msm: ADSPRPC: Use domain information to open channels

The domain information indicates which remote processor to
communicate with. Use this domain information to open up the
corresponding channel with the remote processor.

Change-Id: I54ddfae04ce71b3c760840e26285cd5754533882
Acked-by: Chenna Kesava Raju <chennak@qti.qualcomm.com>
Signed-off-by: Sathish Ambley <sathishambley@codeaurora.org>