tpm: add TPM2_SelfTest command support

Add support for the TPM2_Selftest command.

Change the command file and the help accordingly.

Signed-off-by: Miquel Raynal <miquel.raynal@bootlin.com>
Reviewed-by: Simon Glass <sjg@chromium.org>
Reviewed-by: Tom Rini <trini@konsulko.com>