BOARD_SYSTEMSDK_VERSIONS should depend on BOARD_*_API_LEVEL if it exists

BOARD_SYSTEMSDK_VERSIONS should be checked by BOARD_API_LEVEL,
BOARD_SHIPPING_API_LEVEL, or PRODUCT_SHIPPING_API_LEVEL in a forward
order.

Bug: 201489975
Test: BOARD_SYSTEMSDK_VERSIONS := 30, PRODUCT_SHIPPING_API_LEVEL := 31,
BOARD_API_LEVEL := 30, and then check if there isn't an error

Change-Id: I00e3bf8dda6e6e87a2daf42c74d703503cbeed1f