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Documentation fixes after the removal of the legacy C API #1439

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Documentation fixes after the removal of the legacy C API #1439

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3 changes: 1 addition & 2 deletions c/include/libsbp/sbp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,7 @@ typedef void (*sbp_callback_t)(u16 sender_id, sbp_msg_type_t msg_type, const sbp

/** SBP callback node.
* Forms a linked list of callbacks.
* \note Must be statically allocated for use with sbp_register_callback()
* and sbp_register_frame_callback().
* \note Must be statically allocated for use with sbp_callback_register()
*/
struct sbp_msg_callbacks_node {
sbp_msg_type_t msg_type; /**< Message ID associated with callback. */
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26 changes: 5 additions & 21 deletions c/src/sbp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -29,27 +29,18 @@
* ---------
*
* First setup a callback for the message you will be receiving. Our callback
* function must have type #sbp_msg_callback_t or #sbp_frame_callback_t,
* i.e. it must be of the form:
* function must have type #sbp_callback_t i.e. it must be of the form:
*
* ~~~
* void my_callback(u16 sender_id, u8 len, u8 msg[], void *context)
* {
* // Process msg.
* }
* ~~~
* or
* ~~~
* void my_frame_callback(u16 sender_id, u16 msg_type, u8 payload_len,
* u8 payload[], u16 frame_len, u8 frame[], void *context)
* void my_callback(u16 sender_id, sbp_msg_type_t msg_type, const sbp_msg_t *msg, void *context);
* {
* // Process msg.
* }
* ~~~
*
* You must also statically allocate a #sbp_msg_callbacks_node_t that will be
* used to keep track of the callback function. You do not need to initialize
* it as this will be done by sbp_register_callback().
* it as this will be done by sbp_callback_register().
*
* ~~~
* static sbp_msg_callbacks_node_t my_callback_node;
Expand All @@ -58,12 +49,7 @@
* Now register your callback function with the SBP library as follows:
*
* ~~~
* sbp_register_callback(&sbp_state, SBP_MY_MSG_TYPE, &my_callback, &context, &my_callback_node);
* ~~~
* or
* ~~~
* sbp_register_frame_callback(&sbp_state, SBP_MY_MSG_TYPE, &my_frame_callback,
* &context, &my_callback_node);
* sbp_callback_register(&sbp_state, SBP_MY_MSG_TYPE, &my_callback, &context, &my_callback_node);
* ~~~
*
* where `SBP_MY_MSG_TYPE` is the numerical identifier of your message type.
Expand Down Expand Up @@ -162,15 +148,13 @@
*
* \{ */

/** Register a callback for a particular msg_type, specifying the cb_type.
/** Register a callback for a particular msg_type
*
* \param s Pointer to sbp_state
* \param msg_type Message type on which to fire callback.
* SbpMsgAll will fire for every message, but only
* for callbacks of type SBP_FRAME_CALLBACK.
* \param cb Pointer to message callback function
* \param cb_type sbp_cb_type indicating what kind of cb is in use.
* (e.g SBP_MSG_CALLBACK or SBP_FRAME_CALLBACK)
* \param context Pointer to context for callback function
* \param node Statically allocated #sbp_msg_callbacks_node_t struct
* \return `SBP_OK` (0) if successful, `SBP_NULL_ERROR` on usage errors,
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