diff --git a/.buildinfo b/.buildinfo
index c4828ff..11f10b2 100644
--- a/.buildinfo
+++ b/.buildinfo
@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: e169426e4526ef624160678ae44ec8f7
+config: 252674583c9f67484aabf36fe01b62a3
 tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/_sources/overview.rst.txt b/_sources/overview.rst.txt
index 6c56657..393ddd6 100644
--- a/_sources/overview.rst.txt
+++ b/_sources/overview.rst.txt
@@ -23,10 +23,10 @@ Modbus supports the following 3 communication-link layers:
      - TCP/IP using standard port 502.
    * - UDP
      - UDP/IP using standard port 502. The use of UDP/IP is not part of the MODBUS
-     - standard but is useful for FPGAs with Ethernet in firmware which may provide
-     - support only for UDP.  The only difference between TCP and UDP operation is
-     - that when using UDP a missing reply packet is not considered to
-     - be an error until the transaction has been attempted 5 times.
+       standard but is useful for FPGAs with Ethernet in firmware which may provide
+       support only for UDP.  The only difference between TCP and UDP operation is
+       that when using UDP a missing reply packet is not considered to
+       be an error until the transaction has been attempted 5 times.
    * - RTU
      - RTU is normally run over serial communication links, i.e. RS-232,
        RS-422, or RS-485. RTU uses an additional CRC for packet checking. The
diff --git a/_static/basic.css b/_static/basic.css
index 30fee9d..f316efc 100644
--- a/_static/basic.css
+++ b/_static/basic.css
@@ -4,7 +4,7 @@
  *
  * Sphinx stylesheet -- basic theme.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
diff --git a/_static/doctools.js b/_static/doctools.js
index d06a71d..4d67807 100644
--- a/_static/doctools.js
+++ b/_static/doctools.js
@@ -4,7 +4,7 @@
  *
  * Base JavaScript utilities for all Sphinx HTML documentation.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
diff --git a/_static/language_data.js b/_static/language_data.js
index 250f566..367b8ed 100644
--- a/_static/language_data.js
+++ b/_static/language_data.js
@@ -5,7 +5,7 @@
  * This script contains the language-specific data used by searchtools.js,
  * namely the list of stopwords, stemmer, scorer and splitter.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
@@ -13,7 +13,7 @@
 var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"];
 
 
-/* Non-minified version is copied as a separate JS file, is available */
+/* Non-minified version is copied as a separate JS file, if available */
 
 /**
  * Porter Stemmer
diff --git a/_static/searchtools.js b/_static/searchtools.js
index 7918c3f..92da3f8 100644
--- a/_static/searchtools.js
+++ b/_static/searchtools.js
@@ -4,7 +4,7 @@
  *
  * Sphinx JavaScript utilities for the full-text search.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
@@ -99,7 +99,7 @@ const _displayItem = (item, searchTerms, highlightTerms) => {
       .then((data) => {
         if (data)
           listItem.appendChild(
-            Search.makeSearchSummary(data, searchTerms)
+            Search.makeSearchSummary(data, searchTerms, anchor)
           );
         // highlight search terms in the summary
         if (SPHINX_HIGHLIGHT_ENABLED)  // set in sphinx_highlight.js
@@ -116,8 +116,8 @@ const _finishSearch = (resultCount) => {
     );
   else
     Search.status.innerText = _(
-      `Search finished, found ${resultCount} page(s) matching the search query.`
-    );
+      "Search finished, found ${resultCount} page(s) matching the search query."
+    ).replace('${resultCount}', resultCount);
 };
 const _displayNextItem = (
   results,
@@ -137,6 +137,22 @@ const _displayNextItem = (
   // search finished, update title and status message
   else _finishSearch(resultCount);
 };
+// Helper function used by query() to order search results.
+// Each input is an array of [docname, title, anchor, descr, score, filename].
+// Order the results by score (in opposite order of appearance, since the
+// `_displayNextItem` function uses pop() to retrieve items) and then alphabetically.
+const _orderResultsByScoreThenName = (a, b) => {
+  const leftScore = a[4];
+  const rightScore = b[4];
+  if (leftScore === rightScore) {
+    // same score: sort alphabetically
+    const leftTitle = a[1].toLowerCase();
+    const rightTitle = b[1].toLowerCase();
+    if (leftTitle === rightTitle) return 0;
+    return leftTitle > rightTitle ? -1 : 1; // inverted is intentional
+  }
+  return leftScore > rightScore ? 1 : -1;
+};
 
 /**
  * Default splitQuery function. Can be overridden in ``sphinx.search`` with a
@@ -160,13 +176,26 @@ const Search = {
   _queued_query: null,
   _pulse_status: -1,
 
-  htmlToText: (htmlString) => {
+  htmlToText: (htmlString, anchor) => {
     const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html');
-    htmlElement.querySelectorAll(".headerlink").forEach((el) => { el.remove() });
+    for (const removalQuery of [".headerlinks", "script", "style"]) {
+      htmlElement.querySelectorAll(removalQuery).forEach((el) => { el.remove() });
+    }
+    if (anchor) {
+      const anchorContent = htmlElement.querySelector(`[role="main"] ${anchor}`);
+      if (anchorContent) return anchorContent.textContent;
+
+      console.warn(
+        `Anchored content block not found. Sphinx search tries to obtain it via DOM query '[role=main] ${anchor}'. Check your theme or template.`
+      );
+    }
+
+    // if anchor not specified or not found, fall back to main content
     const docContent = htmlElement.querySelector('[role="main"]');
-    if (docContent !== undefined) return docContent.textContent;
+    if (docContent) return docContent.textContent;
+
     console.warn(
-      "Content block not found. Sphinx search tries to obtain it via '[role=main]'. Could you check your theme or template."
+      "Content block not found. Sphinx search tries to obtain it via DOM query '[role=main]'. Check your theme or template."
     );
     return "";
   },
@@ -239,16 +268,7 @@ const Search = {
     else Search.deferQuery(query);
   },
 
-  /**
-   * execute search (requires search index to be loaded)
-   */
-  query: (query) => {
-    const filenames = Search._index.filenames;
-    const docNames = Search._index.docnames;
-    const titles = Search._index.titles;
-    const allTitles = Search._index.alltitles;
-    const indexEntries = Search._index.indexentries;
-
+  _parseQuery: (query) => {
     // stem the search terms and add them to the correct list
     const stemmer = new Stemmer();
     const searchTerms = new Set();
@@ -284,16 +304,32 @@ const Search = {
     // console.info("required: ", [...searchTerms]);
     // console.info("excluded: ", [...excludedTerms]);
 
-    // array of [docname, title, anchor, descr, score, filename]
-    let results = [];
+    return [query, searchTerms, excludedTerms, highlightTerms, objectTerms];
+  },
+
+  /**
+   * execute search (requires search index to be loaded)
+   */
+  _performSearch: (query, searchTerms, excludedTerms, highlightTerms, objectTerms) => {
+    const filenames = Search._index.filenames;
+    const docNames = Search._index.docnames;
+    const titles = Search._index.titles;
+    const allTitles = Search._index.alltitles;
+    const indexEntries = Search._index.indexentries;
+
+    // Collect multiple result groups to be sorted separately and then ordered.
+    // Each is an array of [docname, title, anchor, descr, score, filename].
+    const normalResults = [];
+    const nonMainIndexResults = [];
+
     _removeChildren(document.getElementById("search-progress"));
 
-    const queryLower = query.toLowerCase();
+    const queryLower = query.toLowerCase().trim();
     for (const [title, foundTitles] of Object.entries(allTitles)) {
-      if (title.toLowerCase().includes(queryLower) && (queryLower.length >= title.length/2)) {
+      if (title.toLowerCase().trim().includes(queryLower) && (queryLower.length >= title.length/2)) {
         for (const [file, id] of foundTitles) {
           let score = Math.round(100 * queryLower.length / title.length)
-          results.push([
+          normalResults.push([
             docNames[file],
             titles[file] !== title ? `${titles[file]} > ${title}` : title,
             id !== null ? "#" + id : "",
@@ -308,46 +344,47 @@ const Search = {
     // search for explicit entries in index directives
     for (const [entry, foundEntries] of Object.entries(indexEntries)) {
       if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) {
-        for (const [file, id] of foundEntries) {
-          let score = Math.round(100 * queryLower.length / entry.length)
-          results.push([
+        for (const [file, id, isMain] of foundEntries) {
+          const score = Math.round(100 * queryLower.length / entry.length);
+          const result = [
             docNames[file],
             titles[file],
             id ? "#" + id : "",
             null,
             score,
             filenames[file],
-          ]);
+          ];
+          if (isMain) {
+            normalResults.push(result);
+          } else {
+            nonMainIndexResults.push(result);
+          }
         }
       }
     }
 
     // lookup as object
     objectTerms.forEach((term) =>
-      results.push(...Search.performObjectSearch(term, objectTerms))
+      normalResults.push(...Search.performObjectSearch(term, objectTerms))
     );
 
     // lookup as search terms in fulltext
-    results.push(...Search.performTermsSearch(searchTerms, excludedTerms));
+    normalResults.push(...Search.performTermsSearch(searchTerms, excludedTerms));
 
     // let the scorer override scores with a custom scoring function
-    if (Scorer.score) results.forEach((item) => (item[4] = Scorer.score(item)));
-
-    // now sort the results by score (in opposite order of appearance, since the
-    // display function below uses pop() to retrieve items) and then
-    // alphabetically
-    results.sort((a, b) => {
-      const leftScore = a[4];
-      const rightScore = b[4];
-      if (leftScore === rightScore) {
-        // same score: sort alphabetically
-        const leftTitle = a[1].toLowerCase();
-        const rightTitle = b[1].toLowerCase();
-        if (leftTitle === rightTitle) return 0;
-        return leftTitle > rightTitle ? -1 : 1; // inverted is intentional
-      }
-      return leftScore > rightScore ? 1 : -1;
-    });
+    if (Scorer.score) {
+      normalResults.forEach((item) => (item[4] = Scorer.score(item)));
+      nonMainIndexResults.forEach((item) => (item[4] = Scorer.score(item)));
+    }
+
+    // Sort each group of results by score and then alphabetically by name.
+    normalResults.sort(_orderResultsByScoreThenName);
+    nonMainIndexResults.sort(_orderResultsByScoreThenName);
+
+    // Combine the result groups in (reverse) order.
+    // Non-main index entries are typically arbitrary cross-references,
+    // so display them after other results.
+    let results = [...nonMainIndexResults, ...normalResults];
 
     // remove duplicate search results
     // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept
@@ -361,7 +398,12 @@ const Search = {
       return acc;
     }, []);
 
-    results = results.reverse();
+    return results.reverse();
+  },
+
+  query: (query) => {
+    const [searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms] = Search._parseQuery(query);
+    const results = Search._performSearch(searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms);
 
     // for debugging
     //Search.lastresults = results.slice();  // a copy
@@ -466,14 +508,18 @@ const Search = {
       // add support for partial matches
       if (word.length > 2) {
         const escapedWord = _escapeRegExp(word);
-        Object.keys(terms).forEach((term) => {
-          if (term.match(escapedWord) && !terms[word])
-            arr.push({ files: terms[term], score: Scorer.partialTerm });
-        });
-        Object.keys(titleTerms).forEach((term) => {
-          if (term.match(escapedWord) && !titleTerms[word])
-            arr.push({ files: titleTerms[word], score: Scorer.partialTitle });
-        });
+        if (!terms.hasOwnProperty(word)) {
+          Object.keys(terms).forEach((term) => {
+            if (term.match(escapedWord))
+              arr.push({ files: terms[term], score: Scorer.partialTerm });
+          });
+        }
+        if (!titleTerms.hasOwnProperty(word)) {
+          Object.keys(titleTerms).forEach((term) => {
+            if (term.match(escapedWord))
+              arr.push({ files: titleTerms[term], score: Scorer.partialTitle });
+          });
+        }
       }
 
       // no match but word was a required one
@@ -496,9 +542,8 @@ const Search = {
 
       // create the mapping
       files.forEach((file) => {
-        if (fileMap.has(file) && fileMap.get(file).indexOf(word) === -1)
-          fileMap.get(file).push(word);
-        else fileMap.set(file, [word]);
+        if (!fileMap.has(file)) fileMap.set(file, [word]);
+        else if (fileMap.get(file).indexOf(word) === -1) fileMap.get(file).push(word);
       });
     });
 
@@ -549,8 +594,8 @@ const Search = {
    * search summary for a given text. keywords is a list
    * of stemmed words.
    */
-  makeSearchSummary: (htmlText, keywords) => {
-    const text = Search.htmlToText(htmlText);
+  makeSearchSummary: (htmlText, keywords, anchor) => {
+    const text = Search.htmlToText(htmlText, anchor);
     if (text === "") return null;
 
     const textLower = text.toLowerCase();
diff --git a/acknowledgments.html b/acknowledgments.html
index ba22580..fa94978 100644
--- a/acknowledgments.html
+++ b/acknowledgments.html
@@ -16,7 +16,7 @@
         <script src="_static/jquery.js?v=5d32c60e"></script>
         <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
         <script src="_static/documentation_options.js?v=5929fcd5"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
+        <script src="_static/doctools.js?v=9a2dae69"></script>
         <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
@@ -102,7 +102,7 @@ <h1>Acknowledgments<a class="headerlink" href="#acknowledgments" title="Link to
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023, Mark Rivers.
-      <span class="lastupdated">Last updated on 2024-April-16.
+      <span class="lastupdated">Last updated on 2024-April-22.
       </span></p>
   </div>
 
diff --git a/creating_driver.html b/creating_driver.html
index b21790e..ea70a3b 100644
--- a/creating_driver.html
+++ b/creating_driver.html
@@ -16,7 +16,7 @@
         <script src="_static/jquery.js?v=5d32c60e"></script>
         <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
         <script src="_static/documentation_options.js?v=5929fcd5"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
+        <script src="_static/doctools.js?v=9a2dae69"></script>
         <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
@@ -582,7 +582,7 @@ <h2>Number formats<a class="headerlink" href="#number-formats" title="Link to th
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023, Mark Rivers.
-      <span class="lastupdated">Last updated on 2024-April-16.
+      <span class="lastupdated">Last updated on 2024-April-22.
       </span></p>
   </div>
 
diff --git a/debugging.html b/debugging.html
index 8dc4b3a..51a0d14 100644
--- a/debugging.html
+++ b/debugging.html
@@ -16,7 +16,7 @@
         <script src="_static/jquery.js?v=5d32c60e"></script>
         <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
         <script src="_static/documentation_options.js?v=5929fcd5"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
+        <script src="_static/doctools.js?v=9a2dae69"></script>
         <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
@@ -222,7 +222,7 @@ <h2>asynRegister.adl<a class="headerlink" href="#asynregister-adl" title="Link t
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023, Mark Rivers.
-      <span class="lastupdated">Last updated on 2024-April-16.
+      <span class="lastupdated">Last updated on 2024-April-22.
       </span></p>
   </div>
 
diff --git a/device_support.html b/device_support.html
index 0ed245e..63ddbdf 100644
--- a/device_support.html
+++ b/device_support.html
@@ -16,7 +16,7 @@
         <script src="_static/jquery.js?v=5d32c60e"></script>
         <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
         <script src="_static/documentation_options.js?v=5929fcd5"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
+        <script src="_static/doctools.js?v=9a2dae69"></script>
         <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
@@ -799,7 +799,7 @@ <h2>Template files<a class="headerlink" href="#template-files" title="Link to th
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023, Mark Rivers.
-      <span class="lastupdated">Last updated on 2024-April-16.
+      <span class="lastupdated">Last updated on 2024-April-22.
       </span></p>
   </div>
 
diff --git a/driver_architecture.html b/driver_architecture.html
index 94ea466..42f7807 100644
--- a/driver_architecture.html
+++ b/driver_architecture.html
@@ -16,7 +16,7 @@
         <script src="_static/jquery.js?v=5d32c60e"></script>
         <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
         <script src="_static/documentation_options.js?v=5929fcd5"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
+        <script src="_static/doctools.js?v=9a2dae69"></script>
         <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
@@ -261,7 +261,7 @@ <h2>Platform independence<a class="headerlink" href="#platform-independence" tit
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023, Mark Rivers.
-      <span class="lastupdated">Last updated on 2024-April-16.
+      <span class="lastupdated">Last updated on 2024-April-22.
       </span></p>
   </div>
 
diff --git a/example_applications.html b/example_applications.html
index 2a1986d..1bcccad 100644
--- a/example_applications.html
+++ b/example_applications.html
@@ -16,7 +16,7 @@
         <script src="_static/jquery.js?v=5d32c60e"></script>
         <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
         <script src="_static/documentation_options.js?v=5929fcd5"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
+        <script src="_static/doctools.js?v=9a2dae69"></script>
         <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
@@ -292,7 +292,7 @@ <h1>Example Applications<a class="headerlink" href="#example-applications" title
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023, Mark Rivers.
-      <span class="lastupdated">Last updated on 2024-April-16.
+      <span class="lastupdated">Last updated on 2024-April-22.
       </span></p>
   </div>
 
diff --git a/genindex.html b/genindex.html
index c443c56..cdcc8d2 100644
--- a/genindex.html
+++ b/genindex.html
@@ -15,7 +15,7 @@
         <script src="_static/jquery.js?v=5d32c60e"></script>
         <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
         <script src="_static/documentation_options.js?v=5929fcd5"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
+        <script src="_static/doctools.js?v=9a2dae69"></script>
         <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="#" />
@@ -91,7 +91,7 @@ <h1 id="index">Index</h1>
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023, Mark Rivers.
-      <span class="lastupdated">Last updated on 2024-April-16.
+      <span class="lastupdated">Last updated on 2024-April-22.
       </span></p>
   </div>
 
diff --git a/index.html b/index.html
index bcdff44..55ef175 100644
--- a/index.html
+++ b/index.html
@@ -16,7 +16,7 @@
         <script src="_static/jquery.js?v=5d32c60e"></script>
         <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
         <script src="_static/documentation_options.js?v=5929fcd5"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
+        <script src="_static/doctools.js?v=9a2dae69"></script>
         <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
@@ -167,7 +167,7 @@ <h2>Table of Contents<a class="headerlink" href="#table-of-contents" title="Link
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023, Mark Rivers.
-      <span class="lastupdated">Last updated on 2024-April-16.
+      <span class="lastupdated">Last updated on 2024-April-22.
       </span></p>
   </div>
 
diff --git a/medm_screens.html b/medm_screens.html
index 5a75b30..977422b 100644
--- a/medm_screens.html
+++ b/medm_screens.html
@@ -16,7 +16,7 @@
         <script src="_static/jquery.js?v=5d32c60e"></script>
         <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
         <script src="_static/documentation_options.js?v=5929fcd5"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
+        <script src="_static/doctools.js?v=9a2dae69"></script>
         <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
@@ -187,7 +187,7 @@ <h2>Koyo_4ADC.adl<a class="headerlink" href="#koyo-4adc-adl" title="Link to this
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023, Mark Rivers.
-      <span class="lastupdated">Last updated on 2024-April-16.
+      <span class="lastupdated">Last updated on 2024-April-22.
       </span></p>
   </div>
 
diff --git a/overview.html b/overview.html
index 7ac6ed7..a9e9219 100644
--- a/overview.html
+++ b/overview.html
@@ -16,7 +16,7 @@
         <script src="_static/jquery.js?v=5d32c60e"></script>
         <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
         <script src="_static/documentation_options.js?v=5929fcd5"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
+        <script src="_static/doctools.js?v=9a2dae69"></script>
         <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
@@ -102,7 +102,45 @@ <h1>Overview of Modbus<a class="headerlink" href="#overview-of-modbus" title="Li
 <section id="modbus-communication-links">
 <h2>Modbus communication links<a class="headerlink" href="#modbus-communication-links" title="Link to this heading"></a></h2>
 <p>Modbus supports the following 3 communication-link layers:</p>
-<p class="table-bordered table-striped table-hover">This <strong>modbus</strong> package supports all of the above Modbus
+<table class="table-bordered table-striped table-hover docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Link type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>TCP</p></td>
+<td><p>TCP/IP using standard port 502.</p></td>
+</tr>
+<tr class="row-odd"><td><p>UDP</p></td>
+<td><p>UDP/IP using standard port 502. The use of UDP/IP is not part of the MODBUS
+standard but is useful for FPGAs with Ethernet in firmware which may provide
+support only for UDP.  The only difference between TCP and UDP operation is
+that when using UDP a missing reply packet is not considered to
+be an error until the transaction has been attempted 5 times.</p></td>
+</tr>
+<tr class="row-even"><td><p>RTU</p></td>
+<td><p>RTU is normally run over serial communication links, i.e. RS-232,
+RS-422, or RS-485. RTU uses an additional CRC for packet checking. The
+protocol directly transmits each byte as 8 data bits, so uses “binary”
+rather than ASCII encoding. When using serial links start and end of
+message frames is detected by timing rather than by specific characters.
+RTU can also be run over TCP, though this is less common than the
+standard Modbus TCP without RTU.</p></td>
+</tr>
+<tr class="row-odd"><td><p>Serial ASCII</p></td>
+<td><p>Serial protocol, which is normally run over serial communication links,
+i.e. RS-232, RS-422, or RS-485. Serial ASCII uses an additional LRC for
+packet checking. The protocol encodes each byte as 2 ASCII characters.
+The start and end of message frames is detected by specific characters
+(“:” to start a message and CR/LF to end a message). This protocol is
+less efficient than RTU, but may be more reliable in some environments.
+ASCII can also be run over TCP, though this is much less common than the
+standard Modbus TCP.</p></td>
+</tr>
+</tbody>
+</table>
+<p>This <strong>modbus</strong> package supports all of the above Modbus
 communication-link layers.</p>
 </section>
 <section id="modbus-data-types">
@@ -352,7 +390,7 @@ <h2>More information on Modbus<a class="headerlink" href="#more-information-on-m
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023, Mark Rivers.
-      <span class="lastupdated">Last updated on 2024-April-16.
+      <span class="lastupdated">Last updated on 2024-April-22.
       </span></p>
   </div>
 
diff --git a/search.html b/search.html
index c08c3e8..95a5df3 100644
--- a/search.html
+++ b/search.html
@@ -16,7 +16,7 @@
         <script src="_static/jquery.js?v=5d32c60e"></script>
         <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
         <script src="_static/documentation_options.js?v=5929fcd5"></script>
-        <script src="_static/doctools.js?v=888ff710"></script>
+        <script src="_static/doctools.js?v=9a2dae69"></script>
         <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/js/theme.js"></script>
     <script src="_static/searchtools.js"></script>
@@ -99,7 +99,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023, Mark Rivers.
-      <span class="lastupdated">Last updated on 2024-April-16.
+      <span class="lastupdated">Last updated on 2024-April-22.
       </span></p>
   </div>
 
diff --git a/searchindex.js b/searchindex.js
index 2f94ef5..9303f78 100644
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+++ b/searchindex.js
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"vsp": 8, "vt": 8, "vx": 8, "vxwork": [1, 2, 4, 5], "vy": 8, "wa": [0, 3, 4], "wago": 6, "wai": 4, "wait": 4, "waveform": [1, 3, 5, 7], "we": 5, "web": 8, "well": 1, "were": [1, 3], "what": [3, 4], "when": [1, 2, 3, 4, 5, 8], "whenev": 4, "where": 4, "whether": 3, "which": [1, 3, 5, 8], "wide": 4, "win32": 4, "window": 4, "within": [1, 4, 8], "without": [5, 8], "woken": 3, "word": [1, 3, 4, 5, 8], "would": [1, 4, 5], "write": [1, 2, 3, 5, 6, 7, 8], "write_ok": 3, "writedelaymsec": [1, 5], "written": [0, 1, 2, 3, 4, 7], "x": [3, 4, 5, 8], "x0": [4, 5, 7], "x2": 3, "x37": [4, 5, 7], "x64": 4, "x7": 7, "x86": [4, 5], "x86_64": 4, "xn": 5, "y": [4, 5, 8], "y0": [5, 7], "y1": 2, "y37": 5, "y7": 7, "ye": 2, "yn": 5, "zero": [1, 5], "znam": 3, "zstring_": [1, 3], "zstring_high": [1, 3], "zstring_high_low": [1, 3], "zstring_low": [1, 3], "zstring_low_high": [1, 3], "zsv": 3}, "titles": ["Acknowledgments", "Creating a <strong>modbus</strong> port driver", "Debug tracing", "EPICS device support", "Driver architecture", "Example Applications", "modbus", "medm screens", "Overview of Modbus"], "titleterms": {"acknowledg": 0, "address": 8, "adl": [2, 7], "applic": 5, "architectur": 4, "ascii": 1, "asynfloat64": 3, "asynint32": 3, "asynint32arrai": 3, "asynint64": 3, "asynoctet": 3, "asynrecord": 2, "asynregist": 2, "asynuint32digit": 3, "code": 8, "coil": 8, "commun": 8, "content": 6, "creat": 1, "data": [1, 8], "debug": 2, "devic": [1, 3], "discret": 8, "driver": [1, 4], "drvasynipport": 1, "drvmodbusasynconfigur": 1, "epic": 3, "exampl": 5, "file": 3, "format": 1, "function": [4, 8], "hold": 8, "independ": 4, "inform": 8, "input": 8, "ip": 1, "koyo1": 7, "koyo2": 7, "koyo_4adc": 7, "koyo_8input": 7, "koyo_8output": 7, "length": 8, "limit": 8, "link": 8, "medm": 7, "memori": 8, "modbu": [1, 4, 6, 8], "modbusarrai": 7, "modbusdatatyp": 7, "modbusinterposeconfig": 1, "modbusstatist": 7, "more": 8, "note": 1, "number": 1, "overview": 8, "platform": 4, "port": 1, "read": 4, "regist": [1, 8], "rtu": 1, "screen": 7, "serial": 1, "support": 3, "tabl": 6, "tcp": 1, "templat": 3, "trace": 2, "type": [1, 8], "udp": 1, "v": 8, "wago": 1, "write": 4}})
\ No newline at end of file