firmware: Only default FW_PIC to y if supported

Bare-metal GNU ld does not support PIE, so if using it this will result
in a failure to build. Instead, default to FW_PIC=n if not supported.
Note that an explicit FW_PIC=y is not overridden, to ensure the build
fails rather than silently producing a position-dependent binary.

Signed-off-by: Jessica Clarke <jrtc27@jrtc27.com>
Reviewed-by: Bin Meng <bmeng.cn@gmail.com>
Tested-by: Bin Meng <bmeng.cn@gmail.com>
Reviewed-by: Anup Patel <anup.patel@wdc.com>