fs: add fs_readdir()

Needed to support efi file protocol.  The fallback.efi loader wants
to be able to read the contents of the /EFI directory to find an OS
to boot.

Modelled after POSIX opendir()/readdir()/closedir().  Unlike the other
fs APIs, this is stateful (ie. state is held in the FS_DIR "directory
stream"), to avoid re-traversing of the directory structure at each
step.  The directory stream must be released with closedir() when it
is no longer needed.

Signed-off-by: Rob Clark <robdclark@gmail.com>
Reviewed-by: Łukasz Majewski <lukma@denx.de>
Reviewed-by: Simon Glass <sjg@chromium.org>