rpmsg: Create the rpmsg class in core instead of in rpmsg char

Migrate the creation of the rpmsg class from the rpmsg_char
to the core that the class is usable by the rpmsg_char and
the future rpmsg_ctrl module.

Suggested-by: Bjorn Andersson <bjorn.andersson@linaro.org>
Signed-off-by: Arnaud Pouliquen <arnaud.pouliquen@foss.st.com>
Reviewed-by: Bjorn Andersson <bjorn.andersson@linaro.org>
Signed-off-by: Bjorn Andersson <bjorn.andersson@linaro.org>
Link: https://lore.kernel.org/r/20220124102524.295783-3-arnaud.pouliquen@foss.st.com