fix(build): use DWARF 4 when building debug

GCC 11 and Clang 14 now use the DWARF 5 standard by default however
Arm-DS currently only supports up to version 4. Therefore, for debug
builds, ensure the DWARF 4 standard is used.
Also update references for Arm DS-5 to it's successor Arm-DS (Arm
Development Studio).

Change-Id: Ica59588de3d121c1b795b3699f42c31f032cee49
Signed-off-by: Daniel Boulby <daniel.boulby@arm.com>