diff --git a/embassy/src/blocking_mutex/raw.rs b/embassy/src/blocking_mutex/raw.rs
index bdb443e4..cbd00c56 100644
--- a/embassy/src/blocking_mutex/raw.rs
+++ b/embassy/src/blocking_mutex/raw.rs
@@ -3,12 +3,32 @@
 //! This module provides a trait for mutexes that can be used in different contexts.
 use core::marker::PhantomData;
 
-/// Any object implementing this trait guarantees exclusive access to the data contained
-/// within the mutex for the duration of the lock.
-/// Adapted from <https://github.com/rust-embedded/mutex-trait>.
-pub trait RawMutex {
+/// Raw mutex trait.
+///
+/// This mutex is "raw", which means it does not actually contain the protected data, it
+/// just implements the mutex mechanism. For most uses you should use [`super::Mutex`] instead,
+/// which is generic over a RawMutex and contains the protected data.
+///
+/// Note that, unlike other mutexes, implementations only guarantee no
+/// concurrent access from other threads: concurrent access from the current
+/// thread is allwed. For example, it's possible to lock the same mutex multiple times reentrantly.
+///
+/// Therefore, locking a `RawMutex` is only enough to guarantee safe shared (`&`) access
+/// to the data, it is not enough to guarantee exclusive (`&mut`) access.
+///
+/// # Safety
+///
+/// RawMutex implementations must ensure that, while locked, no other thread can lock
+/// the RawMutex concurrently.
+///
+/// Unsafe code is allowed to rely on this fact, so incorrect implementations will cause undefined behavior.
+pub unsafe trait RawMutex {
+    /// Create a new `RawMutex` instance.
+    ///
+    /// This is a const instead of a method to allow creating instances in const context.
     const INIT: Self;
 
+    /// Lock this `RawMutex`.
     fn lock<R>(&self, f: impl FnOnce() -> R) -> R;
 }
 
@@ -29,7 +49,7 @@ impl CriticalSectionRawMutex {
     }
 }
 
-impl RawMutex for CriticalSectionRawMutex {
+unsafe impl RawMutex for CriticalSectionRawMutex {
     const INIT: Self = Self::new();
 
     fn lock<R>(&self, f: impl FnOnce() -> R) -> R {
@@ -56,7 +76,7 @@ impl NoopRawMutex {
     }
 }
 
-impl RawMutex for NoopRawMutex {
+unsafe impl RawMutex for NoopRawMutex {
     const INIT: Self = Self::new();
     fn lock<R>(&self, f: impl FnOnce() -> R) -> R {
         f()
@@ -89,7 +109,7 @@ mod thread_mode {
         }
     }
 
-    impl RawMutex for ThreadModeRawMutex {
+    unsafe impl RawMutex for ThreadModeRawMutex {
         const INIT: Self = Self::new();
         fn lock<R>(&self, f: impl FnOnce() -> R) -> R {
             assert!(in_thread_mode(), "ThreadModeMutex can only be locked from thread mode.");