iommu: Add iommu_ops->identity_domain

This allows a driver to set a global static to an IDENTITY domain and
the core code will automatically use it whenever an IDENTITY domain
is requested.

By making it always available it means the IDENTITY can be used in error
handling paths to force the iommu driver into a known state. Devices
implementing global static identity domains should avoid failing their
attach_dev ops.

To make global static domains simpler allow drivers to omit their free
function and update the iommufd selftest.

Convert rockchip to use the new mechanism.

Tested-by: Steven Price <steven.price@arm.com>
Tested-by: Marek Szyprowski <m.szyprowski@samsung.com>
Tested-by: Nicolin Chen <nicolinc@nvidia.com>
Reviewed-by: Lu Baolu <baolu.lu@linux.intel.com>
Reviewed-by: Jerry Snitselaar <jsnitsel@redhat.com>
Signed-off-by: Jason Gunthorpe <jgg@nvidia.com>
Link: https://lore.kernel.org/r/1-v8-81230027b2fa+9d-iommu_all_defdom_jgg@nvidia.com
Signed-off-by: Joerg Roedel <jroedel@suse.de>