rpmsg: qcom_smd: Access APCS through mailbox framework

Attempt to acquire the APCS IPC through the mailbox framework and fall
back to the old syscon based approach, to allow us to move away from
using the syscon.

Reviewed-by: Arun Kumar Neelakantam <aneela@codeaurora.org>
Signed-off-by: Bjorn Andersson <bjorn.andersson@linaro.org>