PM / EM: Expose the Energy Model in debugfs

The recently introduced Energy Model (EM) framework manages power cost
tables of CPUs. These tables are currently only visible from kernel
space. However, in order to debug the behaviour of subsystems that use
the EM (EAS for example), it is often required to know what the power
costs are from userspace.

For this reason, introduce under /sys/kernel/debug/energy_model a set of
directories representing the performance domains of the system. Each
performance domain contains a set of sub-directories representing the
different capacity states (cs) and their attributes, as well as a file
exposing the related CPUs.

The resulting hierarchy is as follows on Arm juno r0 for example:

    /sys/kernel/debug/energy_model
    ├── pd0
    │   ├── cpus
    │   ├── cs:450000
    │   │   ├── cost
    │   │   ├── frequency
    │   │   └── power
    │   ├── cs:575000
    │   │   ├── cost
    │   │   ├── frequency
    │   │   └── power
    │   ├── cs:700000
    │   │   ├── cost
    │   │   ├── frequency
    │   │   └── power
    │   ├── cs:775000
    │   │   ├── cost
    │   │   ├── frequency
    │   │   └── power
    │   └── cs:850000
    │       ├── cost
    │       ├── frequency
    │       └── power
    └── pd1
        ├── cpus
        ├── cs:1100000
        │   ├── cost
        │   ├── frequency
        │   └── power
        ├── cs:450000
        │   ├── cost
        │   ├── frequency
        │   └── power
        ├── cs:625000
        │   ├── cost
        │   ├── frequency
        │   └── power
        ├── cs:800000
        │   ├── cost
        │   ├── frequency
        │   └── power
        └── cs:950000
            ├── cost
            ├── frequency
            └── power

Signed-off-by: Quentin Perret <quentin.perret@arm.com>
Reviewed-by: Greg Kroah-Hartman <gregkh@linuxfoundation.org>
Signed-off-by: Rafael J. Wysocki <rafael.j.wysocki@intel.com>