diff --git a/.gitignore b/.gitignore
index 8f29b01..85bad5a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -21,3 +21,4 @@ htmlcov/*
 
 # docs related
 docs/_build/
+docs/source/_autosummary/
diff --git a/docs/source/_templates/custom-class-template.rst b/docs/source/_templates/custom-class-template.rst
new file mode 100644
index 0000000..f73eda5
--- /dev/null
+++ b/docs/source/_templates/custom-class-template.rst
@@ -0,0 +1,34 @@
+{{ fullname | escape | underline}}
+
+.. currentmodule:: {{ module }}
+
+.. autoclass:: {{ objname }}
+   :members:
+   :show-inheritance:
+   :inherited-members:
+   :special-members: __call__, __add__, __mul__
+
+   {% block methods %}
+   {% if methods %}
+   .. rubric:: {{ _('Methods') }}
+
+   .. autosummary::
+      :nosignatures:
+   {% for item in methods %}
+      {%- if not item.startswith('_') %}
+      ~{{ name }}.{{ item }}
+      {%- endif -%}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+   {% block attributes %}
+   {% if attributes %}
+   .. rubric:: {{ _('Attributes') }}
+
+   .. autosummary::
+   {% for item in attributes %}
+      ~{{ name }}.{{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
diff --git a/docs/source/_templates/custom-module-template.rst b/docs/source/_templates/custom-module-template.rst
new file mode 100644
index 0000000..d066d0e
--- /dev/null
+++ b/docs/source/_templates/custom-module-template.rst
@@ -0,0 +1,66 @@
+{{ fullname | escape | underline}}
+
+.. automodule:: {{ fullname }}
+
+   {% block attributes %}
+   {% if attributes %}
+   .. rubric:: Module attributes
+
+   .. autosummary::
+      :toctree:
+   {% for item in attributes %}
+      {{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+   {% block functions %}
+   {% if functions %}
+   .. rubric:: {{ _('Functions') }}
+
+   .. autosummary::
+      :toctree:
+      :nosignatures:
+   {% for item in functions %}
+      {{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+   {% block classes %}
+   {% if classes %}
+   .. rubric:: {{ _('Classes') }}
+
+   .. autosummary::
+      :toctree:
+      :template: custom-class-template.rst
+      :nosignatures:
+   {% for item in classes %}
+      {{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+   {% block exceptions %}
+   {% if exceptions %}
+   .. rubric:: {{ _('Exceptions') }}
+
+   .. autosummary::
+      :toctree:
+   {% for item in exceptions %}
+      {{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+{% block modules %}
+{% if modules %}
+.. autosummary::
+   :toctree:
+   :template: custom-module-template.rst
+   :recursive:
+{% for item in modules %}
+   {{ item }}
+{%- endfor %}
+{% endif %}
+{% endblock %}
diff --git a/docs/source/api.rst b/docs/source/api.rst
index a693f61..4d602fd 100644
--- a/docs/source/api.rst
+++ b/docs/source/api.rst
@@ -2,6 +2,8 @@ API
 ===
 
 .. autosummary::
-   :toctree: generated
+   :toctree: _autosummary
+   :template: custom-module-template.rst
+   :recursive:
 
    sigmf
diff --git a/docs/source/conf.py b/docs/source/conf.py
index 8811e5c..9905300 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -7,6 +7,7 @@
 
 import datetime
 import re
+import sys
 from pathlib import Path
 
 # parse info from project files
@@ -16,7 +17,9 @@
     init = handle.read()
     toolversion = re.search(r'__version__\s*=\s*[\'"]([^\'"]*)[\'"]', init).group(1)
     specversion = re.search(r'__specification__\s*=\s*[\'"]([^\'"]*)[\'"]', init).group(1)
-print("DBUG", toolversion, specversion)
+
+# autodoc needs special pathing
+sys.path.append(str(root))
 
 # -- Project information
 
@@ -35,6 +38,7 @@
     "sphinx.ext.autodoc",
     "sphinx.ext.autosummary",
     "sphinx.ext.intersphinx",
+    "sphinx.ext.napoleon",  # allows numpy-style docstrings
 ]
 
 intersphinx_mapping = {
diff --git a/docs/source/usage.rst b/docs/source/usage.rst
index 4d42aac..7991117 100644
--- a/docs/source/usage.rst
+++ b/docs/source/usage.rst
@@ -29,13 +29,13 @@ Testing can be run locally:
 
    $ coverage run
 
-Run coverage on multiple python versions:
+Run tests within a temporary environment:
 
 .. code-block:: console
 
    $ tox run
 
-Other tools developers may want to use:
+Tools developers may want to use:
 
 .. code-block:: console