l2tp: improve API documentation in l2tp_core.h

* Improve the description of the key l2tp subsystem data structures.
 * Add high-level description of the main APIs for interacting with l2tp
   core.
 * Add documentation for the l2tp netlink session command callbacks.
 * Document the session pseudowire callbacks.

Signed-off-by: Tom Parkin <tparkin@katalix.com>
Signed-off-by: David S. Miller <davem@davemloft.net>