openocd: bump to 0.10.0

Some configure options have been renamed. Support for the deprecated
FT2232 devices has been removed in this release, so remove this option.

Signed-off-by: Christophe Priouzeau <christophe.priouzeau@st.com>
[Thomas:
 - Add Config.in.legacy handling, suggested by Arnout.
 - Improve commit log with more details, suggested by Arnout.]
Signed-off-by: Thomas Petazzoni <thomas.petazzoni@free-electrons.com>