Add Chirp APIs for PWLE sequence creation

Add the necessary Chirp APIs required to allow for piecewise-linear
equation sequencing of haptic waveforms. These APIs will allow
developers to create a fully customizable sequence of haptics waveforms
for playback.

Bug: 162859057
Test: verify pwle sequences can be created and played using idlcli
command. Also verify using atest.

Change-Id: I7fec224b7090e482bbcd1c94a3799ec232cc547f