py: Overhaul and simplify printf/pfenv mechanism.

Previous to this patch the printing mechanism was a bit of a tangled
mess.  This patch attempts to consolidate printing into one interface.

All (non-debug) printing now uses the mp_print* family of functions,
mainly mp_printf.  All these functions take an mp_print_t structure as
their first argument, and this structure defines the printing backend
through the "print_strn" function of said structure.

Printing from the uPy core can reach the platform-defined print code via
two paths: either through mp_sys_stdout_obj (defined pert port) in
conjunction with mp_stream_write; or through the mp_plat_print structure
which uses the MP_PLAT_PRINT_STRN macro to define how string are printed
on the platform.  The former is only used when MICROPY_PY_IO is defined.

With this new scheme printing is generally more efficient (less layers
to go through, less arguments to pass), and, given an mp_print_t*
structure, one can call mp_print_str for efficiency instead of
mp_printf("%s", ...).  Code size is also reduced by around 200 bytes on
Thumb2 archs.
diff --git a/py/objstringio.c b/py/objstringio.c
index c7e8395..1823ed3 100644
--- a/py/objstringio.c
+++ b/py/objstringio.c
@@ -52,10 +52,10 @@
 #define check_stringio_is_open(o)
 #endif
 
-STATIC void stringio_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
+STATIC void stringio_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
     (void)kind;
     mp_obj_stringio_t *self = self_in;
-    print(env, self->base.type == &mp_type_stringio ? "<io.StringIO 0x%x>" : "<io.BytesIO 0x%x>", self);
+    mp_printf(print, self->base.type == &mp_type_stringio ? "<io.StringIO 0x%x>" : "<io.BytesIO 0x%x>", self);
 }
 
 STATIC mp_uint_t stringio_read(mp_obj_t o_in, void *buf, mp_uint_t size, int *errcode) {