soc: apple: Add RTKit IPC library

Apple SoCs such as the M1 come with multiple embedded co-processors
running proprietary firmware. Communication with those is established
over a simple mailbox using the RTKit IPC protocol.

This cannot be implemented inside the mailbox subsystem since on top
of communication over channels we also need support for starting,
hibernating and resetting these co-processors. We also need to
handle shared memory allocations differently depending on the
co-processor and don't want to split that across multiple drivers.

Reviewed-by: Arnd Bergmann <arnd@arndb.de>
Signed-off-by: Sven Peter <sven@svenpeter.dev>