diff --git a/support/task_control/src/lib.rs b/support/task_control/src/lib.rs
index 8fc78c773c..6ebcbde90f 100644
--- a/support/task_control/src/lib.rs
+++ b/support/task_control/src/lib.rs
@@ -35,7 +35,11 @@ pub trait AsyncRun<S>: 'static + Send {
     ///
     /// If the function instead returns `Err(Cancelled)`, this indicates that
     /// the task's work is not complete, and it should be restarted after
-    /// handling any incoming events.
+    /// handling any incoming events. Implementations that choose to use
+    /// [`StopTask::until_stopped`] must be cancel-tolerant: because
+    /// [`StopTask::until_stopped`] drops the inner future when a stop
+    /// is signaled, implementations must ensure no in-flight work is silently
+    /// lost across a cancellation.
     fn run(
         &mut self,
         stop: &mut StopTask<'_>,
@@ -134,8 +138,17 @@ impl Future for StopTask<'_> {
     }
 }
 
-/// A task wrapper that runs the task asynchronously and provides access to its
-/// state.
+/// A task wrapper that runs a task asynchronously and provides access to its
+/// state and control over its execution (start/stop).
+///
+/// Pairs a task implementation `T: AsyncRun<S>` with transient state `S`.
+/// Execution is cancelled when [`stop`](Self::stop) is invoked.
+///
+/// Outside of an actual [`stop`](Self::stop), `TaskControl` also raises the
+/// stop signal to fulfill [`update_with`](Self::update_with) and
+/// [`Inspect`]/[`InspectMut`] calls, after which `run` is re-invoked with
+/// the (possibly updated) state. See [`AsyncRun`] for the cancel-tolerance
+/// requirements this places on implementations.
 pub struct TaskControl<T, S> {
     inner: Inner<T, S>,
 }