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Implement event-driven UART coroutine with CPU optimization #897

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Run time

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Job	Run time
semu-macOS	14m 58s
semu-linux (libpulse-dev)	3m 26s
semu-linux (none)	3m 50s
coding_style	30s
semu-linux (libjack-jackd2-dev)	1m 51s
	24m 35s