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feature: make i2c implementation shared for rp2040/rp2350 #5830

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Run time

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Job	Run time
build-linux	4m 15s
assert-test-linux	42m 36s
test-linux-build	29m 51s
build-linux-cross (arm)	6m 9s
build-linux-cross (arm64)	3m 36s
	1h 26m 27s