coresight: Dynamically add connections

Add a function for adding connections dynamically. This also removes
the 1:1 mapping between port number and the index into the connections
array. The only place this mapping was used was in the warning for
duplicate output ports, which has been replaced by a search. Other
uses of the port number already use the port member variable.

Being able to dynamically add connections will allow other devices like
CTI to re-use the connection mechanism despite not having explicit
connections described in the DT.

Signed-off-by: James Clark <james.clark@arm.com>