diff --git a/embassy-rp/CHANGELOG.md b/embassy-rp/CHANGELOG.md
index 3b3cb5351b..8303e8867d 100644
--- a/embassy-rp/CHANGELOG.md
+++ b/embassy-rp/CHANGELOG.md
@@ -8,6 +8,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 <!-- next-header -->
 ## Unreleased - ReleaseDate
 
+- Enable RP Pico maths functions
 - Fix several minor typos in documentation
 - Add PIO SPI
 - Add PIO I2S input
diff --git a/embassy-rp/src/float/add_sub.rs b/embassy-rp/src/float/add_sub.rs
index 673544cfec..6cbe2a9a52 100644
--- a/embassy-rp/src/float/add_sub.rs
+++ b/embassy-rp/src/float/add_sub.rs
@@ -1,3 +1,5 @@
+//! Rust implementation of ROM floating point addition and subtraction functions.
+
 // Credit: taken from `rp-hal` (also licensed Apache+MIT)
 // https://github.com/rp-rs/rp-hal/blob/main/rp2040-hal/src/float/add_sub.rs
 
diff --git a/embassy-rp/src/float/cmp.rs b/embassy-rp/src/float/cmp.rs
index f917eb9b34..4bd01a67f9 100644
--- a/embassy-rp/src/float/cmp.rs
+++ b/embassy-rp/src/float/cmp.rs
@@ -1,3 +1,5 @@
+//! Rust implementation of floating point comparison.
+
 // Credit: taken from `rp-hal` (also licensed Apache+MIT)
 // https://github.com/rp-rs/rp-hal/blob/main/rp2040-hal/src/float/cmp.rs
 
diff --git a/embassy-rp/src/float/conv.rs b/embassy-rp/src/float/conv.rs
index 021826e285..a5ecc532fa 100644
--- a/embassy-rp/src/float/conv.rs
+++ b/embassy-rp/src/float/conv.rs
@@ -1,3 +1,5 @@
+//! Rust implementation of floating point conversion.
+
 // Credit: taken from `rp-hal` (also licensed Apache+MIT)
 // https://github.com/rp-rs/rp-hal/blob/main/rp2040-hal/src/float/conv.rs
 
diff --git a/embassy-rp/src/float/div.rs b/embassy-rp/src/float/div.rs
index 87d1e38e5f..0028d00c48 100644
--- a/embassy-rp/src/float/div.rs
+++ b/embassy-rp/src/float/div.rs
@@ -1,3 +1,5 @@
+//! Rust implementation of floating point division.
+
 // Credit: taken from `rp-hal` (also licensed Apache+MIT)
 // https://github.com/rp-rs/rp-hal/blob/main/rp2040-hal/src/float/conv.rs
 
diff --git a/embassy-rp/src/float/functions.rs b/embassy-rp/src/float/functions.rs
index 1701682377..674eee9e90 100644
--- a/embassy-rp/src/float/functions.rs
+++ b/embassy-rp/src/float/functions.rs
@@ -1,3 +1,5 @@
+//! Rust implementation of floating point functions.
+
 // Credit: taken from `rp-hal` (also licensed Apache+MIT)
 // https://github.com/rp-rs/rp-hal/blob/main/rp2040-hal/src/float/functions.rs
 
diff --git a/embassy-rp/src/float/mod.rs b/embassy-rp/src/float/mod.rs
index 3ad6f1c501..1d0628b535 100644
--- a/embassy-rp/src/float/mod.rs
+++ b/embassy-rp/src/float/mod.rs
@@ -1,3 +1,5 @@
+//! Rust implementation of floating point operations.
+
 // Credit: taken from `rp-hal` (also licensed Apache+MIT)
 // https://github.com/rp-rs/rp-hal/blob/main/rp2040-hal/src/float/mod.rs
 
@@ -142,9 +144,9 @@ macro_rules! float_impl {
 float_impl!(f32, u32, 32, 23);
 float_impl!(f64, u64, 64, 52);
 
-mod add_sub;
-mod cmp;
-mod conv;
-mod div;
-mod functions;
-mod mul;
+pub mod add_sub;
+pub mod cmp;
+pub mod conv;
+pub mod div;
+pub mod functions;
+pub mod mul;
diff --git a/embassy-rp/src/float/mul.rs b/embassy-rp/src/float/mul.rs
index ceb0210e3c..7efe559746 100644
--- a/embassy-rp/src/float/mul.rs
+++ b/embassy-rp/src/float/mul.rs
@@ -1,3 +1,5 @@
+//! Rust implementation of floating point multiplication.
+
 // Credit: taken from `rp-hal` (also licensed Apache+MIT)
 // https://github.com/rp-rs/rp-hal/blob/main/rp2040-hal/src/float/mul.rs
 
diff --git a/embassy-rp/src/lib.rs b/embassy-rp/src/lib.rs
index 4cb1a0912d..b43da93fbc 100644
--- a/embassy-rp/src/lib.rs
+++ b/embassy-rp/src/lib.rs
@@ -29,7 +29,7 @@ pub mod clocks;
 pub mod dma;
 pub mod flash;
 #[cfg(feature = "rp2040")]
-mod float;
+pub mod float;
 pub mod gpio;
 pub mod i2c;
 pub mod i2c_slave;