diff --git a/kernel/debug.c b/kernel/debug.c
index 7b7a648..ec4b987 100644
--- a/kernel/debug.c
+++ b/kernel/debug.c
@@ -21,6 +21,16 @@
  * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
+/**
+ * @defgroup debug  Debug
+ * @{
+ */
+
+/**
+ * @file
+ * @brief  Debug console functions.
+ */
+
 #include <debug.h>
 #include <kernel/thread.h>
 #include <kernel/timer.h>
diff --git a/kernel/event.c b/kernel/event.c
index 97eb955..bdb6ec2 100644
--- a/kernel/event.c
+++ b/kernel/event.c
@@ -20,6 +20,26 @@
  * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
  * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
+
+/**
+ * @file
+ * @brief  Event wait and signal functions for threads.
+ * @defgroup event Events
+ *
+ * An event is a subclass of a wait queue.
+ *
+ * Threads wait for events, with optional timeouts.
+ *
+ * Events are "signaled", releasing waiting threads to continue.
+ * Signals may be one-shot signals (EVENT_FLAG_AUTOUNSIGNAL), in which
+ * case one signal releases only one thread, at which point it is
+ * automatically cleared. Otherwise, signals release all waiting threads
+ * to continue immediately until the signal is manually cleared with
+ * event_unsignal().
+ *
+ * @{
+ */
+
 #include <debug.h>
 #include <err.h>
 #include <kernel/event.h>
@@ -28,6 +48,13 @@
 #define EVENT_CHECK 1
 #endif
 
+/**
+ * @brief  Initialize an event object
+ *
+ * @param e        Event object to initialize
+ * @param initial  Initial value for "signaled" state
+ * @param flags    0 or EVENT_FLAG_AUTOUNSIGNAL
+ */
 void event_init(event_t *e, bool initial, uint flags)
 {
 #if EVENT_CHECK
@@ -40,6 +67,15 @@
 	wait_queue_init(&e->wait);
 }
 
+/**
+ * @brief  Destroy an event object.
+ *
+ * Event's resources are freed and it may no longer be
+ * used until event_init() is called again.  Any threads
+ * still waiting on the event will be resumed.
+ *
+ * @param e        Event object to initialize
+ */
 void event_destroy(event_t *e)
 {
 	enter_critical_section();
@@ -56,6 +92,21 @@
 	exit_critical_section();
 }
 
+/**
+ * @brief  Wait for event to be signaled
+ *
+ * If the event has already been signaled, this function
+ * returns immediately.  Otherwise, the current thread
+ * goes to sleep until the event object is signaled,
+ * the timeout is reached, or the event object is destroyed
+ * by another thread.
+ *
+ * @param e        Event object
+ * @param timeout  Timeout value, in ms
+ *
+ * @return  0 on success, ERR_TIMED_OUT on timeout,
+ *         other values on other errors.
+ */
 status_t event_wait_timeout(event_t *e, time_t timeout)
 {
 	status_t ret = NO_ERROR;
@@ -85,11 +136,31 @@
 	return ret;
 }
 
+/**
+ * @brief  Same as event_wait_timeout(), but without a timeout.
+ */
 status_t event_wait(event_t *e)
 {
 	return event_wait_timeout(e, INFINITE_TIME);
 }
 
+/**
+ * @brief  Signal an event
+ *
+ * Signals an event.  If EVENT_FLAG_AUTOUNSIGNAL is set in the event
+ * object's flags, only one waiting thread is allowed to proceed.  Otherwise,
+ * all waiting threads are allowed to proceed until such time as
+ * event_unsignal() is called.
+ *
+ * @param e	          Event object
+ * @param reschedule  If true, waiting thread(s) are executed immediately,
+ *                    and the current thread resumes only after the
+ *                    waiting threads have been satisfied. If false,
+ *                    waiting threads are placed at the end of the run
+ *                    queue.
+ *
+ * @return  Returns NO_ERROR on success.
+ */
 status_t event_signal(event_t *e, bool reschedule)
 {
 	enter_critical_section();
@@ -121,6 +192,18 @@
 	return NO_ERROR;
 }
 
+/**
+ * @brief  Clear the "signaled" property of an event
+ *
+ * Used mainly for event objects without the EVENT_FLAG_AUTOUNSIGNAL
+ * flag.  Once this function is called, threads that call event_wait()
+ * functions will once again need to wait until the event object
+ * is signaled.
+ *
+ * @param e  Event object
+ *
+ * @return  Returns NO_ERROR on success.
+ */
 status_t event_unsignal(event_t *e)
 {
 	enter_critical_section();
diff --git a/kernel/mutex.c b/kernel/mutex.c
index 1f7015d..07d2b19 100644
--- a/kernel/mutex.c
+++ b/kernel/mutex.c
@@ -20,6 +20,15 @@
  * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
  * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
+
+/**
+ * @file
+ * @brief  Mutex functions
+ *
+ * @defgroup mutex Mutex
+ * @{
+ */
+
 #include <debug.h>
 #include <err.h>
 #include <kernel/mutex.h>
@@ -29,6 +38,9 @@
 #define MUTEX_CHECK 1
 #endif
 
+/**
+ * @brief  Initialize a mutex_t
+ */
 void mutex_init(mutex_t *m)
 {
 #if MUTEX_CHECK
@@ -41,6 +53,12 @@
 	wait_queue_init(&m->wait);
 }
 
+/**
+ * @brief  Destroy a mutex_t
+ *
+ * This function frees any resources that were allocated
+ * in mutex_init().  The mutex_t object itself is not freed.
+ */
 void mutex_destroy(mutex_t *m)
 {
 	enter_critical_section();
@@ -59,6 +77,14 @@
 	exit_critical_section();
 }
 
+/**
+ * @brief  Acquire a mutex; wait if needed.
+ *
+ * This function waits for a mutex to become available.  It
+ * may wait forever if the mutex never becomes free.
+ *
+ * @return  NO_ERROR on success, other values on error
+ */
 status_t mutex_acquire(mutex_t *m)
 {
 	status_t ret = NO_ERROR;
@@ -94,6 +120,16 @@
 	return ret;
 }
 
+/**
+ * @brief  Mutex wait with timeout
+ *
+ * This function waits up to \a timeout ms for the mutex to become available.
+ * Timeout may be zero, in which case this function returns immediately if
+ * the mutex is not free.
+ *
+ * @return  NO_ERROR on success, ERR_TIMED_OUT on timeout,
+ * other values on error
+ */
 status_t mutex_acquire_timeout(mutex_t *m, time_t timeout)
 {
 	status_t ret = NO_ERROR;
@@ -140,6 +176,9 @@
 	return ret;
 }
 
+/**
+ * @brief  Release mutex
+ */
 status_t mutex_release(mutex_t *m)
 {
 	if (current_thread != m->holder)
diff --git a/kernel/thread.c b/kernel/thread.c
index 860e712..58dff8d 100644
--- a/kernel/thread.c
+++ b/kernel/thread.c
@@ -20,6 +20,16 @@
  * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
  * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
+
+/**
+ * @file
+ * @brief  Kernel threading
+ *
+ * This file is the core kernel threading interface.
+ *
+ * @defgroup thread Threads
+ * @{
+ */
 #include <debug.h>
 #include <list.h>
 #include <malloc.h>
@@ -100,6 +110,33 @@
 	strlcpy(t->name, name, sizeof(t->name));
 }
 
+/**
+ * @brief  Create a new thread
+ *
+ * This function creates a new thread.  The thread is initially suspended, so you
+ * need to call thread_resume() to execute it.
+ *
+ * @param  name        Name of thread
+ * @param  entry       Entry point of thread
+ * @param  arg         Arbitrary argument passed to entry()
+ * @param  priority    Execution priority for the thread.
+ * @param  stack_size  Stack size for the thread.
+ *
+ * Thread priority is an integer from 0 (lowest) to 31 (highest).  Some standard
+ * prioritys are defined in <kernel/thread.h>:
+ *
+ *	HIGHEST_PRIORITY
+ *	DPC_PRIORITY
+ *	HIGH_PRIORITY
+ *	DEFAULT_PRIORITY
+ *	LOW_PRIORITY
+ *	IDLE_PRIORITY
+ *	LOWEST_PRIORITY
+ *
+ * Stack size is typically set to DEFAULT_STACK_SIZE
+ *
+ * @return  Pointer to thread object, or NULL on failure.
+ */
 thread_t *thread_create(const char *name, thread_start_routine entry, void *arg, int priority, size_t stack_size)
 {
 	thread_t *t;
@@ -143,6 +180,16 @@
 	return t;
 }
 
+/**
+ * @brief  Make a suspended thread executable.
+ *
+ * This function is typically called to start a thread which has just been
+ * created with thread_create()
+ *
+ * @param t  Thread to resume
+ *
+ * @return NO_ERROR on success, ERR_NOT_SUSPENDED if thread was not suspended.
+ */
 status_t thread_resume(thread_t *t)
 {
 #if THREAD_CHECKS
@@ -186,6 +233,13 @@
 	free(t);
 }
 
+/**
+ * @brief  Terminate the current thread
+ *
+ * Current thread exits with the specified return code.
+ *
+ * This function does not return.
+ */
 void thread_exit(int retcode)
 {
 #if THREAD_CHECKS
@@ -216,10 +270,15 @@
 		arch_idle();
 }
 
-/* 
+/**
+ * @brief  Cause another thread to be executed.
+ *
  * Internal reschedule routine. The current thread needs to already be in whatever
  * state and queues it needs to be in. This routine simply picks the next thread and
  * switches to it.
+ *
+ * This is probably not the function you're looking for. See
+ * thread_yield() instead.
  */
 void thread_resched(void)
 {
@@ -317,6 +376,15 @@
 	arch_context_switch(oldthread, newthread);
 }
 
+/**
+ * @brief Yield the cpu to another thread
+ *
+ * This function places the current thread at the end of the run queue
+ * and yields the cpu to another waiting thread (if any.)
+ *
+ * This function will return at some later time. Possibly immediately if
+ * no other threads are waiting to execute.
+ */
 void thread_yield(void)
 {
 #if THREAD_CHECKS
@@ -339,6 +407,21 @@
 	exit_critical_section();
 }
 
+/**
+ * @brief  Briefly yield cpu to another thread
+ *
+ * This function is similar to thread_yield(), except that it will
+ * restart more quickly.
+ *
+ * This function places the current thread at the head of the run
+ * queue and then yields the cpu to another thread.
+ *
+ * Exception:  If the time slice for this thread has expired, then
+ * the thread goes to the end of the run queue.
+ *
+ * This function will return at some later time. Possibly immediately if
+ * no other threads are waiting to execute.
+ */
 void thread_preempt(void)
 {
 #if THREAD_CHECKS
@@ -364,6 +447,16 @@
 	exit_critical_section();
 }
 
+/**
+ * @brief  Suspend thread until woken.
+ *
+ * This function schedules another thread to execute.  This function does not
+ * return until the thread is made runable again by some other module.
+ *
+ * You probably don't want to call this function directly; it's meant to be called
+ * from other modules, such as mutex, which will presumably set the thread's
+ * state to blocked and add it to some queue or another.
+ */
 void thread_block(void)
 {
 #if THREAD_CHECKS
@@ -407,7 +500,16 @@
 	return INT_RESCHEDULE;
 }
 
-/* Put thread to sleep; delay specified in ms */
+/**
+ * @brief  Put thread to sleep; delay specified in ms
+ *
+ * This function puts the current thread to sleep until the specified
+ * delay in ms has expired.
+ *
+ * Note that this function could sleep for longer than the specified delay if
+ * other threads are running.  When the timer expires, this thread will
+ * be placed at the head of the run queue.
+ */
 void thread_sleep(time_t delay)
 {
 	timer_t timer;
@@ -426,6 +528,11 @@
 	exit_critical_section();
 }
 
+/**
+ * @brief  Initialize threading system
+ *
+ * This function is called once, from kmain()
+ */
 void thread_init_early(void)
 {
 	int i;
@@ -449,6 +556,11 @@
 	current_thread = t;
 }
 
+/**
+ * @brief Complete thread initialization
+ *
+ * This function is called once at boot time
+ */
 void thread_init(void)
 {
 #if PLATFORM_HAS_DYNAMIC_TIMER
@@ -456,11 +568,19 @@
 #endif
 }
 
+/**
+ * @brief Change name of current thread
+ */
 void thread_set_name(const char *name)
 {
 	strlcpy(current_thread->name, name, sizeof(current_thread->name));
 }
 
+/**
+ * @brief Change priority of current thread
+ *
+ * See thread_create() for a discussion of priority values.
+ */
 void thread_set_priority(int priority)
 {
 	if (priority < LOWEST_PRIORITY)
@@ -470,6 +590,13 @@
 	current_thread->priority = priority;
 }
 
+/**
+ * @brief  Become an idle thread
+ *
+ * This function marks the current thread as the idle thread -- the one which
+ * executes when there is nothing else to do.  This function does not return.
+ * This function is called once at boot time.
+ */
 void thread_become_idle(void)
 {
 	thread_set_name("idle");
@@ -478,6 +605,9 @@
 	idle_thread_routine();
 }
 
+/**
+ * @brief  Dump debugging info about the specified thread.
+ */
 void dump_thread(thread_t *t)
 {
 	dprintf(INFO, "dump_thread: t %p (%s)\n", t, t->name);
@@ -493,6 +623,9 @@
 	dprintf(INFO, "\n");
 }
 
+/**
+ * @brief  Dump debugging info about all threads
+ */
 void dump_all_threads(void)
 {
 	thread_t *t;
@@ -504,7 +637,17 @@
 	exit_critical_section();
 }
 
-/* wait queue */
+/** @} */
+
+
+/**
+ * @defgroup  wait  Wait Queue
+ * @{
+ */
+
+/**
+ * @brief  Initialize a wait queue
+ */
 void wait_queue_init(wait_queue_t *wait)
 {
 	wait->magic = WAIT_QUEUE_MAGIC;
@@ -526,6 +669,24 @@
 	return INT_NO_RESCHEDULE;
 }
 
+/**
+ * @brief  Block until a wait queue is notified.
+ *
+ * This function puts the current thread at the end of a wait
+ * queue and then blocks until some other thread wakes the queue
+ * up again.
+ *
+ * @param  wait     The wait queue to enter
+ * @param  timeout  The maximum time, in ms, to wait
+ *
+ * If the timeout is zero, this function returns immediately with
+ * ERR_TIMED_OUT.  If the timeout is INFINITE_TIME, this function
+ * waits indefinitely.  Otherwise, this function returns with
+ * ERR_TIMED_OUT at the end of the timeout period.
+ *
+ * @return ERR_TIMED_OUT on timeout, else returns the return
+ * value specified when the queue was woken by wait_queue_wake_one().
+ */
 status_t wait_queue_block(wait_queue_t *wait, time_t timeout)
 {
 	timer_t timer;
@@ -561,6 +722,20 @@
 	return current_thread->wait_queue_block_ret;
 }
 
+/**
+ * @brief  Wake up one thread sleeping on a wait queue
+ *
+ * This function removes one thread (if any) from the head of the wait queue and
+ * makes it executable.  The new thread will be placed at the head of the
+ * run queue.
+ *
+ * @param wait  The wait queue to wake
+ * @param reschedule  If true, the newly-woken thread will run immediately.
+ * @param wait_queue_error  The return value which the new thread will receive
+ * from wait_queue_block().
+ *
+ * @return  The number of threads woken (zero or one)
+ */
 int wait_queue_wake_one(wait_queue_t *wait, bool reschedule, status_t wait_queue_error)
 {
 	thread_t *t;
@@ -598,6 +773,21 @@
 	return ret;
 }
 
+
+/**
+ * @brief  Wake all threads sleeping on a wait queue
+ *
+ * This function removes all threads (if any) from the wait queue and
+ * makes them executable.  The new threads will be placed at the head of the
+ * run queue.
+ *
+ * @param wait  The wait queue to wake
+ * @param reschedule  If true, the newly-woken threads will run immediately.
+ * @param wait_queue_error  The return value which the new thread will receive
+ * from wait_queue_block().
+ *
+ * @return  The number of threads woken (zero or one)
+ */
 int wait_queue_wake_all(wait_queue_t *wait, bool reschedule, status_t wait_queue_error)
 {
 	thread_t *t;
@@ -641,6 +831,11 @@
 	return ret;
 }
 
+/**
+ * @brief  Free all resources allocated in wait_queue_init()
+ *
+ * If any threads were waiting on this queue, they are all woken.
+ */
 void wait_queue_destroy(wait_queue_t *wait, bool reschedule)
 {
 #if THREAD_CHECKS
@@ -651,6 +846,19 @@
 	wait->magic = 0;
 }
 
+/**
+ * @brief  Wake a specific thread in a wait queue
+ *
+ * This function extracts a specific thread from a wait queue, wakes it, and
+ * puts it at the head of the run queue.
+ *
+ * @param t  The thread to wake
+ * @param reschedule  If true, the newly-woken threads will run immediately.
+ * @param wait_queue_error  The return value which the new thread will receive
+ *   from wait_queue_block().
+ *
+ * @return ERR_NOT_BLOCKED if thread was not in any wait queue.
+ */
 status_t thread_unblock_from_wait_queue(thread_t *t, bool reschedule, status_t wait_queue_error)
 {
 	enter_critical_section();
diff --git a/kernel/timer.c b/kernel/timer.c
index c041d49..dd5cf9f 100644
--- a/kernel/timer.c
+++ b/kernel/timer.c
@@ -20,6 +20,20 @@
  * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
  * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
+
+/**
+ * @file
+ * @brief  Kernel timer subsystem
+ * @defgroup timer Timers
+ *
+ * The timer subsystem allows functions to be scheduled for later
+ * execution.  Each timer object is used to cause one function to
+ * be executed at a later time.
+ *
+ * Timer callback functions are called in interrupt context.
+ *
+ * @{
+ */
 #include <debug.h>
 #include <list.h>
 #include <kernel/thread.h>
@@ -31,6 +45,9 @@
 
 static enum handler_return timer_tick(void *arg, time_t now);
 
+/**
+ * @brief  Initialize a timer object
+ */
 void timer_initialize(timer_t *timer)
 {
 	timer->magic = TIMER_MAGIC;
@@ -93,6 +110,20 @@
 	exit_critical_section();
 }
 
+/**
+ * @brief  Set up a timer that executes once
+ *
+ * This function specifies a callback function to be called after a specified
+ * delay.  The function will be called one time.
+ *
+ * @param  timer The timer to use
+ * @param  delay The delay, in ms, before the timer is executed
+ * @param  callback  The function to call when the timer expires
+ * @param  arg  The argument to pass to the callback
+ *
+ * The timer function is declared as:
+ *   enum handler_return callback(struct timer *, time_t now, void *arg) { ... }
+ */
 void timer_set_oneshot(timer_t *timer, time_t delay, timer_callback callback, void *arg)
 {
 	if (delay == 0)
@@ -100,6 +131,20 @@
 	timer_set(timer, delay, 0, callback, arg);
 }
 
+/**
+ * @brief  Set up a timer that executes repeatedly
+ *
+ * This function specifies a callback function to be called after a specified
+ * delay.  The function will be called repeatedly.
+ *
+ * @param  timer The timer to use
+ * @param  delay The delay, in ms, before the timer is executed
+ * @param  callback  The function to call when the timer expires
+ * @param  arg  The argument to pass to the callback
+ *
+ * The timer function is declared as:
+ *   enum handler_return callback(struct timer *, time_t now, void *arg) { ... }
+ */
 void timer_set_periodic(timer_t *timer, time_t period, timer_callback callback, void *arg)
 {
 	if (period == 0)
@@ -107,6 +152,9 @@
 	timer_set(timer, period, period, callback, arg);
 }
 
+/**
+ * @brief  Cancel a pending timer
+ */
 void timer_cancel(timer_t *timer)
 {
 	DEBUG_ASSERT(timer->magic == TIMER_MAGIC);