arm-bsp/tc0: Enable spmd and SEL2 SPMC with optee as SEL1 SP

- Set SPD to spmd with SEL2 SPMC. Set optee as SP
- Assign SP layout and spmc manifest file that corresponds to optee
- Move TF-A version from 2.3 to 2.4

Signed-off-by: Arunachalam Ganapathy <arunachalam.ganapathy@arm.com>
Change-Id: I3da3bf7f95ba42716b731f92e2cdfb928b1ab77f
Signed-off-by: Jon Mason <jon.mason@arm.com>