diff --git a/cortex-m-rt/src/lib.rs b/cortex-m-rt/src/lib.rs
index 6456a5ea..920c9897 100644
--- a/cortex-m-rt/src/lib.rs
+++ b/cortex-m-rt/src/lib.rs
@@ -225,12 +225,15 @@
 //! - `DefaultHandler`. This is the default handler. If not overridden using `#[exception] fn
 //! DefaultHandler(..` this will be an infinite loop.
 //!
-//! - `HardFaultTrampoline`. This is the real hard fault handler. This function is simply a
-//! trampoline that jumps into the user defined hard fault handler named `HardFault`. The
-//! trampoline is required to set up the pointer to the stacked exception frame.
-//!
-//! - `HardFault`. This is the user defined hard fault handler. If not overridden using
-//! `#[exception] fn HardFault(..` it will default to an infinite loop.
+//! - `HardFault` and `_HardFault`. These function handle the hard fault handling and what they
+//! do depends on whether the hard fault is overridden and whether the trampoline is enabled (which it is by default).
+//!   - No override: Both are the same function. The function is an infinite loop defined in the cortex-m-rt crate.
+//!   - Trampoline enabled: `HardFault` is the real hard fault handler defined in assembly. This function is simply a
+//! trampoline that jumps into the rust defined `_HardFault` function. This second function jumps to the user-defined
+//! handler with the exception frame as parameter. This second jump is usually optimised away with inlining.
+//!   - Trampoline disabled: `HardFault` is the user defined function. This means the user function is called directly
+//! from the vector table. `_HardFault` still exists, but is an empty function that is purely there for compiler
+//! diagnostics.
 //!
 //! - `__STACK_START`. This is the first entry in the `.vector_table` section. This symbol contains
 //! the initial value of the stack pointer; this is where the stack will be located -- the stack
@@ -724,9 +727,18 @@ pub use macros::entry;
 ///
 /// # Usage
 ///
-/// `#[exception] unsafe fn HardFault(..` sets the hard fault handler. The handler must have
-/// signature `unsafe fn(&ExceptionFrame) -> !`. This handler is not allowed to return as that can
-/// cause undefined behavior.
+/// ## HardFault handler
+///
+/// `#[exception(trampoline = true)] unsafe fn HardFault(..` sets the hard fault handler.
+/// If the trampoline parameter is set to true, the handler must have signature `unsafe fn(&ExceptionFrame) -> !`.
+/// If set to false, the handler must have signature `unsafe fn() -> !`.
+///
+/// This handler is not allowed to return as that can cause undefined behavior.
+///
+/// To maintain backwards compatibility the attribute can be used without trampoline parameter (`#[exception]`),
+/// which sets the trampoline to true.
+///
+/// ## Default handler
 ///
 /// `#[exception] unsafe fn DefaultHandler(..` sets the *default* handler. All exceptions which have
 /// not been assigned a handler will be serviced by this handler. This handler must have signature
@@ -734,6 +746,8 @@ pub use macros::entry;
 /// number when the handler is servicing a core exception; `irqn` will be a positive number when the
 /// handler is servicing a device specific exception (interrupt).
 ///
+/// ## Other handlers
+///
 /// `#[exception] fn Name(..` overrides the default handler for the exception with the given `Name`.
 /// These handlers must have signature `[unsafe] fn() [-> !]`. When overriding these other exception
 /// it's possible to add state to them by declaring `static mut` variables at the beginning of the