msm: jtag: move the jtag driver to drivers/soc/qcom

Architectural changes in the ARM Linux kernel tree requires
the removal of the mach-* directories. Move the jtag driver
to drivers/soc/qcom and the jtag header to include/soc/qcom
to support that removal.

Change-Id: Ia54ae8ab83c1a529eefc9f949f19160de531fbfb
Signed-off-by: Aparna Das <adas@codeaurora.org>