misc: k3_esm: Add functionality to set and route error events within K3SoC

Add functionality to enable, set priority to the input events and to
route to MCU ESM. On AM64x/AM62x devices, it is possible to route Main
ESM0 error events to MCU ESM. When these error events are routed to MCU
ESM high output, it can trigger the reset logic to reset the device,
when CTRLMMR_MCU_RST_CTRL:MCU_ESM_ERROR_RESET_EN_Z is set to '0'.

K3 based J7 devices (ex: J721e) also have ESM modules, and the changes
to the driver does not impact those devices.

Signed-off-by: Hari Nagalla <hnagalla@ti.com>
Reviewed-by: Christian Gmeiner <christian.gmeiner@gmail.com>