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doc: support sphinx 3.0.0+

Tomas Krizek requested to merge sphinx-v3 into master

It seems the :function: directive is much stricter now and requires valid C declaration. The lua functions seem to work okay with :py-function:. Some of the doxygen generated content was invalid and required various hacks. Now it's working, but I had to omit some symbols.

This should hopefully fix readthedocs issue we're experiencing right now (https://github.com/michaeljones/breathe/issues/495) by switching to sphinx 3.0.0+ in readhthedocs.

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