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pbio/drv/uart: Refactor async read and write #3618

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Job	Run time
mpy-cross	13s
ev3dev-stretch	1m 59s
pbio tests	3m 39s
upload pull request number	2s
debug firmware	1m 5s
ev3rt uImage	1m 31s
ev3dev-ubuntu-lts	1m 52s
firmware (cityhub)	2m 44s
firmware (essentialhub)	2m 46s
unix coverage	1m 19s
virtual hub	1m 13s
firmware (movehub)	1m 51s
firmware (nxt)	2m 2s
firmware (primehub)	2m 58s
firmware (technichub)	2m 42s
finish	5s
	28m 1s