,7 @@ async fn test_flash<'a>(f: &mut Flash<'a>, offset: u32, size: u32) {
 
     info!("Reading...");
     let mut buf = [0u8; 32];
-    unwrap!(f.read(offset, &mut buf));
+    unwrap!(f.blocking_read(offset, &mut buf));
     info!("Read: {=[u8]:x}", buf);
 
     info!("Erasing...");
@@ -56,7 +56,7 @@ async fn test_flash<'a>(f: &mut Flash<'a>, offset: u32, size: u32) {
 
     info!("Reading...");
     let mut buf = [0u8; 32];
-    unwrap!(f.read(offset, &mut buf));
+    unwrap!(f.blocking_read(offset, &mut buf));
     info!("Read after erase: {=[u8]:x}", buf);
 
     info!("Writing...");
@@ -73,7 +73,7 @@ async fn test_flash<'a>(f: &mut Flash<'a>, offset: u32, size: u32) {
 
     info!("Reading...");
     let mut buf = [0u8; 32];
-    unwrap!(f.read(offset, &mut buf));
+    unwrap!(f.blocking_read(offset, &mut buf));
     info!("Read: {=[u8]:x}", buf);
     assert_eq!(
         &buf[..],