lib: utils: Add helper routines to populate domains from FDT

We add various helper routines to populate domains, iterate domains,
iterate domain memregions, and parse HART to domain assignment from
the FDT.

These helper routines can be used by platform support code and FDT
fixup code.

Signed-off-by: Anup Patel <anup.patel@wdc.com>
Reviewed-by: Atish Patra <atish.patra@wdc.com>