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docs: document SIRCS sans-I/O design and Pico transport

Add a SIRCS page covering the sans-I/O design, the protocol, the Pico
transport, wiring, and a MicroPython firmware sketch. Document the new
sansio module, drop the pyftdi intersphinx mapping, and link the page.

Signed-off-by: Andrew Udvare <audvare@gmail.com>

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