remoteproc: Introduce subdevices

A subdevice is an abstract entity that can be used to tie actions to the
booting and shutting down of a remote processor. The subdevice object is
expected to be embedded in concrete implementations, allowing for a
variety of use cases to be implemented.

Signed-off-by: Bjorn Andersson <bjorn.andersson@linaro.org>
(cherry picked from commit 7bdc9650)