iommu: Implement common IOMMU ops for DMA mapping

Taking inspiration from the existing arch/arm code, break out some
generic functions to interface the DMA-API to the IOMMU-API. This will
do the bulk of the heavy lifting for IOMMU-backed dma-mapping.

Since associating an IOVA allocator with an IOMMU domain is a fairly
common need, rather than introduce yet another private structure just to
do this for ourselves, extend the top-level struct iommu_domain with the
notion. A simple opaque cookie allows reuse by other IOMMU API users
with their various different incompatible allocator types.

Change-Id: I4a49976c4e496025b2a2b2b9ef749666a239294b
Signed-off-by: Robin Murphy <robin.murphy@arm.com>
Signed-off-by: Joerg Roedel <jroedel@suse.de>
[pdaly@codeaurora.org Add changes only in iommu.h]

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