tpm: add a function that performs selftest + startup

As described in [0] if a command requires use of an untested algorithm
or functional module, the TPM performs the test and then completes the
command actions.

Since we don't check for TPM_RC_NEEDS_TEST (which is the return code of
the TPM in that case) and even if we would, it would complicate our TPM
code for no apparent reason,  add a wrapper function that performs both
the selftest and the startup sequence of the TPM.

It's worth noting that this is implemented on TPMv2.0.  The code for
1.2 would look similar,  but I don't have a device available to test.

[0]
https://trustedcomputinggroup.org/wp-content/uploads/TPM-Rev-2.0-Part-1-Architecture-01.07-2014-03-13.pdf


§12.3 Self-test modes

Reviewed-by: Simon Glass <sjg@chromium.org>
Signed-off-by: Ilias Apalodimas <ilias.apalodimas@linaro.org>