Docs: arm64: booting: clarify boot requirements

There are a few points in the arm64 booting document which are unclear
(such as the initial state of secondary CPUs), and/or have not been
documented (PSCI is a supported mechanism for booting secondary CPUs).

This patch amends the arm64 boot document to better express the
(existing) requirements, and to describe PSCI as a supported booting
mechanism.

Signed-off-by: Mark Rutland <mark.rutland@arm.com>
Reviewed-by: Will Deacon <will.deacon@arm.com>
Cc: Catalin Marinas <catalin.marinas@arm.com>
Cc: Dave Martin <dave.martin@arm.com>
Cc: Marc Zyngier <marc.zyngier@arm.com>
Cc: Fu Wei <tekkamanninja@gmail.com>
Signed-off-by: Catalin Marinas <catalin.marinas@arm.com>