fix: expose less

better keep missing docs for into
fix: make non-public instead
2023-12-20 13:34:34 +01:00 · 2023-12-20 13:12:32 +01:00 · 2023-12-20 13:08:06 +01:00 · 2023-12-20 12:52:35 +01:00 · 2023-12-20 09:08:55 +00:00 · 2023-12-20 09:24:10 +01:00
48 changed files with 720 additions and 229 deletions
--- a/embassy-boot/boot/Cargo.toml
+++ b/embassy-boot/boot/Cargo.toml
@ -26,25 +26,22 @@ features = ["defmt"]
 defmt = { version = "0.3", optional = true }
 digest = "0.10"
 log = { version = "0.4", optional = true }
-ed25519-dalek = { version = "1.0.1", default_features = false, features = ["u32_backend"], optional = true }
+ed25519-dalek = { version = "2", default_features = false, features = ["digest"], optional = true }
 embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal" }
 embassy-sync = { version = "0.5.0", path = "../../embassy-sync" }
 embedded-storage = "0.3.1"
 embedded-storage-async = { version = "0.4.1" }
-salty = { git = "https://github.com/ycrypto/salty.git", rev = "a9f17911a5024698406b75c0fac56ab5ccf6a8c7", optional = true }
-signature = { version = "1.6.4", default-features = false }
+salty = { version = "0.3", optional = true }
+signature = { version = "2.0", default-features = false }

 [dev-dependencies]
 log = "0.4"
 env_logger = "0.9"
-rand = "0.7" # ed25519-dalek v1.0.1 depends on this exact version
+rand = "0.8"
 futures = { version = "0.3", features = ["executor"] }
 sha1 = "0.10.5"
 critical-section = { version = "1.1.1", features = ["std"] }
-
-[dev-dependencies.ed25519-dalek]
-default_features = false
-features = ["rand", "std", "u32_backend"]
+ed25519-dalek = { version = "2", default_features = false, features = ["std", "rand_core", "digest"]  }

 [features]
 ed25519-dalek = ["dep:ed25519-dalek", "_verify"]
--- a/embassy-boot/boot/src/digest_adapters/ed25519_dalek.rs
+++ b/embassy-boot/boot/src/digest_adapters/ed25519_dalek.rs
@ -1,6 +1,6 @@
 use digest::typenum::U64;
 use digest::{FixedOutput, HashMarker, OutputSizeUser, Update};
-use ed25519_dalek::Digest as _;
+use ed25519_dalek::Digest;

 pub struct Sha512(ed25519_dalek::Sha512);

@ -12,7 +12,7 @@ impl Default for Sha512 {

 impl Update for Sha512 {
    fn update(&mut self, data: &[u8]) {
-        self.0.update(data)
+        Digest::update(&mut self.0, data)
    }
 }

--- a/embassy-boot/boot/src/firmware_updater/asynch.rs
+++ b/embassy-boot/boot/src/firmware_updater/asynch.rs
@ -79,8 +79,8 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<'d, DFU, STATE> {
    #[cfg(feature = "_verify")]
    pub async fn verify_and_mark_updated(
        &mut self,
-        _public_key: &[u8],
-        _signature: &[u8],
+        _public_key: &[u8; 32],
+        _signature: &[u8; 64],
        _update_len: u32,
    ) -> Result<(), FirmwareUpdaterError> {
        assert!(_update_len <= self.dfu.capacity() as u32);
@ -89,14 +89,14 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<'d, DFU, STATE> {

        #[cfg(feature = "ed25519-dalek")]
        {
-            use ed25519_dalek::{PublicKey, Signature, SignatureError, Verifier};
+            use ed25519_dalek::{Signature, SignatureError, Verifier, VerifyingKey};

            use crate::digest_adapters::ed25519_dalek::Sha512;

            let into_signature_error = |e: SignatureError| FirmwareUpdaterError::Signature(e.into());

-            let public_key = PublicKey::from_bytes(_public_key).map_err(into_signature_error)?;
-            let signature = Signature::from_bytes(_signature).map_err(into_signature_error)?;
+            let public_key = VerifyingKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature);

            let mut chunk_buf = [0; 2];
            let mut message = [0; 64];
@ -106,7 +106,6 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<'d, DFU, STATE> {
        }
        #[cfg(feature = "ed25519-salty")]
        {
-            use salty::constants::{PUBLICKEY_SERIALIZED_LENGTH, SIGNATURE_SERIALIZED_LENGTH};
            use salty::{PublicKey, Signature};

            use crate::digest_adapters::salty::Sha512;
@ -115,10 +114,8 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<'d, DFU, STATE> {
                FirmwareUpdaterError::Signature(signature::Error::default())
            }

-            let public_key: [u8; PUBLICKEY_SERIALIZED_LENGTH] = _public_key.try_into().map_err(into_signature_error)?;
-            let public_key = PublicKey::try_from(&public_key).map_err(into_signature_error)?;
-            let signature: [u8; SIGNATURE_SERIALIZED_LENGTH] = _signature.try_into().map_err(into_signature_error)?;
-            let signature = Signature::try_from(&signature).map_err(into_signature_error)?;
+            let public_key = PublicKey::try_from(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::try_from(_signature).map_err(into_signature_error)?;

            let mut message = [0; 64];
            let mut chunk_buf = [0; 2];
--- a/embassy-boot/boot/src/firmware_updater/blocking.rs
+++ b/embassy-boot/boot/src/firmware_updater/blocking.rs
@ -86,8 +86,8 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE>
    #[cfg(feature = "_verify")]
    pub fn verify_and_mark_updated(
        &mut self,
-        _public_key: &[u8],
-        _signature: &[u8],
+        _public_key: &[u8; 32],
+        _signature: &[u8; 64],
        _update_len: u32,
    ) -> Result<(), FirmwareUpdaterError> {
        assert!(_update_len <= self.dfu.capacity() as u32);
@ -96,14 +96,14 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE>

        #[cfg(feature = "ed25519-dalek")]
        {
-            use ed25519_dalek::{PublicKey, Signature, SignatureError, Verifier};
+            use ed25519_dalek::{Signature, SignatureError, Verifier, VerifyingKey};

            use crate::digest_adapters::ed25519_dalek::Sha512;

            let into_signature_error = |e: SignatureError| FirmwareUpdaterError::Signature(e.into());

-            let public_key = PublicKey::from_bytes(_public_key).map_err(into_signature_error)?;
-            let signature = Signature::from_bytes(_signature).map_err(into_signature_error)?;
+            let public_key = VerifyingKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature);

            let mut message = [0; 64];
            let mut chunk_buf = [0; 2];
@ -113,7 +113,6 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE>
        }
        #[cfg(feature = "ed25519-salty")]
        {
-            use salty::constants::{PUBLICKEY_SERIALIZED_LENGTH, SIGNATURE_SERIALIZED_LENGTH};
            use salty::{PublicKey, Signature};

            use crate::digest_adapters::salty::Sha512;
@ -122,10 +121,8 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE>
                FirmwareUpdaterError::Signature(signature::Error::default())
            }

-            let public_key: [u8; PUBLICKEY_SERIALIZED_LENGTH] = _public_key.try_into().map_err(into_signature_error)?;
-            let public_key = PublicKey::try_from(&public_key).map_err(into_signature_error)?;
-            let signature: [u8; SIGNATURE_SERIALIZED_LENGTH] = _signature.try_into().map_err(into_signature_error)?;
-            let signature = Signature::try_from(&signature).map_err(into_signature_error)?;
+            let public_key = PublicKey::try_from(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::try_from(_signature).map_err(into_signature_error)?;

            let mut message = [0; 64];
            let mut chunk_buf = [0; 2];
--- a/embassy-boot/boot/src/lib.rs
+++ b/embassy-boot/boot/src/lib.rs
@ -275,21 +275,19 @@ mod tests {
        // The following key setup is based on:
        // https://docs.rs/ed25519-dalek/latest/ed25519_dalek/#example

-        use ed25519_dalek::Keypair;
+        use ed25519_dalek::{Digest, Sha512, Signature, Signer, SigningKey, VerifyingKey};
        use rand::rngs::OsRng;

        let mut csprng = OsRng {};
-        let keypair: Keypair = Keypair::generate(&mut csprng);
+        let keypair = SigningKey::generate(&mut csprng);

-        use ed25519_dalek::{Digest, Sha512, Signature, Signer};
        let firmware: &[u8] = b"This are bytes that would otherwise be firmware bytes for DFU.";
        let mut digest = Sha512::new();
        digest.update(&firmware);
        let message = digest.finalize();
        let signature: Signature = keypair.sign(&message);

-        use ed25519_dalek::PublicKey;
-        let public_key: PublicKey = keypair.public;
+        let public_key = keypair.verifying_key();

        // Setup flash
        let flash = BlockingTestFlash::new(BootLoaderConfig {
--- a/embassy-net-adin1110/Cargo.toml
+++ b/embassy-net-adin1110/Cargo.toml
@ -6,8 +6,7 @@ keywords = ["embedded", "ADIN1110", "embassy-net", "embedded-hal-async", "ethern
 categories = ["embedded", "hardware-support", "no-std", "network-programming", "async"]
 license = "MIT OR Apache-2.0"
 edition = "2021"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+repository = "https://github.com/embassy-rs/embassy"

 [dependencies]
 heapless = "0.8"
--- a/embassy-net-adin1110/src/crc32.rs
+++ b/embassy-net-adin1110/src/crc32.rs
@ -1,3 +1,4 @@
+/// CRC32 lookup table.
 pub const CRC32R_LOOKUP_TABLE: [u32; 256] = [
    0x0000_0000,
    0x7707_3096,
@ -263,8 +264,9 @@ pub const CRC32R_LOOKUP_TABLE: [u32; 256] = [
 pub struct ETH_FCS(pub u32);

 impl ETH_FCS {
-    pub const CRC32_OK: u32 = 0x2144_df1c;
+    const CRC32_OK: u32 = 0x2144_df1c;

+    /// Create a new frame check sequence from `data`.
    #[must_use]
    pub fn new(data: &[u8]) -> Self {
        let fcs = data.iter().fold(u32::MAX, |crc, byte| {
@ -274,6 +276,7 @@ impl ETH_FCS {
        Self(fcs)
    }

+    /// Update the frame check sequence with `data`.
    #[must_use]
    pub fn update(self, data: &[u8]) -> Self {
        let fcs = data.iter().fold(self.0 ^ u32::MAX, |crc, byte| {
@ -283,16 +286,19 @@ impl ETH_FCS {
        Self(fcs)
    }

+    /// Check if the frame check sequence is correct.
    #[must_use]
    pub fn crc_ok(&self) -> bool {
        self.0 == Self::CRC32_OK
    }

+    /// Switch byte order.
    #[must_use]
    pub fn hton_bytes(&self) -> [u8; 4] {
        self.0.to_le_bytes()
    }

+    /// Switch byte order as a u32.
    #[must_use]
    pub fn hton(&self) -> u32 {
        self.0.to_le()
--- a/embassy-net-adin1110/src/lib.rs
+++ b/embassy-net-adin1110/src/lib.rs
@ -5,6 +5,7 @@
 #![allow(clippy::missing_errors_doc)]
 #![allow(clippy::missing_panics_doc)]
 #![doc = include_str!("../README.md")]
+#![warn(missing_docs)]

 // must go first!
 mod fmt;
@ -26,8 +27,9 @@ use embedded_hal_async::digital::Wait;
 use embedded_hal_async::spi::{Error, Operation, SpiDevice};
 use heapless::Vec;
 pub use mdio::MdioBus;
-pub use phy::{Phy10BaseT1x, RegsC22, RegsC45};
-pub use regs::{Config0, Config2, SpiRegisters as sr, Status0, Status1};
+pub use phy::Phy10BaseT1x;
+use phy::{RegsC22, RegsC45};
+use regs::{Config0, Config2, SpiRegisters as sr, Status0, Status1};

 use crate::fmt::Bytes;
 use crate::regs::{LedCntrl, LedFunc, LedPol, LedPolarity, SpiHeader};
@ -446,6 +448,7 @@ pub struct Runner<'d, SPI, INT, RST> {
 }

 impl<'d, SPI: SpiDevice, INT: Wait, RST: OutputPin> Runner<'d, SPI, INT, RST> {
+    /// Run the driver.
    #[allow(clippy::too_many_lines)]
    pub async fn run(mut self) -> ! {
        loop {
--- a/embassy-net-adin1110/src/mdio.rs
+++ b/embassy-net-adin1110/src/mdio.rs
@ -39,6 +39,7 @@ enum Reg13Op {
 ///
 /// Clause 45 methodes are bases on <https://www.ieee802.org/3/efm/public/nov02/oam/pannell_oam_1_1102.pdf>
 pub trait MdioBus {
+    /// Error type.
    type Error;

    /// Read, Clause 22
--- a/embassy-net-adin1110/src/regs.rs
+++ b/embassy-net-adin1110/src/regs.rs
@ -2,6 +2,7 @@ use core::fmt::{Debug, Display};

 use bitfield::{bitfield, bitfield_bitrange, bitfield_fields};

+#[allow(missing_docs)]
 #[allow(non_camel_case_types)]
 #[derive(Debug, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
--- a/embassy-net-driver-channel/src/lib.rs
+++ b/embassy-net-driver-channel/src/lib.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![doc = include_str!("../README.md")]
+#![warn(missing_docs)]

 // must go first!
 mod fmt;
@ -15,6 +16,9 @@ use embassy_sync::blocking_mutex::Mutex;
 use embassy_sync::waitqueue::WakerRegistration;
 use embassy_sync::zerocopy_channel;

+/// Channel state.
+///
+/// Holds a buffer of packets with size MTU, for both TX and RX.
 pub struct State<const MTU: usize, const N_RX: usize, const N_TX: usize> {
    rx: [PacketBuf<MTU>; N_RX],
    tx: [PacketBuf<MTU>; N_TX],
@ -24,6 +28,7 @@ pub struct State<const MTU: usize, const N_RX: usize, const N_TX: usize> {
 impl<const MTU: usize, const N_RX: usize, const N_TX: usize> State<MTU, N_RX, N_TX> {
    const NEW_PACKET: PacketBuf<MTU> = PacketBuf::new();

+    /// Create a new channel state.
    pub const fn new() -> Self {
        Self {
            rx: [Self::NEW_PACKET; N_RX],
@ -39,33 +44,45 @@ struct StateInner<'d, const MTU: usize> {
    shared: Mutex<NoopRawMutex, RefCell<Shared>>,
 }

-/// State of the LinkState
 struct Shared {
    link_state: LinkState,
    waker: WakerRegistration,
    hardware_address: driver::HardwareAddress,
 }

+/// Channel runner.
+///
+/// Holds the shared state and the lower end of channels for inbound and outbound packets.
 pub struct Runner<'d, const MTU: usize> {
    tx_chan: zerocopy_channel::Receiver<'d, NoopRawMutex, PacketBuf<MTU>>,
    rx_chan: zerocopy_channel::Sender<'d, NoopRawMutex, PacketBuf<MTU>>,
    shared: &'d Mutex<NoopRawMutex, RefCell<Shared>>,
 }

+/// State runner.
+///
+/// Holds the shared state of the channel such as link state.
 #[derive(Clone, Copy)]
 pub struct StateRunner<'d> {
    shared: &'d Mutex<NoopRawMutex, RefCell<Shared>>,
 }

+/// RX runner.
+///
+/// Holds the lower end of the channel for passing inbound packets up the stack.
 pub struct RxRunner<'d, const MTU: usize> {
    rx_chan: zerocopy_channel::Sender<'d, NoopRawMutex, PacketBuf<MTU>>,
 }

+/// TX runner.
+///
+/// Holds the lower end of the channel for passing outbound packets down the stack.
 pub struct TxRunner<'d, const MTU: usize> {
    tx_chan: zerocopy_channel::Receiver<'d, NoopRawMutex, PacketBuf<MTU>>,
 }

 impl<'d, const MTU: usize> Runner<'d, MTU> {
+    /// Split the runner into separate runners for controlling state, rx and tx.
    pub fn split(self) -> (StateRunner<'d>, RxRunner<'d, MTU>, TxRunner<'d, MTU>) {
        (
            StateRunner { shared: self.shared },
@ -74,6 +91,7 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        )
    }

+    /// Split the runner into separate runners for controlling state, rx and tx borrowing the underlying state.
    pub fn borrow_split(&mut self) -> (StateRunner<'_>, RxRunner<'_, MTU>, TxRunner<'_, MTU>) {
        (
            StateRunner { shared: self.shared },
@ -86,10 +104,12 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        )
    }

+    /// Create a state runner sharing the state channel.
    pub fn state_runner(&self) -> StateRunner<'d> {
        StateRunner { shared: self.shared }
    }

+    /// Set the link state.
    pub fn set_link_state(&mut self, state: LinkState) {
        self.shared.lock(|s| {
            let s = &mut *s.borrow_mut();
@ -98,6 +118,7 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        });
    }

+    /// Set the hardware address.
    pub fn set_hardware_address(&mut self, address: driver::HardwareAddress) {
        self.shared.lock(|s| {
            let s = &mut *s.borrow_mut();
@ -106,16 +127,19 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        });
    }

+    /// Wait until there is space for more inbound packets and return a slice they can be copied into.
    pub async fn rx_buf(&mut self) -> &mut [u8] {
        let p = self.rx_chan.send().await;
        &mut p.buf
    }

+    /// Check if there is space for more inbound packets right now.
    pub fn try_rx_buf(&mut self) -> Option<&mut [u8]> {
        let p = self.rx_chan.try_send()?;
        Some(&mut p.buf)
    }

+    /// Polling the inbound channel if there is space for packets.
    pub fn poll_rx_buf(&mut self, cx: &mut Context) -> Poll<&mut [u8]> {
        match self.rx_chan.poll_send(cx) {
            Poll::Ready(p) => Poll::Ready(&mut p.buf),
@ -123,22 +147,26 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        }
    }

+    /// Mark packet of len bytes as pushed to the inbound channel.
    pub fn rx_done(&mut self, len: usize) {
        let p = self.rx_chan.try_send().unwrap();
        p.len = len;
        self.rx_chan.send_done();
    }

+    /// Wait until there is space for more outbound packets and return a slice they can be copied into.
    pub async fn tx_buf(&mut self) -> &mut [u8] {
        let p = self.tx_chan.receive().await;
        &mut p.buf[..p.len]
    }

+    /// Check if there is space for more outbound packets right now.
    pub fn try_tx_buf(&mut self) -> Option<&mut [u8]> {
        let p = self.tx_chan.try_receive()?;
        Some(&mut p.buf[..p.len])
    }

+    /// Polling the outbound channel if there is space for packets.
    pub fn poll_tx_buf(&mut self, cx: &mut Context) -> Poll<&mut [u8]> {
        match self.tx_chan.poll_receive(cx) {
            Poll::Ready(p) => Poll::Ready(&mut p.buf[..p.len]),
@ -146,12 +174,14 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        }
    }

+    /// Mark outbound packet as copied.
    pub fn tx_done(&mut self) {
        self.tx_chan.receive_done();
    }
 }

 impl<'d> StateRunner<'d> {
+    /// Set link state.
    pub fn set_link_state(&self, state: LinkState) {
        self.shared.lock(|s| {
            let s = &mut *s.borrow_mut();
@ -160,6 +190,7 @@ impl<'d> StateRunner<'d> {
        });
    }

+    /// Set the hardware address.
    pub fn set_hardware_address(&self, address: driver::HardwareAddress) {
        self.shared.lock(|s| {
            let s = &mut *s.borrow_mut();
@ -170,16 +201,19 @@ impl<'d> StateRunner<'d> {
 }

 impl<'d, const MTU: usize> RxRunner<'d, MTU> {
+    /// Wait until there is space for more inbound packets and return a slice they can be copied into.
    pub async fn rx_buf(&mut self) -> &mut [u8] {
        let p = self.rx_chan.send().await;
        &mut p.buf
    }

+    /// Check if there is space for more inbound packets right now.
    pub fn try_rx_buf(&mut self) -> Option<&mut [u8]> {
        let p = self.rx_chan.try_send()?;
        Some(&mut p.buf)
    }

+    /// Polling the inbound channel if there is space for packets.
    pub fn poll_rx_buf(&mut self, cx: &mut Context) -> Poll<&mut [u8]> {
        match self.rx_chan.poll_send(cx) {
            Poll::Ready(p) => Poll::Ready(&mut p.buf),
@ -187,6 +221,7 @@ impl<'d, const MTU: usize> RxRunner<'d, MTU> {
        }
    }

+    /// Mark packet of len bytes as pushed to the inbound channel.
    pub fn rx_done(&mut self, len: usize) {
        let p = self.rx_chan.try_send().unwrap();
        p.len = len;
@ -195,16 +230,19 @@ impl<'d, const MTU: usize> RxRunner<'d, MTU> {
 }

 impl<'d, const MTU: usize> TxRunner<'d, MTU> {
+    /// Wait until there is space for more outbound packets and return a slice they can be copied into.
    pub async fn tx_buf(&mut self) -> &mut [u8] {
        let p = self.tx_chan.receive().await;
        &mut p.buf[..p.len]
    }

+    /// Check if there is space for more outbound packets right now.
    pub fn try_tx_buf(&mut self) -> Option<&mut [u8]> {
        let p = self.tx_chan.try_receive()?;
        Some(&mut p.buf[..p.len])
    }

+    /// Polling the outbound channel if there is space for packets.
    pub fn poll_tx_buf(&mut self, cx: &mut Context) -> Poll<&mut [u8]> {
        match self.tx_chan.poll_receive(cx) {
            Poll::Ready(p) => Poll::Ready(&mut p.buf[..p.len]),
@ -212,11 +250,18 @@ impl<'d, const MTU: usize> TxRunner<'d, MTU> {
        }
    }

+    /// Mark outbound packet as copied.
    pub fn tx_done(&mut self) {
        self.tx_chan.receive_done();
    }
 }

+/// Create a channel.
+///
+/// Returns a pair of handles for interfacing with the peripheral and the networking stack.
+///
+/// The runner is interfacing with the peripheral at the lower part of the stack.
+/// The device is interfacing with the networking stack on the layer above.
 pub fn new<'d, const MTU: usize, const N_RX: usize, const N_TX: usize>(
    state: &'d mut State<MTU, N_RX, N_TX>,
    hardware_address: driver::HardwareAddress,
@ -257,17 +302,22 @@ pub fn new<'d, const MTU: usize, const N_RX: usize, const N_TX: usize>(
    )
 }

+/// Represents a packet of size MTU.
 pub struct PacketBuf<const MTU: usize> {
    len: usize,
    buf: [u8; MTU],
 }

 impl<const MTU: usize> PacketBuf<MTU> {
+    /// Create a new packet buffer.
    pub const fn new() -> Self {
        Self { len: 0, buf: [0; MTU] }
    }
 }

+/// Channel device.
+///
+/// Holds the shared state and upper end of channels for inbound and outbound packets.
 pub struct Device<'d, const MTU: usize> {
    rx: zerocopy_channel::Receiver<'d, NoopRawMutex, PacketBuf<MTU>>,
    tx: zerocopy_channel::Sender<'d, NoopRawMutex, PacketBuf<MTU>>,
@ -314,6 +364,9 @@ impl<'d, const MTU: usize> embassy_net_driver::Driver for Device<'d, MTU> {
    }
 }

+/// A rx token.
+///
+/// Holds inbound receive channel and interfaces with embassy-net-driver.
 pub struct RxToken<'a, const MTU: usize> {
    rx: zerocopy_channel::Receiver<'a, NoopRawMutex, PacketBuf<MTU>>,
 }
@ -331,6 +384,9 @@ impl<'a, const MTU: usize> embassy_net_driver::RxToken for RxToken<'a, MTU> {
    }
 }

+/// A tx token.
+///
+/// Holds outbound transmit channel and interfaces with embassy-net-driver.
 pub struct TxToken<'a, const MTU: usize> {
    tx: zerocopy_channel::Sender<'a, NoopRawMutex, PacketBuf<MTU>>,
 }
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@ -58,7 +58,7 @@ rand_core = "0.6.3"
 sdio-host = "0.5.0"
 embedded-sdmmc = { git = "https://github.com/embassy-rs/embedded-sdmmc-rs", rev = "a4f293d3a6f72158385f79c98634cb8a14d0d2fc", optional = true }
 critical-section = "1.1"
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-91cee0d1fdcb4e447b65a09756b506f4af91b7e2" }
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-2234f380f51d16d0398b8e547088b33ea623cc7c" }
 vcell = "0.1.3"
 bxcan = "0.7.0"
 nb = "1.0.0"
@ -76,7 +76,7 @@ critical-section = { version = "1.1", features = ["std"] }
 [build-dependencies]
 proc-macro2 = "1.0.36"
 quote = "1.0.15"
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-91cee0d1fdcb4e447b65a09756b506f4af91b7e2", default-features = false, features = ["metadata"]}
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-2234f380f51d16d0398b8e547088b33ea623cc7c", default-features = false, features = ["metadata"]}


 [features]
--- a/embassy-stm32/src/dma/bdma.rs
+++ b/embassy-stm32/src/dma/bdma.rs
@ -303,20 +303,14 @@ impl<'a, C: Channel> Transfer<'a, C> {
        ch.cr().write(|w| {
            w.set_psize(data_size.into());
            w.set_msize(data_size.into());
-            if incr_mem {
-                w.set_minc(vals::Inc::ENABLED);
-            } else {
-                w.set_minc(vals::Inc::DISABLED);
-            }
+            w.set_minc(incr_mem);
            w.set_dir(dir.into());
            w.set_teie(true);
            w.set_tcie(options.complete_transfer_ir);
            w.set_htie(options.half_transfer_ir);
+            w.set_circ(options.circular);
            if options.circular {
-                w.set_circ(vals::Circ::ENABLED);
                debug!("Setting circular mode");
-            } else {
-                w.set_circ(vals::Circ::DISABLED);
            }
            w.set_pl(vals::Pl::VERYHIGH);
            w.set_en(true);
@ -352,7 +346,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
    pub fn is_running(&mut self) -> bool {
        let ch = self.channel.regs().ch(self.channel.num());
        let en = ch.cr().read().en();
-        let circular = ch.cr().read().circ() == vals::Circ::ENABLED;
+        let circular = ch.cr().read().circ();
        let tcif = STATE.complete_count[self.channel.index()].load(Ordering::Acquire) != 0;
        en && (circular || !tcif)
    }
@ -467,12 +461,12 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
        let mut w = regs::Cr(0);
        w.set_psize(data_size.into());
        w.set_msize(data_size.into());
-        w.set_minc(vals::Inc::ENABLED);
+        w.set_minc(true);
        w.set_dir(dir.into());
        w.set_teie(true);
        w.set_htie(true);
        w.set_tcie(true);
-        w.set_circ(vals::Circ::ENABLED);
+        w.set_circ(true);
        w.set_pl(vals::Pl::VERYHIGH);
        w.set_en(true);

@ -625,12 +619,12 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
        let mut w = regs::Cr(0);
        w.set_psize(data_size.into());
        w.set_msize(data_size.into());
-        w.set_minc(vals::Inc::ENABLED);
+        w.set_minc(true);
        w.set_dir(dir.into());
        w.set_teie(true);
        w.set_htie(true);
        w.set_tcie(true);
-        w.set_circ(vals::Circ::ENABLED);
+        w.set_circ(true);
        w.set_pl(vals::Pl::VERYHIGH);
        w.set_en(true);

--- a/embassy-stm32/src/dma/dma.rs
+++ b/embassy-stm32/src/dma/dma.rs
@ -382,18 +382,13 @@ impl<'a, C: Channel> Transfer<'a, C> {
            w.set_msize(data_size.into());
            w.set_psize(data_size.into());
            w.set_pl(vals::Pl::VERYHIGH);
-            w.set_minc(match incr_mem {
-                true => vals::Inc::INCREMENTED,
-                false => vals::Inc::FIXED,
-            });
-            w.set_pinc(vals::Inc::FIXED);
+            w.set_minc(incr_mem);
+            w.set_pinc(false);
            w.set_teie(true);
            w.set_tcie(options.complete_transfer_ir);
+            w.set_circ(options.circular);
            if options.circular {
-                w.set_circ(vals::Circ::ENABLED);
                debug!("Setting circular mode");
-            } else {
-                w.set_circ(vals::Circ::DISABLED);
            }
            #[cfg(dma_v1)]
            w.set_trbuff(true);
@ -545,8 +540,8 @@ impl<'a, C: Channel, W: Word> DoubleBuffered<'a, C, W> {
            w.set_msize(data_size.into());
            w.set_psize(data_size.into());
            w.set_pl(vals::Pl::VERYHIGH);
-            w.set_minc(vals::Inc::INCREMENTED);
-            w.set_pinc(vals::Inc::FIXED);
+            w.set_minc(true);
+            w.set_pinc(false);
            w.set_teie(true);
            w.set_tcie(true);
            #[cfg(dma_v1)]
@ -703,12 +698,12 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
        w.set_msize(data_size.into());
        w.set_psize(data_size.into());
        w.set_pl(vals::Pl::VERYHIGH);
-        w.set_minc(vals::Inc::INCREMENTED);
-        w.set_pinc(vals::Inc::FIXED);
+        w.set_minc(true);
+        w.set_pinc(false);
        w.set_teie(true);
        w.set_htie(options.half_transfer_ir);
        w.set_tcie(true);
-        w.set_circ(vals::Circ::ENABLED);
+        w.set_circ(true);
        #[cfg(dma_v1)]
        w.set_trbuff(true);
        #[cfg(dma_v2)]
@ -878,12 +873,12 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
        w.set_msize(data_size.into());
        w.set_psize(data_size.into());
        w.set_pl(vals::Pl::VERYHIGH);
-        w.set_minc(vals::Inc::INCREMENTED);
-        w.set_pinc(vals::Inc::FIXED);
+        w.set_minc(true);
+        w.set_pinc(false);
        w.set_teie(true);
        w.set_htie(options.half_transfer_ir);
        w.set_tcie(true);
-        w.set_circ(vals::Circ::ENABLED);
+        w.set_circ(true);
        #[cfg(dma_v1)]
        w.set_trbuff(true);
        #[cfg(dma_v2)]
--- a/embassy-stm32/src/dma/gpdma.rs
+++ b/embassy-stm32/src/dma/gpdma.rs
@ -16,6 +16,7 @@ use crate::interrupt::Priority;
 use crate::pac;
 use crate::pac::gpdma::vals;

+/// GPDMA transfer options.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
@ -113,10 +114,13 @@ pub(crate) unsafe fn on_irq_inner(dma: pac::gpdma::Gpdma, channel_num: usize, in
    }
 }

+/// DMA request type alias. (also known as DMA channel number in some chips)
 pub type Request = u8;

+/// 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 {}

@ -131,12 +135,14 @@ 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,
@ -147,6 +153,7 @@ 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,
@ -172,6 +179,7 @@ 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,
@ -182,6 +190,7 @@ 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,
@ -207,6 +216,7 @@ 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,
@ -297,6 +307,9 @@ impl<'a, C: Channel> Transfer<'a, C> {
        this
    }

+    /// 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());
        ch.cr().modify(|w| {
@ -304,6 +317,10 @@ 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 sr = ch.sr().read();
@ -317,6 +334,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
        ch.br1().read().bndt()
    }

+    /// Blocking wait until the transfer finishes.
    pub fn blocking_wait(mut self) {
        while self.is_running() {}

--- a/embassy-stm32/src/hrtim/mod.rs
+++ b/embassy-stm32/src/hrtim/mod.rs
@ -15,38 +15,42 @@ use crate::rcc::get_freqs;
 use crate::time::Hertz;
 use crate::Peripheral;

-pub enum Source {
-    Master,
-    ChA,
-    ChB,
-    ChC,
-    ChD,
-    ChE,
-    #[cfg(hrtim_v2)]
-    ChF,
-}
-
+/// HRTIM burst controller instance.
 pub struct BurstController<T: Instance> {
    phantom: PhantomData<T>,
 }
+
+/// HRTIM master instance.
 pub struct Master<T: Instance> {
    phantom: PhantomData<T>,
 }
+
+/// HRTIM channel A instance.
 pub struct ChA<T: Instance> {
    phantom: PhantomData<T>,
 }
+
+/// HRTIM channel B instance.
 pub struct ChB<T: Instance> {
    phantom: PhantomData<T>,
 }
+
+/// HRTIM channel C instance.
 pub struct ChC<T: Instance> {
    phantom: PhantomData<T>,
 }
+
+/// HRTIM channel D instance.
 pub struct ChD<T: Instance> {
    phantom: PhantomData<T>,
 }
+
+/// HRTIM channel E instance.
 pub struct ChE<T: Instance> {
    phantom: PhantomData<T>,
 }
+
+/// HRTIM channel F instance.
 #[cfg(hrtim_v2)]
 pub struct ChF<T: Instance> {
    phantom: PhantomData<T>,
@ -60,22 +64,26 @@ mod sealed {
    }
 }

+/// Advanced channel instance trait.
 pub trait AdvancedChannel<T: Instance>: sealed::AdvancedChannel<T> {}

-pub struct PwmPin<'d, Perip, Channel> {
+/// HRTIM PWM pin.
+pub struct PwmPin<'d, T, C> {
    _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(Perip, Channel)>,
+    phantom: PhantomData<(T, C)>,
 }

-pub struct ComplementaryPwmPin<'d, Perip, Channel> {
+/// HRTIM complementary PWM pin.
+pub struct ComplementaryPwmPin<'d, T, C> {
    _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(Perip, Channel)>,
+    phantom: PhantomData<(T, C)>,
 }

 macro_rules! advanced_channel_impl {
    ($new_chx:ident, $channel:tt, $ch_num:expr, $pin_trait:ident, $complementary_pin_trait:ident) => {
-        impl<'d, Perip: Instance> PwmPin<'d, Perip, $channel<Perip>> {
-            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd) -> Self {
+        impl<'d, T: Instance> PwmPin<'d, T, $channel<T>> {
+            #[doc = concat!("Create a new ", stringify!($channel), " PWM pin instance.")]
+            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd) -> Self {
                into_ref!(pin);
                critical_section::with(|_| {
                    pin.set_low();
@ -90,8 +98,9 @@ macro_rules! advanced_channel_impl {
            }
        }

-        impl<'d, Perip: Instance> ComplementaryPwmPin<'d, Perip, $channel<Perip>> {
-            pub fn $new_chx(pin: impl Peripheral<P = impl $complementary_pin_trait<Perip>> + 'd) -> Self {
+        impl<'d, T: Instance> ComplementaryPwmPin<'d, T, $channel<T>> {
+            #[doc = concat!("Create a new ", stringify!($channel), " complementary PWM pin instance.")]
+            pub fn $new_chx(pin: impl Peripheral<P = impl $complementary_pin_trait<T>> + 'd) -> Self {
                into_ref!(pin);
                critical_section::with(|_| {
                    pin.set_low();
@ -126,18 +135,29 @@ advanced_channel_impl!(new_chf, ChF, 5, ChannelFPin, ChannelFComplementaryPin);
 /// Struct used to divide a high resolution timer into multiple channels
 pub struct AdvancedPwm<'d, T: Instance> {
    _inner: PeripheralRef<'d, T>,
+    /// Master instance.
    pub master: Master<T>,
+    /// Burst controller.
    pub burst_controller: BurstController<T>,
+    /// Channel A.
    pub ch_a: ChA<T>,
+    /// Channel B.
    pub ch_b: ChB<T>,
+    /// Channel C.
    pub ch_c: ChC<T>,
+    /// Channel D.
    pub ch_d: ChD<T>,
+    /// Channel E.
    pub ch_e: ChE<T>,
+    /// Channel F.
    #[cfg(hrtim_v2)]
    pub ch_f: ChF<T>,
 }

 impl<'d, T: Instance> AdvancedPwm<'d, T> {
+    /// Create a new HRTIM driver.
+    ///
+    /// This splits the HRTIM into its constituent parts, which you can then use individually.
    pub fn new(
        tim: impl Peripheral<P = T> + 'd,
        _cha: Option<PwmPin<'d, T, ChA<T>>>,
@ -200,13 +220,7 @@ impl<'d, T: Instance> AdvancedPwm<'d, T> {
    }
 }

-impl<T: Instance> BurstController<T> {
-    pub fn set_source(&mut self, _source: Source) {
-        todo!("burst mode control registers not implemented")
-    }
-}
-
-/// Represents a fixed-frequency bridge converter
+/// Fixed-frequency bridge converter driver.
 ///
 /// Our implementation of the bridge converter uses a single channel and three compare registers,
 /// allowing implementation of a synchronous buck or boost converter in continuous or discontinuous
@ -225,6 +239,7 @@ pub struct BridgeConverter<T: Instance, C: AdvancedChannel<T>> {
 }

 impl<T: Instance, C: AdvancedChannel<T>> BridgeConverter<T, C> {
+    /// Create a new HRTIM bridge converter driver.
    pub fn new(_channel: C, frequency: Hertz) -> Self {
        use crate::pac::hrtim::vals::{Activeeffect, Inactiveeffect};

@ -281,14 +296,17 @@ impl<T: Instance, C: AdvancedChannel<T>> BridgeConverter<T, C> {
        }
    }

+    /// Start HRTIM.
    pub fn start(&mut self) {
        T::regs().mcr().modify(|w| w.set_tcen(C::raw(), true));
    }

+    /// Stop HRTIM.
    pub fn stop(&mut self) {
        T::regs().mcr().modify(|w| w.set_tcen(C::raw(), false));
    }

+    /// Enable burst mode.
    pub fn enable_burst_mode(&mut self) {
        T::regs().tim(C::raw()).outr().modify(|w| {
            // Enable Burst Mode
@ -301,6 +319,7 @@ impl<T: Instance, C: AdvancedChannel<T>> BridgeConverter<T, C> {
        })
    }

+    /// Disable burst mode.
    pub fn disable_burst_mode(&mut self) {
        T::regs().tim(C::raw()).outr().modify(|w| {
            // Disable Burst Mode
@ -357,7 +376,7 @@ impl<T: Instance, C: AdvancedChannel<T>> BridgeConverter<T, C> {
    }
 }

-/// Represents a variable-frequency resonant converter
+/// Variable-frequency resonant converter driver.
 ///
 /// This implementation of a resonsant converter is appropriate for a half or full bridge,
 /// but does not include secondary rectification, which is appropriate for applications
@ -370,6 +389,7 @@ pub struct ResonantConverter<T: Instance, C: AdvancedChannel<T>> {
 }

 impl<T: Instance, C: AdvancedChannel<T>> ResonantConverter<T, C> {
+    /// Create a new variable-frequency resonant converter driver.
    pub fn new(_channel: C, min_frequency: Hertz, max_frequency: Hertz) -> Self {
        T::set_channel_frequency(C::raw(), min_frequency);

@ -408,6 +428,7 @@ impl<T: Instance, C: AdvancedChannel<T>> ResonantConverter<T, C> {
        T::set_channel_dead_time(C::raw(), value);
    }

+    /// Set the timer period.
    pub fn set_period(&mut self, period: u16) {
        assert!(period < self.max_period);
        assert!(period > self.min_period);
--- a/embassy-stm32/src/hrtim/traits.rs
+++ b/embassy-stm32/src/hrtim/traits.rs
@ -125,7 +125,6 @@ pub(crate) mod sealed {
        }

        /// Set the dead time as a proportion of max_duty
-
        fn set_channel_dead_time(channel: usize, dead_time: u16) {
            let regs = Self::regs();

@ -148,13 +147,10 @@ pub(crate) mod sealed {
                w.set_dtr(dt_val as u16);
            });
        }
-
-        //        fn enable_outputs(enable: bool);
-        //
-        //        fn enable_channel(&mut self, channel: usize, enable: bool);
    }
 }

+/// HRTIM instance trait.
 pub trait Instance: sealed::Instance + 'static {}

 foreach_interrupt! {
--- a/embassy-stm32/src/ipcc.rs
+++ b/embassy-stm32/src/ipcc.rs
@ -1,3 +1,5 @@
+//! Inter-Process Communication Controller (IPCC)
+
 use core::future::poll_fn;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
@ -41,6 +43,7 @@ impl interrupt::typelevel::Handler<interrupt::typelevel::IPCC_C1_RX> for Receive
    }
 }

+/// TX interrupt handler.
 pub struct TransmitInterruptHandler {}

 impl interrupt::typelevel::Handler<interrupt::typelevel::IPCC_C1_TX> for TransmitInterruptHandler {
@ -72,6 +75,7 @@ impl interrupt::typelevel::Handler<interrupt::typelevel::IPCC_C1_TX> for Transmi
    }
 }

+/// IPCC config.
 #[non_exhaustive]
 #[derive(Clone, Copy, Default)]
 pub struct Config {
@ -79,6 +83,8 @@ pub struct Config {
    // reserved for future use
 }

+/// Channel.
+#[allow(missing_docs)]
 #[derive(Debug, Clone, Copy)]
 #[repr(C)]
 pub enum IpccChannel {
@ -90,9 +96,11 @@ pub enum IpccChannel {
    Channel6 = 5,
 }

+/// IPCC driver.
 pub struct Ipcc;

 impl Ipcc {
+    /// Enable IPCC.
    pub fn enable(_config: Config) {
        IPCC::enable_and_reset();
        IPCC::set_cpu2(true);
--- a/embassy-stm32/src/lib.rs
+++ b/embassy-stm32/src/lib.rs
@ -1,5 +1,6 @@
 #![cfg_attr(not(test), no_std)]
 #![allow(async_fn_in_trait)]
+#![warn(missing_docs)]

 //! ## Feature flags
 #![doc = document_features::document_features!(feature_label = r#"<span class="stab portability"><code>{feature}</code></span>"#)]
@ -79,6 +80,7 @@ pub(crate) mod _generated {
    #![allow(dead_code)]
    #![allow(unused_imports)]
    #![allow(non_snake_case)]
+    #![allow(missing_docs)]

    include!(concat!(env!("OUT_DIR"), "/_generated.rs"));
 }
--- a/embassy-stm32/src/low_power.rs
+++ b/embassy-stm32/src/low_power.rs
@ -1,50 +1,53 @@
-/// The STM32 line of microcontrollers support various deep-sleep modes which exploit clock-gating
-/// to reduce power consumption. `embassy-stm32` provides a low-power executor, [`Executor`] which
-/// can use knowledge of which peripherals are currently blocked upon to transparently and safely
-/// enter such low-power modes (currently, only `STOP2`) when idle.
-///
-/// The executor determines which peripherals are active by their RCC state; consequently,
-/// low-power states can only be entered if all peripherals have been `drop`'d. There are a few
-/// exceptions to this rule:
-///
-///  * `GPIO`
-///  * `RCC`
-///
-/// Since entering and leaving low-power modes typically incurs a significant latency, the
-/// low-power executor will only attempt to enter when the next timer event is at least
-/// [`time_driver::MIN_STOP_PAUSE`] in the future.
-///
-/// Currently there is no macro analogous to `embassy_executor::main` for this executor;
-/// consequently one must define their entrypoint manually. Moveover, you must relinquish control
-/// of the `RTC` peripheral to the executor. This will typically look like
-///
-/// ```rust,no_run
-/// use embassy_executor::Spawner;
-/// use embassy_stm32::low_power::Executor;
-/// use embassy_stm32::rtc::{Rtc, RtcConfig};
-/// use static_cell::make_static;
-///
-/// #[cortex_m_rt::entry]
-/// fn main() -> ! {
-///     Executor::take().run(|spawner| {
-///         unwrap!(spawner.spawn(async_main(spawner)));
-///     });
-/// }
-///
-/// #[embassy_executor::task]
-/// async fn async_main(spawner: Spawner) {
-///     // initialize the platform...
-///     let mut config = embassy_stm32::Config::default();
-///     let p = embassy_stm32::init(config);
-///
-///     // give the RTC to the executor...
-///     let mut rtc = Rtc::new(p.RTC, RtcConfig::default());
-///     let rtc = make_static!(rtc);
-///     embassy_stm32::low_power::stop_with_rtc(rtc);
-///
-///     // your application here...
-/// }
-/// ```
+//! Low-power support.
+//!
+//! The STM32 line of microcontrollers support various deep-sleep modes which exploit clock-gating
+//! to reduce power consumption. `embassy-stm32` provides a low-power executor, [`Executor`] which
+//! can use knowledge of which peripherals are currently blocked upon to transparently and safely
+//! enter such low-power modes (currently, only `STOP2`) when idle.
+//!
+//! The executor determines which peripherals are active by their RCC state; consequently,
+//! low-power states can only be entered if all peripherals have been `drop`'d. There are a few
+//! exceptions to this rule:
+//!
+//!  * `GPIO`
+//!  * `RCC`
+//!
+//! Since entering and leaving low-power modes typically incurs a significant latency, the
+//! low-power executor will only attempt to enter when the next timer event is at least
+//! [`time_driver::MIN_STOP_PAUSE`] in the future.
+//!
+//! Currently there is no macro analogous to `embassy_executor::main` for this executor;
+//! consequently one must define their entrypoint manually. Moveover, you must relinquish control
+//! of the `RTC` peripheral to the executor. This will typically look like
+//!
+//! ```rust,no_run
+//! use embassy_executor::Spawner;
+//! use embassy_stm32::low_power::Executor;
+//! use embassy_stm32::rtc::{Rtc, RtcConfig};
+//! use static_cell::make_static;
+//!
+//! #[cortex_m_rt::entry]
+//! fn main() -> ! {
+//!     Executor::take().run(|spawner| {
+//!         unwrap!(spawner.spawn(async_main(spawner)));
+//!     });
+//! }
+//!
+//! #[embassy_executor::task]
+//! async fn async_main(spawner: Spawner) {
+//!     // initialize the platform...
+//!     let mut config = embassy_stm32::Config::default();
+//!     let p = embassy_stm32::init(config);
+//!
+//!     // give the RTC to the executor...
+//!     let mut rtc = Rtc::new(p.RTC, RtcConfig::default());
+//!     let rtc = make_static!(rtc);
+//!     embassy_stm32::low_power::stop_with_rtc(rtc);
+//!
+//!     // your application here...
+//! }
+//! ```
+
 use core::arch::asm;
 use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
@ -64,6 +67,7 @@ static mut EXECUTOR: Option<Executor> = None;
 foreach_interrupt! {
    (RTC, rtc, $block:ident, WKUP, $irq:ident) => {
        #[interrupt]
+        #[allow(non_snake_case)]
        unsafe fn $irq() {
            EXECUTOR.as_mut().unwrap().on_wakeup_irq();
        }
@ -75,10 +79,15 @@ pub(crate) unsafe fn on_wakeup_irq() {
    EXECUTOR.as_mut().unwrap().on_wakeup_irq();
 }

+/// Configure STOP mode with RTC.
 pub fn stop_with_rtc(rtc: &'static Rtc) {
    unsafe { EXECUTOR.as_mut().unwrap() }.stop_with_rtc(rtc)
 }

+/// Get whether the core is ready to enter the given stop mode.
+///
+/// This will return false if some peripheral driver is in use that
+/// prevents entering the given stop mode.
 pub fn stop_ready(stop_mode: StopMode) -> bool {
    match unsafe { EXECUTOR.as_mut().unwrap() }.stop_mode() {
        Some(StopMode::Stop2) => true,
@ -87,10 +96,13 @@ pub fn stop_ready(stop_mode: StopMode) -> bool {
    }
 }

+/// Available stop modes.
 #[non_exhaustive]
 #[derive(PartialEq)]
 pub enum StopMode {
+    /// STOP 1
    Stop1,
+    /// STOP 2
    Stop2,
 }

--- a/embassy-stm32/src/opamp.rs
+++ b/embassy-stm32/src/opamp.rs
@ -1,9 +1,12 @@
+//! Operational Amplifier (OPAMP)
 #![macro_use]

 use embassy_hal_internal::{into_ref, PeripheralRef};

 use crate::Peripheral;

+/// Gain
+#[allow(missing_docs)]
 #[derive(Clone, Copy)]
 pub enum OpAmpGain {
    Mul1,
@ -13,6 +16,8 @@ pub enum OpAmpGain {
    Mul16,
 }

+/// Speed
+#[allow(missing_docs)]
 #[derive(Clone, Copy)]
 pub enum OpAmpSpeed {
    Normal,
@ -180,6 +185,7 @@ impl<'d, T: Instance> Drop for OpAmpInternalOutput<'d, T> {
    }
 }

+/// Opamp instance trait.
 pub trait Instance: sealed::Instance + 'static {}

 pub(crate) mod sealed {
@ -198,8 +204,11 @@ pub(crate) mod sealed {
    pub trait OutputPin<T: Instance> {}
 }

+/// Non-inverting pin trait.
 pub trait NonInvertingPin<T: Instance>: sealed::NonInvertingPin<T> {}
+/// Inverting pin trait.
 pub trait InvertingPin<T: Instance>: sealed::InvertingPin<T> {}
+/// Output pin trait.
 pub trait OutputPin<T: Instance>: sealed::OutputPin<T> {}

 macro_rules! impl_opamp_external_output {
--- a/embassy-stm32/src/qspi/enums.rs
+++ b/embassy-stm32/src/qspi/enums.rs
@ -1,3 +1,5 @@
+//! Enums used in QSPI configuration.
+
 #[allow(dead_code)]
 #[derive(Copy, Clone)]
 pub(crate) enum QspiMode {
--- a/embassy-stm32/src/qspi/mod.rs
+++ b/embassy-stm32/src/qspi/mod.rs
@ -14,6 +14,7 @@ use crate::pac::quadspi::Quadspi as Regs;
 use crate::rcc::RccPeripheral;
 use crate::{peripherals, Peripheral};

+/// QSPI transfer configuration.
 pub struct TransferConfig {
    /// Instraction width (IMODE)
    pub iwidth: QspiWidth,
@ -45,6 +46,7 @@ impl Default for TransferConfig {
    }
 }

+/// QSPI driver configuration.
 pub struct Config {
    /// Flash memory size representend as 2^[0-32], as reasonable minimum 1KiB(9) was chosen.
    /// If you need other value the whose predefined use `Other` variant.
@ -71,6 +73,7 @@ impl Default for Config {
    }
 }

+/// QSPI driver.
 #[allow(dead_code)]
 pub struct Qspi<'d, T: Instance, Dma> {
    _peri: PeripheralRef<'d, T>,
@ -85,6 +88,7 @@ pub struct Qspi<'d, T: Instance, Dma> {
 }

 impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
+    /// Create a new QSPI driver for bank 1.
    pub fn new_bk1(
        peri: impl Peripheral<P = T> + 'd,
        d0: impl Peripheral<P = impl BK1D0Pin<T>> + 'd,
@ -125,6 +129,7 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
        )
    }

+    /// Create a new QSPI driver for bank 2.
    pub fn new_bk2(
        peri: impl Peripheral<P = T> + 'd,
        d0: impl Peripheral<P = impl BK2D0Pin<T>> + 'd,
@ -223,6 +228,7 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
        }
    }

+    /// Do a QSPI command.
    pub fn command(&mut self, transaction: TransferConfig) {
        #[cfg(not(stm32h7))]
        T::REGS.cr().modify(|v| v.set_dmaen(false));
@ -232,6 +238,7 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
        T::REGS.fcr().modify(|v| v.set_ctcf(true));
    }

+    /// Blocking read data.
    pub fn blocking_read(&mut self, buf: &mut [u8], transaction: TransferConfig) {
        #[cfg(not(stm32h7))]
        T::REGS.cr().modify(|v| v.set_dmaen(false));
@ -256,6 +263,7 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
        T::REGS.fcr().modify(|v| v.set_ctcf(true));
    }

+    /// Blocking write data.
    pub fn blocking_write(&mut self, buf: &[u8], transaction: TransferConfig) {
        // STM32H7 does not have dmaen
        #[cfg(not(stm32h7))]
@ -278,6 +286,7 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
        T::REGS.fcr().modify(|v| v.set_ctcf(true));
    }

+    /// Blocking read data, using DMA.
    pub fn blocking_read_dma(&mut self, buf: &mut [u8], transaction: TransferConfig)
    where
        Dma: QuadDma<T>,
@ -310,6 +319,7 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
        transfer.blocking_wait();
    }

+    /// Blocking write data, using DMA.
    pub fn blocking_write_dma(&mut self, buf: &[u8], transaction: TransferConfig)
    where
        Dma: QuadDma<T>,
@ -379,6 +389,7 @@ pub(crate) mod sealed {
    }
 }

+/// QSPI instance trait.
 pub trait Instance: Peripheral<P = Self> + sealed::Instance + RccPeripheral {}

 pin_trait!(SckPin, Instance);
--- a/embassy-stm32/src/rng.rs
+++ b/embassy-stm32/src/rng.rs
@ -80,6 +80,7 @@ impl<'d, T: Instance> Rng<'d, T> {
        let _ = self.next_u32();
    }

+    /// Reset the RNG.
    #[cfg(not(rng_v1))]
    pub fn reset(&mut self) {
        T::regs().cr().write(|reg| {
--- a/embassy-stm32/src/rtc/mod.rs
+++ b/embassy-stm32/src/rtc/mod.rs
@ -130,7 +130,7 @@ impl RtcTimeProvider {
            let weekday = day_of_week_from_u8(dr.wdu()).map_err(RtcError::InvalidDateTime)?;
            let day = bcd2_to_byte((dr.dt(), dr.du()));
            let month = bcd2_to_byte((dr.mt() as u8, dr.mu()));
-            let year = bcd2_to_byte((dr.yt(), dr.yu())) as u16 + 1970_u16;
+            let year = bcd2_to_byte((dr.yt(), dr.yu())) as u16 + 2000_u16;

            DateTime::from(year, month, day, weekday, hour, minute, second).map_err(RtcError::InvalidDateTime)
        })
@ -261,7 +261,7 @@ impl Rtc {
            let (dt, du) = byte_to_bcd2(t.day() as u8);
            let (mt, mu) = byte_to_bcd2(t.month() as u8);
            let yr = t.year() as u16;
-            let yr_offset = (yr - 1970_u16) as u8;
+            let yr_offset = (yr - 2000_u16) as u8;
            let (yt, yu) = byte_to_bcd2(yr_offset);

            use crate::pac::rtc::vals::Ampm;
--- a/embassy-stm32/src/sdmmc/mod.rs
+++ b/embassy-stm32/src/sdmmc/mod.rs
@ -54,6 +54,7 @@ const SD_INIT_FREQ: Hertz = Hertz(400_000);

 /// The signalling scheme used on the SDMMC bus
 #[non_exhaustive]
+#[allow(missing_docs)]
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Signalling {
@ -70,6 +71,9 @@ impl Default for Signalling {
    }
 }

+/// Aligned data block for SDMMC transfers.
+///
+/// This is a 512-byte array, aligned to 4 bytes to satisfy DMA requirements.
 #[repr(align(4))]
 #[derive(Debug, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@ -94,17 +98,23 @@ impl DerefMut for DataBlock {
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
+    /// Timeout reported by the hardware
    Timeout,
+    /// Timeout reported by the software driver.
    SoftwareTimeout,
+    /// Unsupported card version.
    UnsupportedCardVersion,
+    /// Unsupported card type.
    UnsupportedCardType,
+    /// CRC error.
    Crc,
-    DataCrcFail,
-    RxOverFlow,
+    /// No card inserted.
    NoCard,
+    /// Bad clock supplied to the SDMMC peripheral.
    BadClock,
+    /// Signaling switch failed.
    SignalingSwitchFailed,
-    PeripheralBusy,
+    /// ST bit error.
    #[cfg(sdmmc_v1)]
    StBitErr,
 }
@ -283,6 +293,7 @@ pub struct Sdmmc<'d, T: Instance, Dma: SdmmcDma<T> = NoDma> {

 #[cfg(sdmmc_v1)]
 impl<'d, T: Instance, Dma: SdmmcDma<T>> Sdmmc<'d, T, Dma> {
+    /// Create a new SDMMC driver, with 1 data lane.
    pub fn new_1bit(
        sdmmc: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -317,6 +328,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T>> Sdmmc<'d, T, Dma> {
        )
    }

+    /// Create a new SDMMC driver, with 4 data lanes.
    pub fn new_4bit(
        sdmmc: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -363,6 +375,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T>> Sdmmc<'d, T, Dma> {

 #[cfg(sdmmc_v2)]
 impl<'d, T: Instance> Sdmmc<'d, T, NoDma> {
+    /// Create a new SDMMC driver, with 1 data lane.
    pub fn new_1bit(
        sdmmc: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -396,6 +409,7 @@ impl<'d, T: Instance> Sdmmc<'d, T, NoDma> {
        )
    }

+    /// Create a new SDMMC driver, with 4 data lanes.
    pub fn new_4bit(
        sdmmc: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -497,7 +511,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
    }

    /// Data transfer is in progress
-    #[inline(always)]
+    #[inline]
    fn data_active() -> bool {
        let regs = T::regs();

@ -509,7 +523,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
    }

    /// Coammand transfer is in progress
-    #[inline(always)]
+    #[inline]
    fn cmd_active() -> bool {
        let regs = T::regs();

@ -521,7 +535,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
    }

    /// Wait idle on CMDACT, RXACT and TXACT (v1) or DOSNACT and CPSMACT (v2)
-    #[inline(always)]
+    #[inline]
    fn wait_idle() {
        while Self::data_active() || Self::cmd_active() {}
    }
@ -837,7 +851,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
    }

    /// Clear flags in interrupt clear register
-    #[inline(always)]
+    #[inline]
    fn clear_interrupt_flags() {
        let regs = T::regs();
        regs.icr().write(|w| {
@ -1152,7 +1166,8 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
        Ok(())
    }

-    #[inline(always)]
+    /// Read a data block.
+    #[inline]
    pub async fn read_block(&mut self, block_idx: u32, buffer: &mut DataBlock) -> Result<(), Error> {
        let card_capacity = self.card()?.card_type;

@ -1204,6 +1219,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
        res
    }

+    /// Write a data block.
    pub async fn write_block(&mut self, block_idx: u32, buffer: &DataBlock) -> Result<(), Error> {
        let card = self.card.as_mut().ok_or(Error::NoCard)?;

@ -1283,7 +1299,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
    ///
    /// Returns Error::NoCard if [`init_card`](#method.init_card)
    /// has not previously succeeded
-    #[inline(always)]
+    #[inline]
    pub fn card(&self) -> Result<&Card, Error> {
        self.card.as_ref().ok_or(Error::NoCard)
    }
@ -1419,7 +1435,9 @@ pub(crate) mod sealed {
    pub trait Pins<T: Instance> {}
 }

+/// SDMMC instance trait.
 pub trait Instance: sealed::Instance + RccPeripheral + 'static {}
+
 pin_trait!(CkPin, Instance);
 pin_trait!(CmdPin, Instance);
 pin_trait!(D0Pin, Instance);
@ -1434,7 +1452,10 @@ pin_trait!(D7Pin, Instance);
 #[cfg(sdmmc_v1)]
 dma_trait!(SdmmcDma, Instance);

-// SDMMCv2 uses internal DMA
+/// DMA instance trait.
+///
+/// This is only implemented for `NoDma`, since SDMMCv2 has DMA built-in, instead of
+/// using ST's system-wide DMA peripheral.
 #[cfg(sdmmc_v2)]
 pub trait SdmmcDma<T: Instance> {}
 #[cfg(sdmmc_v2)]
--- a/embassy-stm32/src/spi/mod.rs
+++ b/embassy-stm32/src/spi/mod.rs
@ -16,27 +16,38 @@ use crate::rcc::RccPeripheral;
 use crate::time::Hertz;
 use crate::{peripherals, Peripheral};

+/// SPI error.
 #[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
+    /// Invalid framing.
    Framing,
+    /// CRC error (only if hardware CRC checking is enabled).
    Crc,
+    /// Mode fault
    ModeFault,
+    /// Overrun.
    Overrun,
 }

-// TODO move upwards in the tree
+/// SPI bit order
 #[derive(Copy, Clone)]
 pub enum BitOrder {
+    /// Least significant bit first.
    LsbFirst,
+    /// Most significant bit first.
    MsbFirst,
 }

+/// SPI configuration.
 #[non_exhaustive]
 #[derive(Copy, Clone)]
 pub struct Config {
+    /// SPI mode.
    pub mode: Mode,
+    /// Bit order.
    pub bit_order: BitOrder,
+    /// Clock frequency.
    pub frequency: Hertz,
 }

@ -73,6 +84,7 @@ impl Config {
    }
 }

+/// SPI driver.
 pub struct Spi<'d, T: Instance, Tx, Rx> {
    _peri: PeripheralRef<'d, T>,
    sck: Option<PeripheralRef<'d, AnyPin>>,
@ -84,6 +96,7 @@ pub struct Spi<'d, T: Instance, Tx, Rx> {
 }

 impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
+    /// Create a new SPI driver.
    pub fn new(
        peri: impl Peripheral<P = T> + 'd,
        sck: impl Peripheral<P = impl SckPin<T>> + 'd,
@ -118,6 +131,7 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        )
    }

+    /// Create a new SPI driver, in RX-only mode (only MISO pin, no MOSI).
    pub fn new_rxonly(
        peri: impl Peripheral<P = T> + 'd,
        sck: impl Peripheral<P = impl SckPin<T>> + 'd,
@ -143,6 +157,7 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        )
    }

+    /// Create a new SPI driver, in TX-only mode (only MOSI pin, no MISO).
    pub fn new_txonly(
        peri: impl Peripheral<P = T> + 'd,
        sck: impl Peripheral<P = impl SckPin<T>> + 'd,
@ -168,6 +183,9 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        )
    }

+    /// Create a new SPI driver, in TX-only mode, without SCK pin.
+    ///
+    /// This can be useful for bit-banging non-SPI protocols.
    pub fn new_txonly_nosck(
        peri: impl Peripheral<P = T> + 'd,
        mosi: impl Peripheral<P = impl MosiPin<T>> + 'd,
@ -355,6 +373,7 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

+    /// Get current SPI configuration.
    pub fn get_current_config(&self) -> Config {
        #[cfg(any(spi_v1, spi_f1, spi_v2))]
        let cfg = T::REGS.cr1().read();
@ -444,6 +463,7 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        self.current_word_size = word_size;
    }

+    /// SPI write, using DMA.
    pub async fn write<W: Word>(&mut self, data: &[W]) -> Result<(), Error>
    where
        Tx: TxDma<T>,
@ -477,6 +497,7 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

+    /// SPI read, using DMA.
    pub async fn read<W: Word>(&mut self, data: &mut [W]) -> Result<(), Error>
    where
        Tx: TxDma<T>,
@ -580,6 +601,12 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

+    /// Bidirectional transfer, using DMA.
+    ///
+    /// This transfers both buffers at the same time, so it is NOT equivalent to `write` followed by `read`.
+    ///
+    /// The transfer runs for `max(read.len(), write.len())` bytes. If `read` is shorter extra bytes are ignored.
+    /// If `write` is shorter it is padded with zero bytes.
    pub async fn transfer<W: Word>(&mut self, read: &mut [W], write: &[W]) -> Result<(), Error>
    where
        Tx: TxDma<T>,
@ -588,6 +615,9 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        self.transfer_inner(read, write).await
    }

+    /// In-place bidirectional transfer, using DMA.
+    ///
+    /// This writes the contents of `data` on MOSI, and puts the received data on MISO in `data`, at the same time.
    pub async fn transfer_in_place<W: Word>(&mut self, data: &mut [W]) -> Result<(), Error>
    where
        Tx: TxDma<T>,
@ -596,6 +626,7 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        self.transfer_inner(data, data).await
    }

+    /// Blocking write.
    pub fn blocking_write<W: Word>(&mut self, words: &[W]) -> Result<(), Error> {
        T::REGS.cr1().modify(|w| w.set_spe(true));
        flush_rx_fifo(T::REGS);
@ -606,6 +637,7 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

+    /// Blocking read.
    pub fn blocking_read<W: Word>(&mut self, words: &mut [W]) -> Result<(), Error> {
        T::REGS.cr1().modify(|w| w.set_spe(true));
        flush_rx_fifo(T::REGS);
@ -616,6 +648,9 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

+    /// Blocking in-place bidirectional transfer.
+    ///
+    /// This writes the contents of `data` on MOSI, and puts the received data on MISO in `data`, at the same time.
    pub fn blocking_transfer_in_place<W: Word>(&mut self, words: &mut [W]) -> Result<(), Error> {
        T::REGS.cr1().modify(|w| w.set_spe(true));
        flush_rx_fifo(T::REGS);
@ -626,6 +661,12 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

+    /// Blocking bidirectional transfer.
+    ///
+    /// This transfers both buffers at the same time, so it is NOT equivalent to `write` followed by `read`.
+    ///
+    /// The transfer runs for `max(read.len(), write.len())` bytes. If `read` is shorter extra bytes are ignored.
+    /// If `write` is shorter it is padded with zero bytes.
    pub fn blocking_transfer<W: Word>(&mut self, read: &mut [W], write: &[W]) -> Result<(), Error> {
        T::REGS.cr1().modify(|w| w.set_spe(true));
        flush_rx_fifo(T::REGS);
@ -946,6 +987,7 @@ pub(crate) mod sealed {
    }
 }

+/// Word sizes usable for SPI.
 pub trait Word: word::Word + sealed::Word {}

 macro_rules! impl_word {
@ -1025,7 +1067,9 @@ mod word_impl {
    impl_word!(u32, 32 - 1);
 }

+/// SPI instance trait.
 pub trait Instance: Peripheral<P = Self> + sealed::Instance + RccPeripheral {}
+
 pin_trait!(SckPin, Instance);
 pin_trait!(MosiPin, Instance);
 pin_trait!(MisoPin, Instance);
--- a/embassy-stm32/src/time.rs
+++ b/embassy-stm32/src/time.rs
@ -8,14 +8,17 @@ use core::ops::{Div, Mul};
 pub struct Hertz(pub u32);

 impl Hertz {
+    /// Create a `Hertz` from the given hertz.
    pub const fn hz(hertz: u32) -> Self {
        Self(hertz)
    }

+    /// Create a `Hertz` from the given kilohertz.
    pub const fn khz(kilohertz: u32) -> Self {
        Self(kilohertz * 1_000)
    }

+    /// Create a `Hertz` from the given megahertz.
    pub const fn mhz(megahertz: u32) -> Self {
        Self(megahertz * 1_000_000)
    }
--- a/embassy-stm32/src/timer/complementary_pwm.rs
+++ b/embassy-stm32/src/timer/complementary_pwm.rs
@ -13,15 +13,19 @@ use crate::gpio::{AnyPin, OutputType};
 use crate::time::Hertz;
 use crate::Peripheral;

-pub struct ComplementaryPwmPin<'d, Perip, Channel> {
+/// Complementary PWM pin wrapper.
+///
+/// This wraps a pin to make it usable with PWM.
+pub struct ComplementaryPwmPin<'d, T, C> {
    _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(Perip, Channel)>,
+    phantom: PhantomData<(T, C)>,
 }

 macro_rules! complementary_channel_impl {
    ($new_chx:ident, $channel:ident, $pin_trait:ident) => {
-        impl<'d, Perip: CaptureCompare16bitInstance> ComplementaryPwmPin<'d, Perip, $channel> {
-            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd, output_type: OutputType) -> Self {
+        impl<'d, T: CaptureCompare16bitInstance> ComplementaryPwmPin<'d, T, $channel> {
+            #[doc = concat!("Create a new ", stringify!($channel), " complementary PWM pin instance.")]
+            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd, output_type: OutputType) -> Self {
                into_ref!(pin);
                critical_section::with(|_| {
                    pin.set_low();
@ -43,11 +47,13 @@ complementary_channel_impl!(new_ch2, Ch2, Channel2ComplementaryPin);
 complementary_channel_impl!(new_ch3, Ch3, Channel3ComplementaryPin);
 complementary_channel_impl!(new_ch4, Ch4, Channel4ComplementaryPin);

+/// PWM driver with support for standard and complementary outputs.
 pub struct ComplementaryPwm<'d, T> {
    inner: PeripheralRef<'d, T>,
 }

 impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
+    /// Create a new complementary PWM driver.
    pub fn new(
        tim: impl Peripheral<P = T> + 'd,
        _ch1: Option<PwmPin<'d, T, Ch1>>,
@ -72,7 +78,7 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
        let mut this = Self { inner: tim };

        this.inner.set_counting_mode(counting_mode);
-        this.set_freq(freq);
+        this.set_frequency(freq);
        this.inner.start();

        this.inner.enable_outputs();
@ -88,17 +94,23 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
        this
    }

+    /// Enable the given channel.
    pub fn enable(&mut self, channel: Channel) {
        self.inner.enable_channel(channel, true);
        self.inner.enable_complementary_channel(channel, true);
    }

+    /// Disable the given channel.
    pub fn disable(&mut self, channel: Channel) {
        self.inner.enable_complementary_channel(channel, false);
        self.inner.enable_channel(channel, false);
    }

-    pub fn set_freq(&mut self, freq: Hertz) {
+    /// Set PWM frequency.
+    ///
+    /// Note: when you call this, the max duty value changes, so you will have to
+    /// call `set_duty` on all channels with the duty calculated based on the new max duty.
+    pub fn set_frequency(&mut self, freq: Hertz) {
        let multiplier = if self.inner.get_counting_mode().is_center_aligned() {
            2u8
        } else {
@ -107,15 +119,22 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
        self.inner.set_frequency(freq * multiplier);
    }

+    /// Get max duty value.
+    ///
+    /// This value depends on the configured frequency and the timer's clock rate from RCC.
    pub fn get_max_duty(&self) -> u16 {
        self.inner.get_max_compare_value() + 1
    }

+    /// Set the duty for a given channel.
+    ///
+    /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included.
    pub fn set_duty(&mut self, channel: Channel, duty: u16) {
        assert!(duty <= self.get_max_duty());
        self.inner.set_compare_value(channel, duty)
    }

+    /// Set the output polarity for a given channel.
    pub fn set_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
        self.inner.set_output_polarity(channel, polarity);
        self.inner.set_complementary_output_polarity(channel, polarity);
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@ -17,17 +17,27 @@ pub mod low_level {
 }

 pub(crate) mod sealed {
-
    use super::*;
+
+    /// Basic 16-bit timer instance.
    pub trait Basic16bitInstance: RccPeripheral {
+        /// Interrupt for this timer.
        type Interrupt: interrupt::typelevel::Interrupt;

+        /// Get access to the basic 16bit timer registers.
+        ///
+        /// Note: This works even if the timer is more capable, because registers
+        /// for the less capable timers are a subset. This allows writing a driver
+        /// for a given set of capabilities, and having it transparently work with
+        /// more capable timers.
        fn regs() -> crate::pac::timer::TimBasic;

+        /// Start the timer.
        fn start(&mut self) {
            Self::regs().cr1().modify(|r| r.set_cen(true));
        }

+        /// Stop the timer.
        fn stop(&mut self) {
            Self::regs().cr1().modify(|r| r.set_cen(false));
        }
@ -63,6 +73,9 @@ pub(crate) mod sealed {
            regs.cr1().modify(|r| r.set_urs(vals::Urs::ANYEVENT));
        }

+        /// Clear update interrupt.
+        ///
+        /// Returns whether the update interrupt flag was set.
        fn clear_update_interrupt(&mut self) -> bool {
            let regs = Self::regs();
            let sr = regs.sr().read();
@ -76,14 +89,17 @@ pub(crate) mod sealed {
            }
        }

+        /// Enable/disable the update interrupt.
        fn enable_update_interrupt(&mut self, enable: bool) {
            Self::regs().dier().write(|r| r.set_uie(enable));
        }

+        /// Enable/disable autoreload preload.
        fn set_autoreload_preload(&mut self, enable: bool) {
            Self::regs().cr1().modify(|r| r.set_arpe(enable));
        }

+        /// Get the timer frequency.
        fn get_frequency(&self) -> Hertz {
            let timer_f = Self::frequency();

@ -95,9 +111,17 @@ pub(crate) mod sealed {
        }
    }

+    /// Gneral-purpose 16-bit timer instance.
    pub trait GeneralPurpose16bitInstance: Basic16bitInstance {
+        /// Get access to the general purpose 16bit timer registers.
+        ///
+        /// Note: This works even if the timer is more capable, because registers
+        /// for the less capable timers are a subset. This allows writing a driver
+        /// for a given set of capabilities, and having it transparently work with
+        /// more capable timers.
        fn regs_gp16() -> crate::pac::timer::TimGp16;

+        /// Set counting mode.
        fn set_counting_mode(&mut self, mode: CountingMode) {
            let (cms, dir) = mode.into();

@ -110,19 +134,29 @@ pub(crate) mod sealed {
            Self::regs_gp16().cr1().modify(|r| r.set_cms(cms))
        }

+        /// Get counting mode.
        fn get_counting_mode(&self) -> CountingMode {
            let cr1 = Self::regs_gp16().cr1().read();
            (cr1.cms(), cr1.dir()).into()
        }

+        /// Set clock divider.
        fn set_clock_division(&mut self, ckd: vals::Ckd) {
            Self::regs_gp16().cr1().modify(|r| r.set_ckd(ckd));
        }
    }

+    /// Gneral-purpose 32-bit timer instance.
    pub trait GeneralPurpose32bitInstance: GeneralPurpose16bitInstance {
+        /// Get access to the general purpose 32bit timer registers.
+        ///
+        /// Note: This works even if the timer is more capable, because registers
+        /// for the less capable timers are a subset. This allows writing a driver
+        /// for a given set of capabilities, and having it transparently work with
+        /// more capable timers.
        fn regs_gp32() -> crate::pac::timer::TimGp32;

+        /// Set timer frequency.
        fn set_frequency(&mut self, frequency: Hertz) {
            let f = frequency.0;
            assert!(f > 0);
@ -140,6 +174,7 @@ pub(crate) mod sealed {
            regs.cr1().modify(|r| r.set_urs(vals::Urs::ANYEVENT));
        }

+        /// Get timer frequency.
        fn get_frequency(&self) -> Hertz {
            let timer_f = Self::frequency();

@ -151,141 +186,177 @@ pub(crate) mod sealed {
        }
    }

+    /// Advanced control timer instance.
    pub trait AdvancedControlInstance: GeneralPurpose16bitInstance {
+        /// Get access to the advanced timer registers.
        fn regs_advanced() -> crate::pac::timer::TimAdv;
    }

+    /// Capture/Compare 16-bit timer instance.
    pub trait CaptureCompare16bitInstance: GeneralPurpose16bitInstance {
+        /// Set input capture filter.
        fn set_input_capture_filter(&mut self, channel: Channel, icf: vals::Icf) {
-            let raw_channel = channel.raw();
+            let raw_channel = channel.index();
            Self::regs_gp16()
                .ccmr_input(raw_channel / 2)
                .modify(|r| r.set_icf(raw_channel % 2, icf));
        }

+        /// Clear input interrupt.
        fn clear_input_interrupt(&mut self, channel: Channel) {
-            Self::regs_gp16().sr().modify(|r| r.set_ccif(channel.raw(), false));
+            Self::regs_gp16().sr().modify(|r| r.set_ccif(channel.index(), false));
        }

+        /// Enable input interrupt.
        fn enable_input_interrupt(&mut self, channel: Channel, enable: bool) {
-            Self::regs_gp16().dier().modify(|r| r.set_ccie(channel.raw(), enable));
+            Self::regs_gp16().dier().modify(|r| r.set_ccie(channel.index(), enable));
        }
+
+        /// Set input capture prescaler.
        fn set_input_capture_prescaler(&mut self, channel: Channel, factor: u8) {
-            let raw_channel = channel.raw();
+            let raw_channel = channel.index();
            Self::regs_gp16()
                .ccmr_input(raw_channel / 2)
                .modify(|r| r.set_icpsc(raw_channel % 2, factor));
        }

+        /// Set input TI selection.
        fn set_input_ti_selection(&mut self, channel: Channel, tisel: InputTISelection) {
-            let raw_channel = channel.raw();
+            let raw_channel = channel.index();
            Self::regs_gp16()
                .ccmr_input(raw_channel / 2)
                .modify(|r| r.set_ccs(raw_channel % 2, tisel.into()));
        }
+
+        /// Set input capture mode.
        fn set_input_capture_mode(&mut self, channel: Channel, mode: InputCaptureMode) {
            Self::regs_gp16().ccer().modify(|r| match mode {
                InputCaptureMode::Rising => {
-                    r.set_ccnp(channel.raw(), false);
-                    r.set_ccp(channel.raw(), false);
+                    r.set_ccnp(channel.index(), false);
+                    r.set_ccp(channel.index(), false);
                }
                InputCaptureMode::Falling => {
-                    r.set_ccnp(channel.raw(), false);
-                    r.set_ccp(channel.raw(), true);
+                    r.set_ccnp(channel.index(), false);
+                    r.set_ccp(channel.index(), true);
                }
                InputCaptureMode::BothEdges => {
-                    r.set_ccnp(channel.raw(), true);
-                    r.set_ccp(channel.raw(), true);
+                    r.set_ccnp(channel.index(), true);
+                    r.set_ccp(channel.index(), true);
                }
            });
        }
+
+        /// Enable timer outputs.
        fn enable_outputs(&mut self);

+        /// Set output compare mode.
        fn set_output_compare_mode(&mut self, channel: Channel, mode: OutputCompareMode) {
            let r = Self::regs_gp16();
-            let raw_channel: usize = channel.raw();
+            let raw_channel: usize = channel.index();
            r.ccmr_output(raw_channel / 2)
                .modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
        }

+        /// Set output polarity.
        fn set_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
            Self::regs_gp16()
                .ccer()
-                .modify(|w| w.set_ccp(channel.raw(), polarity.into()));
+                .modify(|w| w.set_ccp(channel.index(), polarity.into()));
        }

+        /// Enable/disable a channel.
        fn enable_channel(&mut self, channel: Channel, enable: bool) {
-            Self::regs_gp16().ccer().modify(|w| w.set_cce(channel.raw(), enable));
+            Self::regs_gp16().ccer().modify(|w| w.set_cce(channel.index(), enable));
        }

+        /// Set compare value for a channel.
        fn set_compare_value(&mut self, channel: Channel, value: u16) {
-            Self::regs_gp16().ccr(channel.raw()).modify(|w| w.set_ccr(value));
+            Self::regs_gp16().ccr(channel.index()).modify(|w| w.set_ccr(value));
        }

+        /// Get capture value for a channel.
        fn get_capture_value(&mut self, channel: Channel) -> u16 {
-            Self::regs_gp16().ccr(channel.raw()).read().ccr()
+            Self::regs_gp16().ccr(channel.index()).read().ccr()
        }

+        /// Get max compare value. This depends on the timer frequency and the clock frequency from RCC.
        fn get_max_compare_value(&self) -> u16 {
            Self::regs_gp16().arr().read().arr()
        }

+        /// Get compare value for a channel.
        fn get_compare_value(&self, channel: Channel) -> u16 {
-            Self::regs_gp16().ccr(channel.raw()).read().ccr()
+            Self::regs_gp16().ccr(channel.index()).read().ccr()
        }
    }

+    /// Capture/Compare 16-bit timer instance with complementary pin support.
    pub trait ComplementaryCaptureCompare16bitInstance: CaptureCompare16bitInstance + AdvancedControlInstance {
+        /// Set complementary output polarity.
        fn set_complementary_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
            Self::regs_advanced()
                .ccer()
-                .modify(|w| w.set_ccnp(channel.raw(), polarity.into()));
+                .modify(|w| w.set_ccnp(channel.index(), polarity.into()));
        }

+        /// Set clock divider for the dead time.
        fn set_dead_time_clock_division(&mut self, value: vals::Ckd) {
            Self::regs_advanced().cr1().modify(|w| w.set_ckd(value));
        }

+        /// Set dead time, as a fraction of the max duty value.
        fn set_dead_time_value(&mut self, value: u8) {
            Self::regs_advanced().bdtr().modify(|w| w.set_dtg(value));
        }

+        /// Enable/disable a complementary channel.
        fn enable_complementary_channel(&mut self, channel: Channel, enable: bool) {
            Self::regs_advanced()
                .ccer()
-                .modify(|w| w.set_ccne(channel.raw(), enable));
+                .modify(|w| w.set_ccne(channel.index(), enable));
        }
    }

+    /// Capture/Compare 32-bit timer instance.
    pub trait CaptureCompare32bitInstance: GeneralPurpose32bitInstance + CaptureCompare16bitInstance {
+        /// Set comapre value for a channel.
        fn set_compare_value(&mut self, channel: Channel, value: u32) {
-            Self::regs_gp32().ccr(channel.raw()).modify(|w| w.set_ccr(value));
+            Self::regs_gp32().ccr(channel.index()).modify(|w| w.set_ccr(value));
        }

+        /// Get capture value for a channel.
        fn get_capture_value(&mut self, channel: Channel) -> u32 {
-            Self::regs_gp32().ccr(channel.raw()).read().ccr()
+            Self::regs_gp32().ccr(channel.index()).read().ccr()
        }

+        /// Get max compare value. This depends on the timer frequency and the clock frequency from RCC.
        fn get_max_compare_value(&self) -> u32 {
            Self::regs_gp32().arr().read().arr()
        }

+        /// Get compare value for a channel.
        fn get_compare_value(&self, channel: Channel) -> u32 {
-            Self::regs_gp32().ccr(channel.raw()).read().ccr()
+            Self::regs_gp32().ccr(channel.index()).read().ccr()
        }
    }
 }

+/// Timer channel.
 #[derive(Clone, Copy)]
 pub enum Channel {
+    /// Channel 1.
    Ch1,
+    /// Channel 2.
    Ch2,
+    /// Channel 3.
    Ch3,
+    /// Channel 4.
    Ch4,
 }

 impl Channel {
-    pub fn raw(&self) -> usize {
+    /// Get the channel index (0..3)
+    pub fn index(&self) -> usize {
        match self {
            Channel::Ch1 => 0,
            Channel::Ch2 => 1,
@ -295,17 +366,25 @@ impl Channel {
    }
 }

+/// Input capture mode.
 #[derive(Clone, Copy)]
 pub enum InputCaptureMode {
+    /// Rising edge only.
    Rising,
+    /// Falling edge only.
    Falling,
+    /// Both rising or falling edges.
    BothEdges,
 }

+/// Input TI selection.
 #[derive(Clone, Copy)]
 pub enum InputTISelection {
+    /// Normal
    Normal,
+    /// Alternate
    Alternate,
+    /// TRC
    TRC,
 }

@ -319,6 +398,7 @@ impl From<InputTISelection> for stm32_metapac::timer::vals::CcmrInputCcs {
    }
 }

+/// Timer counting mode.
 #[repr(u8)]
 #[derive(Debug, Clone, Copy, PartialEq, Eq, Default)]
 pub enum CountingMode {
@ -345,6 +425,7 @@ pub enum CountingMode {
 }

 impl CountingMode {
+    /// Return whether this mode is edge-aligned (up or down).
    pub fn is_edge_aligned(&self) -> bool {
        match self {
            CountingMode::EdgeAlignedUp | CountingMode::EdgeAlignedDown => true,
@ -352,6 +433,7 @@ impl CountingMode {
        }
    }

+    /// Return whether this mode is center-aligned.
    pub fn is_center_aligned(&self) -> bool {
        match self {
            CountingMode::CenterAlignedDownInterrupts
@ -386,16 +468,34 @@ impl From<(vals::Cms, vals::Dir)> for CountingMode {
    }
 }

+/// Output compare mode.
 #[derive(Clone, Copy)]
 pub enum OutputCompareMode {
+    /// The comparison between the output compare register TIMx_CCRx and
+    /// the counter TIMx_CNT has no effect on the outputs.
+    /// (this mode is used to generate a timing base).
    Frozen,
+    /// Set channel to active level on match. OCxREF signal is forced high when the
+    /// counter TIMx_CNT matches the capture/compare register x (TIMx_CCRx).
    ActiveOnMatch,
+    /// Set channel to inactive level on match. OCxREF signal is forced low when the
+    /// counter TIMx_CNT matches the capture/compare register x (TIMx_CCRx).
    InactiveOnMatch,
+    /// Toggle - OCxREF toggles when TIMx_CNT=TIMx_CCRx.
    Toggle,
+    /// Force inactive level - OCxREF is forced low.
    ForceInactive,
+    /// Force active level - OCxREF is forced high.
    ForceActive,
+    /// PWM mode 1 - In upcounting, channel is active as long as TIMx_CNT<TIMx_CCRx
+    /// else inactive. In downcounting, channel is inactive (OCxREF=0) as long as
+    /// TIMx_CNT>TIMx_CCRx else active (OCxREF=1).
    PwmMode1,
+    /// PWM mode 2 - In upcounting, channel is inactive as long as
+    /// TIMx_CNT<TIMx_CCRx else active. In downcounting, channel is active as long as
+    /// TIMx_CNT>TIMx_CCRx else inactive.
    PwmMode2,
+    // TODO: there's more modes here depending on the chip family.
 }

 impl From<OutputCompareMode> for stm32_metapac::timer::vals::Ocm {
@ -413,9 +513,12 @@ impl From<OutputCompareMode> for stm32_metapac::timer::vals::Ocm {
    }
 }

+/// Timer output pin polarity.
 #[derive(Clone, Copy)]
 pub enum OutputPolarity {
+    /// Active high (higher duty value makes the pin spend more time high).
    ActiveHigh,
+    /// Active low (higher duty value makes the pin spend more time low).
    ActiveLow,
 }

@ -428,24 +531,31 @@ impl From<OutputPolarity> for bool {
    }
 }

+/// Basic 16-bit timer instance.
 pub trait Basic16bitInstance: sealed::Basic16bitInstance + 'static {}

+/// Gneral-purpose 16-bit timer instance.
 pub trait GeneralPurpose16bitInstance: sealed::GeneralPurpose16bitInstance + 'static {}

+/// Gneral-purpose 32-bit timer instance.
 pub trait GeneralPurpose32bitInstance: sealed::GeneralPurpose32bitInstance + 'static {}

+/// Advanced control timer instance.
 pub trait AdvancedControlInstance: sealed::AdvancedControlInstance + 'static {}

+/// Capture/Compare 16-bit timer instance.
 pub trait CaptureCompare16bitInstance:
    sealed::CaptureCompare16bitInstance + GeneralPurpose16bitInstance + 'static
 {
 }

+/// Capture/Compare 16-bit timer instance with complementary pin support.
 pub trait ComplementaryCaptureCompare16bitInstance:
    sealed::ComplementaryCaptureCompare16bitInstance + AdvancedControlInstance + 'static
 {
 }

+/// Capture/Compare 32-bit timer instance.
 pub trait CaptureCompare32bitInstance:
    sealed::CaptureCompare32bitInstance + CaptureCompare16bitInstance + GeneralPurpose32bitInstance + 'static
 {
--- a/embassy-stm32/src/timer/qei.rs
+++ b/embassy-stm32/src/timer/qei.rs
@ -9,23 +9,30 @@ use crate::gpio::sealed::AFType;
 use crate::gpio::AnyPin;
 use crate::Peripheral;

+/// Counting direction
 pub enum Direction {
+    /// Counting up.
    Upcounting,
+    /// Counting down.
    Downcounting,
 }

-pub struct Ch1;
-pub struct Ch2;
+/// Channel 1 marker type.
+pub enum Ch1 {}
+/// Channel 2 marker type.
+pub enum Ch2 {}

-pub struct QeiPin<'d, Perip, Channel> {
+/// Wrapper for using a pin with QEI.
+pub struct QeiPin<'d, T, Channel> {
    _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(Perip, Channel)>,
+    phantom: PhantomData<(T, Channel)>,
 }

 macro_rules! channel_impl {
    ($new_chx:ident, $channel:ident, $pin_trait:ident) => {
-        impl<'d, Perip: CaptureCompare16bitInstance> QeiPin<'d, Perip, $channel> {
-            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd) -> Self {
+        impl<'d, T: CaptureCompare16bitInstance> QeiPin<'d, T, $channel> {
+            #[doc = concat!("Create a new ", stringify!($channel), " QEI pin instance.")]
+            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd) -> Self {
                into_ref!(pin);
                critical_section::with(|_| {
                    pin.set_low();
@ -45,11 +52,13 @@ macro_rules! channel_impl {
 channel_impl!(new_ch1, Ch1, Channel1Pin);
 channel_impl!(new_ch2, Ch2, Channel2Pin);

+/// Quadrature decoder driver.
 pub struct Qei<'d, T> {
    _inner: PeripheralRef<'d, T>,
 }

 impl<'d, T: CaptureCompare16bitInstance> Qei<'d, T> {
+    /// Create a new quadrature decoder driver.
    pub fn new(tim: impl Peripheral<P = T> + 'd, _ch1: QeiPin<'d, T, Ch1>, _ch2: QeiPin<'d, T, Ch2>) -> Self {
        Self::new_inner(tim)
    }
@ -84,6 +93,7 @@ impl<'d, T: CaptureCompare16bitInstance> Qei<'d, T> {
        Self { _inner: tim }
    }

+    /// Get direction.
    pub fn read_direction(&self) -> Direction {
        match T::regs_gp16().cr1().read().dir() {
            vals::Dir::DOWN => Direction::Downcounting,
@ -91,6 +101,7 @@ impl<'d, T: CaptureCompare16bitInstance> Qei<'d, T> {
        }
    }

+    /// Get count.
    pub fn count(&self) -> u16 {
        T::regs_gp16().cnt().read().cnt()
    }
--- a/embassy-stm32/src/timer/simple_pwm.rs
+++ b/embassy-stm32/src/timer/simple_pwm.rs
@ -11,20 +11,28 @@ use crate::gpio::{AnyPin, OutputType};
 use crate::time::Hertz;
 use crate::Peripheral;

-pub struct Ch1;
-pub struct Ch2;
-pub struct Ch3;
-pub struct Ch4;
+/// Channel 1 marker type.
+pub enum Ch1 {}
+/// Channel 2 marker type.
+pub enum Ch2 {}
+/// Channel 3 marker type.
+pub enum Ch3 {}
+/// Channel 4 marker type.
+pub enum Ch4 {}

-pub struct PwmPin<'d, Perip, Channel> {
+/// PWM pin wrapper.
+///
+/// This wraps a pin to make it usable with PWM.
+pub struct PwmPin<'d, T, C> {
    _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(Perip, Channel)>,
+    phantom: PhantomData<(T, C)>,
 }

 macro_rules! channel_impl {
    ($new_chx:ident, $channel:ident, $pin_trait:ident) => {
-        impl<'d, Perip: CaptureCompare16bitInstance> PwmPin<'d, Perip, $channel> {
-            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd, output_type: OutputType) -> Self {
+        impl<'d, T: CaptureCompare16bitInstance> PwmPin<'d, T, $channel> {
+            #[doc = concat!("Create a new ", stringify!($channel), " PWM pin instance.")]
+            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd, output_type: OutputType) -> Self {
                into_ref!(pin);
                critical_section::with(|_| {
                    pin.set_low();
@ -46,11 +54,13 @@ channel_impl!(new_ch2, Ch2, Channel2Pin);
 channel_impl!(new_ch3, Ch3, Channel3Pin);
 channel_impl!(new_ch4, Ch4, Channel4Pin);

+/// Simple PWM driver.
 pub struct SimplePwm<'d, T> {
    inner: PeripheralRef<'d, T>,
 }

 impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
+    /// Create a new simple PWM driver.
    pub fn new(
        tim: impl Peripheral<P = T> + 'd,
        _ch1: Option<PwmPin<'d, T, Ch1>>,
@ -71,7 +81,7 @@ impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
        let mut this = Self { inner: tim };

        this.inner.set_counting_mode(counting_mode);
-        this.set_freq(freq);
+        this.set_frequency(freq);
        this.inner.start();

        this.inner.enable_outputs();
@ -87,15 +97,21 @@ impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
        this
    }

+    /// Enable the given channel.
    pub fn enable(&mut self, channel: Channel) {
        self.inner.enable_channel(channel, true);
    }

+    /// Disable the given channel.
    pub fn disable(&mut self, channel: Channel) {
        self.inner.enable_channel(channel, false);
    }

-    pub fn set_freq(&mut self, freq: Hertz) {
+    /// Set PWM frequency.
+    ///
+    /// Note: when you call this, the max duty value changes, so you will have to
+    /// call `set_duty` on all channels with the duty calculated based on the new max duty.
+    pub fn set_frequency(&mut self, freq: Hertz) {
        let multiplier = if self.inner.get_counting_mode().is_center_aligned() {
            2u8
        } else {
@ -104,15 +120,22 @@ impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
        self.inner.set_frequency(freq * multiplier);
    }

+    /// Get max duty value.
+    ///
+    /// This value depends on the configured frequency and the timer's clock rate from RCC.
    pub fn get_max_duty(&self) -> u16 {
        self.inner.get_max_compare_value() + 1
    }

+    /// Set the duty for a given channel.
+    ///
+    /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included.
    pub fn set_duty(&mut self, channel: Channel, duty: u16) {
        assert!(duty <= self.get_max_duty());
        self.inner.set_compare_value(channel, duty)
    }

+    /// Set the output polarity for a given channel.
    pub fn set_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
        self.inner.set_output_polarity(channel, polarity);
    }
--- a/embassy-stm32/src/usart/buffered.rs
+++ b/embassy-stm32/src/usart/buffered.rs
@ -82,6 +82,7 @@ impl<T: BasicInstance> interrupt::typelevel::Handler<T::Interrupt> for Interrupt
    }
 }

+/// Buffered UART State
 pub struct State {
    rx_waker: AtomicWaker,
    rx_buf: RingBuffer,
@ -91,6 +92,7 @@ pub struct State {
 }

 impl State {
+    /// Create new state
    pub const fn new() -> Self {
        Self {
            rx_buf: RingBuffer::new(),
@ -101,15 +103,18 @@ impl State {
    }
 }

+/// Bidirectional buffered UART
 pub struct BufferedUart<'d, T: BasicInstance> {
    rx: BufferedUartRx<'d, T>,
    tx: BufferedUartTx<'d, T>,
 }

+/// Tx-only buffered UART
 pub struct BufferedUartTx<'d, T: BasicInstance> {
    phantom: PhantomData<&'d mut T>,
 }

+/// Rx-only buffered UART
 pub struct BufferedUartRx<'d, T: BasicInstance> {
    phantom: PhantomData<&'d mut T>,
 }
@ -142,6 +147,7 @@ impl<'d, T: BasicInstance> SetConfig for BufferedUartTx<'d, T> {
 }

 impl<'d, T: BasicInstance> BufferedUart<'d, T> {
+    /// Create a new bidirectional buffered UART driver
    pub fn new(
        peri: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -158,6 +164,7 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
        Self::new_inner(peri, rx, tx, tx_buffer, rx_buffer, config)
    }

+    /// Create a new bidirectional buffered UART driver with request-to-send and clear-to-send pins
    pub fn new_with_rtscts(
        peri: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -185,6 +192,7 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
        Self::new_inner(peri, rx, tx, tx_buffer, rx_buffer, config)
    }

+    /// Create a new bidirectional buffered UART driver with a driver-enable pin
    #[cfg(not(any(usart_v1, usart_v2)))]
    pub fn new_with_de(
        peri: impl Peripheral<P = T> + 'd,
@ -246,10 +254,12 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
        })
    }

+    /// Split the driver into a Tx and Rx part (useful for sending to separate tasks)
    pub fn split(self) -> (BufferedUartTx<'d, T>, BufferedUartRx<'d, T>) {
        (self.tx, self.rx)
    }

+    /// Reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        reconfigure::<T>(config)?;

@ -337,6 +347,7 @@ impl<'d, T: BasicInstance> BufferedUartRx<'d, T> {
        }
    }

+    /// Reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        reconfigure::<T>(config)?;

@ -418,6 +429,7 @@ impl<'d, T: BasicInstance> BufferedUartTx<'d, T> {
        }
    }

+    /// Reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        reconfigure::<T>(config)?;

--- a/embassy-stm32/src/usart/mod.rs
+++ b/embassy-stm32/src/usart/mod.rs
@ -1,5 +1,6 @@
 //! Universal Synchronous/Asynchronous Receiver Transmitter (USART, UART, LPUART)
 #![macro_use]
+#![warn(missing_docs)]

 use core::future::poll_fn;
 use core::marker::PhantomData;
@ -77,21 +78,29 @@ impl<T: BasicInstance> interrupt::typelevel::Handler<T::Interrupt> for Interrupt

 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+/// Number of data bits
 pub enum DataBits {
+    /// 8 Data Bits
    DataBits8,
+    /// 9 Data Bits
    DataBits9,
 }

 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+/// Parity
 pub enum Parity {
+    /// No parity
    ParityNone,
+    /// Even Parity
    ParityEven,
+    /// Odd Parity
    ParityOdd,
 }

 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+/// Number of stop bits
 pub enum StopBits {
    #[doc = "1 stop bit"]
    STOP1,
@ -106,26 +115,37 @@ pub enum StopBits {
 #[non_exhaustive]
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+/// Config Error
 pub enum ConfigError {
+    /// Baudrate too low
    BaudrateTooLow,
+    /// Baudrate too high
    BaudrateTooHigh,
+    /// Rx or Tx not enabled
    RxOrTxNotEnabled,
 }

 #[non_exhaustive]
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
+/// Config
 pub struct Config {
+    /// Baud rate
    pub baudrate: u32,
+    /// Number of data bits
    pub data_bits: DataBits,
+    /// Number of stop bits
    pub stop_bits: StopBits,
+    /// Parity type
    pub parity: Parity,
-    /// if true, on read-like method, if there is a latent error pending,
-    /// read will abort, the error reported and cleared
-    /// if false, the error is ignored and cleared
+
+    /// If true: on a read-like method, if there is a latent error pending,
+    /// the read will abort and the error will be reported and cleared
+    ///
+    /// If false: the error is ignored and cleared
    pub detect_previous_overrun: bool,

    /// Set this to true if the line is considered noise free.
-    /// This will increase the receivers tolerance to clock deviations,
+    /// This will increase the receiver’s tolerance to clock deviations,
    /// but will effectively disable noise detection.
    #[cfg(not(usart_v1))]
    pub assume_noise_free: bool,
@ -188,6 +208,7 @@ enum ReadCompletionEvent {
    Idle(usize),
 }

+/// Bidirectional UART Driver
 pub struct Uart<'d, T: BasicInstance, TxDma = NoDma, RxDma = NoDma> {
    tx: UartTx<'d, T, TxDma>,
    rx: UartRx<'d, T, RxDma>,
@ -203,6 +224,7 @@ impl<'d, T: BasicInstance, TxDma, RxDma> SetConfig for Uart<'d, T, TxDma, RxDma>
    }
 }

+/// Tx-only UART Driver
 pub struct UartTx<'d, T: BasicInstance, TxDma = NoDma> {
    phantom: PhantomData<&'d mut T>,
    tx_dma: PeripheralRef<'d, TxDma>,
@ -217,6 +239,7 @@ impl<'d, T: BasicInstance, TxDma> SetConfig for UartTx<'d, T, TxDma> {
    }
 }

+/// Rx-only UART Driver
 pub struct UartRx<'d, T: BasicInstance, RxDma = NoDma> {
    _peri: PeripheralRef<'d, T>,
    rx_dma: PeripheralRef<'d, RxDma>,
@ -247,6 +270,7 @@ impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
        Self::new_inner(peri, tx, tx_dma, config)
    }

+    /// Create a new tx-only UART with a clear-to-send pin
    pub fn new_with_cts(
        peri: impl Peripheral<P = T> + 'd,
        tx: impl Peripheral<P = impl TxPin<T>> + 'd,
@ -288,10 +312,12 @@ impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
        })
    }

+    /// Reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        reconfigure::<T>(config)
    }

+    /// Initiate an asynchronous UART write
    pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error>
    where
        TxDma: crate::usart::TxDma<T>,
@ -308,6 +334,7 @@ impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
        Ok(())
    }

+    /// Perform a blocking UART write
    pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<(), Error> {
        let r = T::regs();
        for &b in buffer {
@ -317,6 +344,7 @@ impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
        Ok(())
    }

+    /// Block until transmission complete
    pub fn blocking_flush(&mut self) -> Result<(), Error> {
        let r = T::regs();
        while !sr(r).read().tc() {}
@ -338,6 +366,7 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        Self::new_inner(peri, rx, rx_dma, config)
    }

+    /// Create a new rx-only UART with a request-to-send pin
    pub fn new_with_rts(
        peri: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -387,6 +416,7 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        })
    }

+    /// Reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        reconfigure::<T>(config)
    }
@ -444,6 +474,7 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        Ok(sr.rxne())
    }

+    /// Initiate an asynchronous UART read
    pub async fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error>
    where
        RxDma: crate::usart::RxDma<T>,
@ -453,6 +484,7 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        Ok(())
    }

+    /// Read a single u8 if there is one available, otherwise return WouldBlock
    pub fn nb_read(&mut self) -> Result<u8, nb::Error<Error>> {
        let r = T::regs();
        if self.check_rx_flags()? {
@ -462,6 +494,7 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        }
    }

+    /// Perform a blocking read into `buffer`
    pub fn blocking_read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
        let r = T::regs();
        for b in buffer {
@ -471,6 +504,7 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        Ok(())
    }

+    /// Initiate an asynchronous read with idle line detection enabled
    pub async fn read_until_idle(&mut self, buffer: &mut [u8]) -> Result<usize, Error>
    where
        RxDma: crate::usart::RxDma<T>,
@ -695,6 +729,7 @@ impl<'d, T: BasicInstance, TxDma> Drop for UartRx<'d, T, TxDma> {
 }

 impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
+    /// Create a new bidirectional UART
    pub fn new(
        peri: impl Peripheral<P = T> + 'd,
        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
@ -711,6 +746,7 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
        Self::new_inner(peri, rx, tx, tx_dma, rx_dma, config)
    }

+    /// Create a new bidirectional UART with request-to-send and clear-to-send pins
    pub fn new_with_rtscts(
        peri: impl Peripheral<P = T> + 'd,
        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
@ -738,6 +774,7 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
    }

    #[cfg(not(any(usart_v1, usart_v2)))]
+    /// Create a new bidirectional UART with a driver-enable pin
    pub fn new_with_de(
        peri: impl Peripheral<P = T> + 'd,
        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
@ -813,6 +850,7 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
        })
    }

+    /// Initiate an asynchronous write
    pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error>
    where
        TxDma: crate::usart::TxDma<T>,
@ -820,14 +858,17 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
        self.tx.write(buffer).await
    }

+    /// Perform a blocking write
    pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<(), Error> {
        self.tx.blocking_write(buffer)
    }

+    /// Block until transmission complete
    pub fn blocking_flush(&mut self) -> Result<(), Error> {
        self.tx.blocking_flush()
    }

+    /// Initiate an asynchronous read into `buffer`
    pub async fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error>
    where
        RxDma: crate::usart::RxDma<T>,
@ -835,14 +876,17 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
        self.rx.read(buffer).await
    }

+    /// Read a single `u8` or return `WouldBlock`
    pub fn nb_read(&mut self) -> Result<u8, nb::Error<Error>> {
        self.rx.nb_read()
    }

+    /// Perform a blocking read into `buffer`
    pub fn blocking_read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
        self.rx.blocking_read(buffer)
    }

+    /// Initiate an an asynchronous read with idle line detection enabled
    pub async fn read_until_idle(&mut self, buffer: &mut [u8]) -> Result<usize, Error>
    where
        RxDma: crate::usart::RxDma<T>,
@ -1292,8 +1336,10 @@ pub(crate) mod sealed {
    }
 }

+/// Basic UART driver instance
 pub trait BasicInstance: Peripheral<P = Self> + sealed::BasicInstance + 'static + Send {}

+/// Full UART driver instance
 pub trait FullInstance: sealed::FullInstance {}

 pin_trait!(RxPin, BasicInstance);
--- a/embassy-stm32/src/usart/ringbuffered.rs
+++ b/embassy-stm32/src/usart/ringbuffered.rs
@ -11,6 +11,7 @@ use super::{clear_interrupt_flags, rdr, reconfigure, sr, BasicInstance, Config,
 use crate::dma::ReadableRingBuffer;
 use crate::usart::{Regs, Sr};

+/// Rx-only Ring-buffered UART Driver
 pub struct RingBufferedUartRx<'d, T: BasicInstance, RxDma: super::RxDma<T>> {
    _peri: PeripheralRef<'d, T>,
    ring_buf: ReadableRingBuffer<'d, RxDma, u8>,
@ -27,8 +28,8 @@ impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> SetConfig for RingBufferedUar

 impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> UartRx<'d, T, RxDma> {
    /// Turn the `UartRx` into a buffered uart which can continously receive in the background
-    /// without the possibility of loosing bytes. The `dma_buf` is a buffer registered to the
-    /// DMA controller, and must be sufficiently large, such that it will not overflow.
+    /// without the possibility of losing bytes. The `dma_buf` is a buffer registered to the
+    /// DMA controller, and must be large enough to prevent overflows.
    pub fn into_ring_buffered(self, dma_buf: &'d mut [u8]) -> RingBufferedUartRx<'d, T, RxDma> {
        assert!(!dma_buf.is_empty() && dma_buf.len() <= 0xFFFF);

@ -49,6 +50,7 @@ impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> UartRx<'d, T, RxDma> {
 }

 impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> RingBufferedUartRx<'d, T, RxDma> {
+    /// Clear the ring buffer and start receiving in the background
    pub fn start(&mut self) -> Result<(), Error> {
        // Clear the ring buffer so that it is ready to receive data
        self.ring_buf.clear();
@ -64,6 +66,7 @@ impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> RingBufferedUartRx<'d, T, RxD
        Err(err)
    }

+    /// Cleanly stop and reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        self.teardown_uart();
        reconfigure::<T>(config)
--- a/embassy-stm32/src/usb/mod.rs
+++ b/embassy-stm32/src/usb/mod.rs
@ -1,3 +1,5 @@
+//! Universal Serial Bus (USB)
+
 use crate::interrupt;
 use crate::rcc::RccPeripheral;

@ -10,7 +12,9 @@ pub(crate) mod sealed {
    }
 }

+/// USB instance trait.
 pub trait Instance: sealed::Instance + RccPeripheral + 'static {
+    /// Interrupt for this USB instance.
    type Interrupt: interrupt::typelevel::Interrupt;
 }

--- a/embassy-stm32/src/usb/usb.rs
+++ b/embassy-stm32/src/usb/usb.rs
@ -244,6 +244,7 @@ struct EndpointData {
    used_out: bool,
 }

+/// USB driver.
 pub struct Driver<'d, T: Instance> {
    phantom: PhantomData<&'d mut T>,
    alloc: [EndpointData; EP_COUNT],
@ -251,6 +252,7 @@ pub struct Driver<'d, T: Instance> {
 }

 impl<'d, T: Instance> Driver<'d, T> {
+    /// Create a new USB driver.
    pub fn new(
        _usb: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -465,6 +467,7 @@ impl<'d, T: Instance> driver::Driver<'d> for Driver<'d, T> {
    }
 }

+/// USB bus.
 pub struct Bus<'d, T: Instance> {
    phantom: PhantomData<&'d mut T>,
    ep_types: [EpType; EP_COUNT - 1],
@ -640,6 +643,7 @@ trait Dir {
    fn waker(i: usize) -> &'static AtomicWaker;
 }

+/// Marker type for the "IN" direction.
 pub enum In {}
 impl Dir for In {
    fn dir() -> Direction {
@ -652,6 +656,7 @@ impl Dir for In {
    }
 }

+/// Marker type for the "OUT" direction.
 pub enum Out {}
 impl Dir for Out {
    fn dir() -> Direction {
@ -664,6 +669,7 @@ impl Dir for Out {
    }
 }

+/// USB endpoint.
 pub struct Endpoint<'d, T: Instance, D> {
    _phantom: PhantomData<(&'d mut T, D)>,
    info: EndpointInfo,
@ -813,6 +819,7 @@ impl<'d, T: Instance> driver::EndpointIn for Endpoint<'d, T, In> {
    }
 }

+/// USB control pipe.
 pub struct ControlPipe<'d, T: Instance> {
    _phantom: PhantomData<&'d mut T>,
    max_packet_size: u16,
--- a/embassy-stm32/src/usb_otg/mod.rs
+++ b/embassy-stm32/src/usb_otg/mod.rs
@ -20,7 +20,9 @@ pub(crate) mod sealed {
    }
 }

+/// USB OTG instance.
 pub trait Instance: sealed::Instance + RccPeripheral {
+    /// Interrupt for this USB OTG instance.
    type Interrupt: interrupt::typelevel::Interrupt;
 }

--- a/embassy-stm32/src/usb_otg/usb.rs
+++ b/embassy-stm32/src/usb_otg/usb.rs
@ -204,6 +204,7 @@ pub enum PhyType {
 }

 impl PhyType {
+    /// Get whether this PHY is any of the internal types.
    pub fn internal(&self) -> bool {
        match self {
            PhyType::InternalFullSpeed | PhyType::InternalHighSpeed => true,
@ -211,6 +212,7 @@ impl PhyType {
        }
    }

+    /// Get whether this PHY is any of the high-speed types.
    pub fn high_speed(&self) -> bool {
        match self {
            PhyType::InternalFullSpeed => false,
@ -218,7 +220,7 @@ impl PhyType {
        }
    }

-    pub fn to_dspd(&self) -> vals::Dspd {
+    fn to_dspd(&self) -> vals::Dspd {
        match self {
            PhyType::InternalFullSpeed => vals::Dspd::FULL_SPEED_INTERNAL,
            PhyType::InternalHighSpeed => vals::Dspd::HIGH_SPEED,
@ -230,6 +232,7 @@ impl PhyType {
 /// Indicates that [State::ep_out_buffers] is empty.
 const EP_OUT_BUFFER_EMPTY: u16 = u16::MAX;

+/// USB OTG driver state.
 pub struct State<const EP_COUNT: usize> {
    /// Holds received SETUP packets. Available if [State::ep0_setup_ready] is true.
    ep0_setup_data: UnsafeCell<[u8; 8]>,
@ -247,6 +250,7 @@ unsafe impl<const EP_COUNT: usize> Send for State<EP_COUNT> {}
 unsafe impl<const EP_COUNT: usize> Sync for State<EP_COUNT> {}

 impl<const EP_COUNT: usize> State<EP_COUNT> {
+    /// Create a new State.
    pub const fn new() -> Self {
        const NEW_AW: AtomicWaker = AtomicWaker::new();
        const NEW_BUF: UnsafeCell<*mut u8> = UnsafeCell::new(0 as _);
@ -271,6 +275,7 @@ struct EndpointData {
    fifo_size_words: u16,
 }

+/// USB driver config.
 #[non_exhaustive]
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 pub struct Config {
@ -297,6 +302,7 @@ impl Default for Config {
    }
 }

+/// USB driver.
 pub struct Driver<'d, T: Instance> {
    config: Config,
    phantom: PhantomData<&'d mut T>,
@ -527,6 +533,7 @@ impl<'d, T: Instance> embassy_usb_driver::Driver<'d> for Driver<'d, T> {
    }
 }

+/// USB bus.
 pub struct Bus<'d, T: Instance> {
    config: Config,
    phantom: PhantomData<&'d mut T>,
@ -1092,6 +1099,7 @@ trait Dir {
    fn dir() -> Direction;
 }

+/// Marker type for the "IN" direction.
 pub enum In {}
 impl Dir for In {
    fn dir() -> Direction {
@ -1099,6 +1107,7 @@ impl Dir for In {
    }
 }

+/// Marker type for the "OUT" direction.
 pub enum Out {}
 impl Dir for Out {
    fn dir() -> Direction {
@ -1106,6 +1115,7 @@ impl Dir for Out {
    }
 }

+/// USB endpoint.
 pub struct Endpoint<'d, T: Instance, D> {
    _phantom: PhantomData<(&'d mut T, D)>,
    info: EndpointInfo,
@ -1299,6 +1309,7 @@ impl<'d, T: Instance> embassy_usb_driver::EndpointIn for Endpoint<'d, T, In> {
    }
 }

+/// USB control pipe.
 pub struct ControlPipe<'d, T: Instance> {
    _phantom: PhantomData<&'d mut T>,
    max_packet_size: u16,
--- a/embassy-stm32/src/wdg/mod.rs
+++ b/embassy-stm32/src/wdg/mod.rs
@ -6,6 +6,7 @@ use stm32_metapac::iwdg::vals::{Key, Pr};

 use crate::rcc::LSI_FREQ;

+/// Independent watchdog (IWDG) driver.
 pub struct IndependentWatchdog<'d, T: Instance> {
    wdg: PhantomData<&'d mut T>,
 }
@ -64,10 +65,12 @@ impl<'d, T: Instance> IndependentWatchdog<'d, T> {
        IndependentWatchdog { wdg: PhantomData }
    }

+    /// Unleash (start) the watchdog.
    pub fn unleash(&mut self) {
        T::regs().kr().write(|w| w.set_key(Key::START));
    }

+    /// Pet (reload, refresh) the watchdog.
    pub fn pet(&mut self) {
        T::regs().kr().write(|w| w.set_key(Key::RESET));
    }
@ -79,6 +82,7 @@ mod sealed {
    }
 }

+/// IWDG instance trait.
 pub trait Instance: sealed::Instance {}

 foreach_peripheral!(
--- a/embassy-usb-dfu/README.md
+++ b/embassy-usb-dfu/README.md
@ -0,0 +1,20 @@
+# embassy-usb-dfu
+
+An implementation of the USB DFU 1.1 protocol using embassy-boot. It has 2 components depending on which feature is enabled by the user.
+
+* DFU protocol mode, enabled by the `dfu` feature. This mode corresponds to the transfer phase DFU protocol described by the USB IF. It supports DFU_DNLOAD requests if marked by the user, and will automatically reset the chip once a DFU transaction has been completed. It also responds to DFU_GETSTATUS, DFU_GETSTATE, DFU_ABORT, and DFU_CLRSTATUS with no user intervention.
+* DFU runtime mode, enabled by the `application feature`. This mode allows users to expose a DFU interface on their USB device, informing the host of the capability to DFU over USB, and allowing the host to reset the device into its bootloader to complete a DFU operation. Supports DFU_GETSTATUS and DFU_DETACH. When detach/reset is seen by the device as described by the standard, will write a new DFU magic number into the bootloader state in flash, and reset the system.
+
+## Minimum supported Rust version (MSRV)
+
+Embassy is guaranteed to compile on the latest stable Rust version at the time of release. It might compile with older versions but that may change in any new patch release.
+
+## 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.
--- a/embassy-usb-dfu/src/application.rs
+++ b/embassy-usb-dfu/src/application.rs
@ -24,6 +24,7 @@ pub struct Control<'d, STATE: NorFlash, RST: Reset> {
 }

 impl<'d, STATE: NorFlash, RST: Reset> Control<'d, STATE, RST> {
+    /// Create a new DFU instance to expose a DFU interface.
    pub fn new(firmware_state: BlockingFirmwareState<'d, STATE>, attrs: DfuAttributes) -> Self {
        Control {
            firmware_state,
--- a/embassy-usb-dfu/src/consts.rs
+++ b/embassy-usb-dfu/src/consts.rs
@ -1,3 +1,4 @@
+//! USB DFU constants.
 pub(crate) const USB_CLASS_APPN_SPEC: u8 = 0xFE;
 pub(crate) const APPN_SPEC_SUBCLASS_DFU: u8 = 0x01;
 #[allow(unused)]
@ -18,10 +19,15 @@ defmt::bitflags! {

 #[cfg(not(feature = "defmt"))]
 bitflags::bitflags! {
+    /// Attributes supported by the DFU controller.
    pub struct DfuAttributes: u8 {
+        /// Generate WillDetache sequence on bus.
        const WILL_DETACH = 0b0000_1000;
+        /// Device can communicate during manifestation phase.
        const MANIFESTATION_TOLERANT = 0b0000_0100;
+        /// Capable of upload.
        const CAN_UPLOAD = 0b0000_0010;
+        /// Capable of download.
        const CAN_DOWNLOAD = 0b0000_0001;
    }
 }
@ -29,7 +35,7 @@ bitflags::bitflags! {
 #[derive(Copy, Clone, PartialEq, Eq)]
 #[repr(u8)]
 #[allow(unused)]
-pub enum State {
+pub(crate) enum State {
    AppIdle = 0,
    AppDetach = 1,
    DfuIdle = 2,
@ -46,7 +52,7 @@ pub enum State {
 #[derive(Copy, Clone, PartialEq, Eq)]
 #[repr(u8)]
 #[allow(unused)]
-pub enum Status {
+pub(crate) enum Status {
    Ok = 0x00,
    ErrTarget = 0x01,
    ErrFile = 0x02,
@ -67,7 +73,7 @@ pub enum Status {

 #[derive(Copy, Clone, PartialEq, Eq)]
 #[repr(u8)]
-pub enum Request {
+pub(crate) enum Request {
    Detach = 0,
    Dnload = 1,
    Upload = 2,
--- a/embassy-usb-dfu/src/bootloader.rs
+++ b/embassy-usb-dfu/src/bootloader.rs
@ -23,6 +23,7 @@ pub struct Control<'d, DFU: NorFlash, STATE: NorFlash, RST: Reset, const BLOCK_S
 }

 impl<'d, DFU: NorFlash, STATE: NorFlash, RST: Reset, const BLOCK_SIZE: usize> Control<'d, DFU, STATE, RST, BLOCK_SIZE> {
+    /// Create a new DFU instance to handle DFU transfers.
    pub fn new(updater: BlockingFirmwareUpdater<'d, DFU, STATE>, attrs: DfuAttributes) -> Self {
        Self {
            updater,
--- a/embassy-usb-dfu/src/lib.rs
+++ b/embassy-usb-dfu/src/lib.rs
@ -1,12 +1,14 @@
 #![no_std]
+#![doc = include_str!("../README.md")]
+#![warn(missing_docs)]
 mod fmt;

 pub mod consts;

 #[cfg(feature = "dfu")]
-mod bootloader;
+mod dfu;
 #[cfg(feature = "dfu")]
-pub use self::bootloader::*;
+pub use self::dfu::*;

 #[cfg(feature = "application")]
 mod application;
@ -17,7 +19,7 @@ pub use self::application::*;
    all(feature = "dfu", feature = "application"),
    not(any(feature = "dfu", feature = "application"))
 ))]
-compile_error!("usb-dfu must be compiled with exactly one of `bootloader`, or `application` features");
+compile_error!("usb-dfu must be compiled with exactly one of `dfu`, or `application` features");

 /// Provides a platform-agnostic interface for initiating a system reset.
 ///
@ -26,9 +28,11 @@ compile_error!("usb-dfu must be compiled with exactly one of `bootloader`, or `a
 ///
 /// If alternate behaviour is desired, a custom implementation of Reset can be provided as a type argument to the usb_dfu function.
 pub trait Reset {
+    /// Reset the device.
    fn sys_reset() -> !;
 }

+/// Reset immediately.
 #[cfg(feature = "esp32c3-hal")]
 pub struct ResetImmediate;

@ -40,6 +44,7 @@ impl Reset for ResetImmediate {
    }
 }

+/// Reset immediately.
 #[cfg(feature = "cortex-m")]
 pub struct ResetImmediate;

--- a/embassy-usb-logger/README.md
+++ b/embassy-usb-logger/README.md
@ -13,3 +13,17 @@ async fn logger_task(driver: Driver<'static, USB>) {
    embassy_usb_logger::run!(1024, log::LevelFilter::Info, driver);
 }
 ```
+
+## Minimum supported Rust version (MSRV)
+
+Embassy is guaranteed to compile on the latest stable Rust version at the time of release. It might compile with older versions but that may change in any new patch release.
+
+## 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.
--- a/examples/stm32f4/src/bin/ws2812_pwm_dma.rs
+++ b/examples/stm32f4/src/bin/ws2812_pwm_dma.rs
@ -110,7 +110,7 @@ async fn main(_spawner: Spawner) {
                    &mut dp.DMA1_CH2,
                    5,
                    color_list[color_list_index],
-                    pac::TIM3.ccr(pwm_channel.raw()).as_ptr() as *mut _,
+                    pac::TIM3.ccr(pwm_channel.index()).as_ptr() as *mut _,
                    dma_transfer_option,
                )
                .await;
--- a/examples/stm32h7/src/bin/low_level_timer_api.rs
+++ b/examples/stm32h7/src/bin/low_level_timer_api.rs
@ -85,7 +85,7 @@ impl<'d, T: CaptureCompare32bitInstance> SimplePwm32<'d, T> {

        let mut this = Self { inner: tim };

-        this.set_freq(freq);
+        this.set_frequency(freq);
        this.inner.start();

        let r = T::regs_gp32();
@ -102,14 +102,14 @@ impl<'d, T: CaptureCompare32bitInstance> SimplePwm32<'d, T> {
    }

    pub fn enable(&mut self, channel: Channel) {
-        T::regs_gp32().ccer().modify(|w| w.set_cce(channel.raw(), true));
+        T::regs_gp32().ccer().modify(|w| w.set_cce(channel.index(), true));
    }

    pub fn disable(&mut self, channel: Channel) {
-        T::regs_gp32().ccer().modify(|w| w.set_cce(channel.raw(), false));
+        T::regs_gp32().ccer().modify(|w| w.set_cce(channel.index(), false));
    }

-    pub fn set_freq(&mut self, freq: Hertz) {
+    pub fn set_frequency(&mut self, freq: Hertz) {
        <T as embassy_stm32::timer::low_level::GeneralPurpose32bitInstance>::set_frequency(&mut self.inner, freq);
    }

@ -119,6 +119,6 @@ impl<'d, T: CaptureCompare32bitInstance> SimplePwm32<'d, T> {

    pub fn set_duty(&mut self, channel: Channel, duty: u32) {
        defmt::assert!(duty < self.get_max_duty());
-        T::regs_gp32().ccr(channel.raw()).modify(|w| w.set_ccr(duty))
+        T::regs_gp32().ccr(channel.index()).modify(|w| w.set_ccr(duty))
    }
 }
Author	SHA1	Message	Date
Ulf Lilleengen	51a67cb69a	fix: expose less	2023-12-20 13:34:34 +01:00
Ulf Lilleengen	b8777eaea2	better keep missing docs for into	2023-12-20 13:12:32 +01:00
Ulf Lilleengen	b0583b17cb	fix: make non-public instead	2023-12-20 13:08:06 +01:00
Ulf Lilleengen	246c49621c	docs: embassy-net-adin1110	2023-12-20 12:52:35 +01:00
Ulf Lilleengen	52a801fdb7	Merge pull request #2329 from embassy-rs/apidoc-embassy-net-driver-channel docs: document public apis of embassy-net-driver-channel	2023-12-20 09:08:55 +00:00
Ulf Lilleengen	fc6e70caa5	docs: document public apis of embassy-net-driver-channel	2023-12-20 09:24:10 +01:00
Dario Nieuwenhuis	97e919ea64	Merge pull request #2326 from embassy-rs/salty-update Salty update	2023-12-19 21:30:32 +00:00
Dario Nieuwenhuis	c7841a37fa	boot: update ed25519-dalek in dev-dependencies.	2023-12-19 22:26:50 +01:00
Dario Nieuwenhuis	589a16b255	Merge pull request #2327 from dragonnn/main fix stm32 rtc year from 1970 base 2000 to make leap years work	2023-12-19 20:26:01 +00:00
Ulf Lilleengen	4567b87482	cargo fmt	2023-12-19 21:21:52 +01:00
Ulf Lilleengen	12de90e13d	fix: update ed25519-dalek to new version	2023-12-19 21:20:30 +01:00
dragonn	871ed538b1	fix stm32 rtc year from 1970 base 2000	2023-12-19 21:17:42 +01:00
Ulf Lilleengen	efd5dbe019	fix: build warnings	2023-12-19 20:25:20 +01:00
Ulf Lilleengen	9d46ee0758	fix: update salty to released version	2023-12-19 20:24:55 +01:00
Dario Nieuwenhuis	e5912972ec	Merge pull request #2325 from embassy-rs/stm32-docs stm32: finish docs.	2023-12-19 17:07:53 +00:00
Dario Nieuwenhuis	c8c8b89104	stm32: doc everything else.	2023-12-19 18:03:20 +01:00
Dario Nieuwenhuis	189b15c426	stm32/timer: docs.	2023-12-19 17:35:38 +01:00
Dario Nieuwenhuis	41c3c26beb	Merge pull request #2323 from embassy-rs/embassy-usb-stuffs docs: document usb-logger and usb-dfu	2023-12-19 16:58:46 +01:00
Dario Nieuwenhuis	7ec1ed4de3	Merge pull request #2324 from barnabywalters/stm32-usart-docs stm32: Documented usart public API	2023-12-19 16:58:27 +01:00
Barnaby Walters	6564c04531	Reset .vscode/settings.json (doh)	2023-12-19 16:42:51 +01:00
Barnaby Walters	f97ef61ef8	Documented usart public API	2023-12-19 16:41:00 +01:00
Ulf Lilleengen	9ddf8b08e4	docs: document usb-logger and usb-dfu	2023-12-19 16:33:05 +01:00
Dario Nieuwenhuis	71584409d9	Merge pull request #2321 from embassy-rs/stm32-docs stm32: document hrtim, qspi, sdmmc, spi.	2023-12-19 15:29:26 +00:00
Dario Nieuwenhuis	1ea87ec6e7	stm32: document hrtim, qspi, sdmmc, spi.	2023-12-19 16:21:51 +01:00
Dario Nieuwenhuis	7d9a76da00	Merge pull request #2313 from eZioPan/update-metapac6 match up with "DMA cleanup" metapac change	2023-12-19 15:20:15 +00:00
Ulf Lilleengen	c995732b0e	Merge pull request #2320 from embassy-rs/cyw43-docs docs: document public apis for cyw43 driver	2023-12-19 15:12:45 +00:00
eZio Pan	3e2e109437	update metapac dep	2023-12-19 19:09:06 +08:00
eZio Pan	254d587385	match up with metapac change	2023-12-19 17:12:34 +08:00