qseecom: Add shmbrdige to allocate memory

In case of send_modfd_cmd we are using older allocation
methods, which are using more time and causing performace
degradation, hence updating it to use shmbridge instead.

Change-Id: I01afa0ac36d584fcc1a84570dc159b3af99f48c8
Signed-off-by: Monika Singh <monising@codeaurora.org>