Add documentation for the UAPI.

Changes since v5:
- Remove obsolete VM documentation
Co-developed-by: Matt Coster <matt.coster@imgtec.com>
Signed-off-by: Matt Coster <matt.coster@imgtec.com>
Co-developed-by: Donald Robson <donald.robson@imgtec.com>
Signed-off-by: Donald Robson <donald.robson@imgtec.com>
Signed-off-by: Sarah Walker <sarah.walker@imgtec.com>
Reviewed-by: Maxime Ripard <mripard@kernel.org>
Link: https://lore.kernel.org/r/76a7b18cfbe93066efcee3311ae795176ce7c65d.1700668843.git.donald.robson@imgtec.comSigned-off-by: Maxime Ripard <mripard@kernel.org>