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Fix #1155, clean up zero copy API #1257

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Commits on Mar 23, 2021

  1. Fix nasa#1155, clean up zero copy API

    The separate zero copy handle type is removed.
    
    Adds two new simplified functions CFE_SB_AllocateMessageBuffer
    and CFE_SB_ReleaseMessageBuffer to replace CFE_SB_ZeroCopyGetPtr
    and CFE_SB_ZeroCopyGetPtr.  These new functions do not use
    a separate Handle.
    
    Updates the CFE_SB_TransmitBuffer() API to also remove the handle.
    jphickey committed Mar 23, 2021
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