Merge changes from topic "hm/handoff-aarch32" into integration

* changes:
  refactor(arm): simplify early platform setup functions
  feat(bl32): enable r3 usage for boot args
  feat(handoff): add lib to sp-min sources
  feat(handoff): add 32-bit variant of SRAM layout
  feat(handoff): add 32-bit variant of ep info
  fix(aarch32): avoid using r12 to store boot params
  fix(arm): reinit secure and non-secure tls
  refactor(handoff): downgrade error messages