PM: domains: Make set_performance_state() callback optional

Make set_performance_state() callback optional in order to remove the
need from power domain drivers to implement a dummy callback. If callback
isn't implemented by a GENPD driver, then the performance state is passed
to the parent domain.

Tested-by: Peter Geis <pgwipeout@gmail.com>
Tested-by: Nicolas Chauvet <kwizart@gmail.com>
Tested-by: Matt Merhar <mattmerhar@protonmail.com>
[tested on NVIDIA Tegra20/30/124 SoCs]
Suggested-by: Ulf Hansson <ulf.hansson@linaro.org>
Reviewed-by: Ulf Hansson <ulf.hansson@linaro.org>
Signed-off-by: Dmitry Osipenko <digetx@gmail.com>
Reviewed-by: Viresh Kumar <viresh.kumar@linaro.org>
Signed-off-by: Rafael J. Wysocki <rafael.j.wysocki@intel.com>