Fix negative zio->io_error which must be positive.

Fix negative zio->io_error which must be positive.

All the upper layers of zfs expect zio->io_error to be positive.  I was
careful but I missed one instance in vdev_disk_physio_completion() which
could return a negative error.  To ensure all cases are always caught I
had additionally added an ASSERT() to check this before zio_interpret().

Finally, as a debugging aid when zfs is build with --enable-debug all
errors from the backing block devices will be reported to the console
with an error message like this:

	ZFS: zio error=5 type=1 offset=4217856 size=8192 flags=60440