drm/panfrost: Split panfrost_mmu_map SG list mapping to its own function

In preparation to create partial GPU mappings of BOs on page faults,
split out the SG list handling of panfrost_mmu_map().

Cc: Tomeu Vizoso <tomeu.vizoso@collabora.com>
Cc: Boris Brezillon <boris.brezillon@collabora.com>
Cc: Robin Murphy <robin.murphy@arm.com>
Cc: Alyssa Rosenzweig <alyssa.rosenzweig@collabora.com>
Reviewed-by: Steven Price <steven.price@arm.com>
Signed-off-by: Rob Herring <robh@kernel.org>