drm/amdgpu/psp: add helper function to invoke xgmi ta per ta cmd_id

psp_xgmi_invoke is the helper function to issue ta cmd to firmware

Signed-off-by: Hawking Zhang <Hawking.Zhang@amd.com>
Acked-by: Alex Deucher <alexander.deucher@amd.com>
Reviewed-by: Huang Rui <ray.huang@amd.com>
Signed-off-by: Alex Deucher <alexander.deucher@amd.com>