Avoid redundant code in PN53x usb and uart drivers. Since it makes sense to
report errors at the nfc_device_t level, pass it directly to
pn53x_transceive().
Programs using the libnfc MAY use pn53x_transceive() to communicate with a NFC
device, and SHALL not use anymore pnd->pdc->transceive(). Code in the library
itself SHOULD avoid calling pnd->pdc->transceive(), so such construct have been
updated accordingly.
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