Good article about the topic: Automated Documentation for REST APIs
i/o docs
https://github.com/mashery/iodocs
runs on Node.js, needs Reddis, express, jade and some connectors
Swagger
http://swagger.io/, https://github.com/wordnik/swagger-ui
the whole toolbox for creating/documenting REST services
JSON Doc
http://jsondoc.org/getting-started.html
..
and there are several more.
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