iommu: Use EINVAL for incompatible device/domain in ->attach_dev

Following the new rules in include/linux/iommu.h kdocs, update all drivers
->attach_dev callback functions to return EINVAL in the failure paths that
are related to domain incompatibility.

Also, drop adjacent error prints to prevent a kernel log spam.

Link: https://lore.kernel.org/r/f52a07f7320da94afe575c9631340d0019a203a7.1666042873.git.nicolinc@nvidia.com
Reviewed-by: Jean-Philippe Brucker <jean-philippe@linaro.org>
Reviewed-by: Lu Baolu <baolu.lu@linux.intel.com>
Reviewed-by: Kevin Tian <kevin.tian@intel.com>
Reviewed-by: Jason Gunthorpe <jgg@nvidia.com>
Signed-off-by: Nicolin Chen <nicolinc@nvidia.com>
Signed-off-by: Jason Gunthorpe <jgg@nvidia.com>