Clean up MD pollution of bus_dma.h:

--Remove special-case handling of sparc64 bus_dmamap* functions.
  Replace with a more generic mechanism that allows MD busdma
  implementations to generate inline mapping functions by
  defining WANT_INLINE_DMAMAP in <machine/bus_dma.h>.  This
  is currently useful for sparc64, x86, and arm64, which all
  implement non-load dmamap operations as simple wrappers
  around map objects which may be bus- or device-specific.

--Remove NULL-checked bus_dmamap macros.  Implement the
  equivalent NULL checks in the inlined x86 implementation.
  For non-x86 platforms, these checks are a minor pessimization
  as those platforms do not currently allow NULL maps.  NULL
  maps were originally allowed on arm64, which appears to have
  been the motivation behind adding arm[64]-specific barriers
  to bus_dma.h, but that support was removed in r299463.

--Simplify the internal interface used by the bus_dmamap_load*
  variants and move it to bus_dma_internal.h

--Fix some drivers that directly include sys/bus_dma.h
  despite the recommendations of bus_dma(9)

Reviewed by:	kib (previous revision), marius
Differential Revision:	https://reviews.freebsd.org/D10729

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