arm64: dts: ti: k3-am654: Add interrupt controllers in main domain

Main domain in AM654 has the following interrupt controller instances:
- Main Domain GPIO Interrupt router connected to gpio in main domain.
- Under the Main Domain Navigator Subsystem(NAVSS)
    - Main Navss Interrupt Router connected to main navss inta and mailboxes.
    - Main Navss Interrupt Aggregator connected to main domain UDMASS

Add DT nodes for the above three interrupt controllers available
in main domain.

Signed-off-by: Lokesh Vutla <lokeshvutla@ti.com>
Signed-off-by: Tero Kristo <t-kristo@ti.com>