presets: Add `an552-base` with htrun options

Create a helper preset `an552-base` that contains all common options for
Corstone-300 AN552 including
* fetching mcu-driver-reference-platforms-for-arm for HAL implementation
and CMSIS_5 for Cortex-M55 startup file
* setting `CMAKE_SYSTEM_PROCESSOR`
* setting htrun arguments and image format for the FVP.

Make existing presets inherit `an552-base` to minimize duplication.

Update the documentation and CI scripts to benefit from this change.

Note: Like any cache variables, the values of htrun options can still be
overridden with `-D`. This is useful when testing on a physical MPS3
board rather than an FVP, for example.

Signed-off-by: Lingkai Dong <lingkai.dong@arm.com>