lib: Introduce sbi_dprintf() API

This patch introduces new sbi_dprintf() API for runtime debug
prints. The sbi_dprintf() will print to console for a given
HART only when SBI_SCRATCH_DEBUG_PRINTS option in enabled in
sbi_scratch for this HART.

We can now add debug prints using sbi_dprintf() at important
places in OpenSBI sources. These debug prints will only show
up when previous booting stage or compile time parameter sets
the SBI_SCRATCH_DEBUG_PRINTS option in scratch space.

Signed-off-by: Anup Patel <anup.patel@wdc.com>
Reviewed-by: Bin Meng <bmeng.cn@gmail.com>