soc: qcom: smp2p: Access APCS as mailbox client

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.

Signed-off-by: Bjorn Andersson <bjorn.andersson@linaro.org>
Signed-off-by: Andy Gross <andy.gross@linaro.org>