Documentation: gpio: add chardev userspace API documentation

Add documentation for the GPIO character device userspace API.

Added to the userspace-api book, but also provide a link from the
admin-guide book, as historically the GPIO documentation has been
there.

Signed-off-by: Kent Gibson <warthog618@gmail.com>
Reviewed-by: Linus Walleij <linus.walleij@linaro.org>
Signed-off-by: Bartosz Golaszewski <bartosz.golaszewski@linaro.org>