No, there wasn't.
Hmm - https://github.com/fdivitto/MSP
Yup. Nothing in the wiki. No examples. All you have is the .h, and it assumes that the programmer is thoroughly familiar with the command set. It's pretty clear that you pass pointers to the appropriate struct using those void* arguments, but the only reason it's clear is that I have been programming for a while now.
OP: the only person who can explain to you how to use this library is the person who wrote it. There is an email link on the author's profile page https://github.com/fdivitto , or you can raise the lack of any docs as an issue on the issues page https://github.com/fdivitto/MSP/issues . But you aren't going to get much help here - we don't have a magic way of just knowing how someone else's code works. We'd have to read the source and experiment with whatever-it-is that this code is supposed to talk to.