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pbio/drv/uart: Refactor async read and write #3627

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Run time

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Job	Run time
ev3dev-stretch	2m 3s
upload pull request number	3s
mpy-cross	14s
pbio tests	3m 37s
unix coverage	1m 26s
ev3dev-ubuntu-lts	1m 43s
ev3rt uImage	1m 34s
firmware (cityhub)	3m 44s
firmware (essentialhub)	4m 40s
virtual hub	1m 15s
firmware (movehub)	3m 12s
debug firmware	1m 7s
firmware (nxt)	3m 6s
firmware (primehub)	4m 33s
firmware (technichub)	4m 16s
finish	5s
	36m 38s