ASoC: qcom: qdsp6: generalize GPR service domain

AudioReach builds APM and PRM command packets with the GPR destination
domain hardcoded to GPR_DOMAIN_ID_ADSP. This assumes audio is always
served by the ADSP, which is true for all currently supported targets.

On platforms such as Qualcomm Shikra, audio is served by the modem DSP
(mDSP) instead. The GPR node in DT already describes which DSP backs
the service via its qcom,domain property (e.g. GPR_DOMAIN_ID_MODEM),
and the GPR core exposes it as gdev->domain_id. But the AudioReach
packet builders ignore this and always target the ADSP, so every
APM/PRM command is routed to the wrong DSP on mDSP targets and audio
does not function.

Fix this by reading the GPR destination domain from gdev->domain_id
and stamping it in the send helpers (q6apm_send_cmd_sync,
audioreach_graph_send_cmd_sync, q6prm_send_cmd_sync) just before
dispatch. This centralizes the domain decision at the send layer
rather than threading it through every packet-allocation call site.
For the small number of async data-path sends that bypass the sync
helpers (write, read, compr, EOS), the domain is stamped inline
before gpr_send_port_pkt(). When no domain is available the helper
falls back to GPR_DOMAIN_ID_ADSP, so all existing ADSP targets
remain unchanged.

Co-developed-by: Pratyush Meduri <mpratyus@qti.qualcomm.com>
Signed-off-by: Pratyush Meduri <mpratyus@qti.qualcomm.com>
Signed-off-by: Ajay Kumar Nandam <ajay.nandam@oss.qualcomm.com>
Link: https://patch.msgid.link/20260923-vmid-v4-v6-2-3d61a0319b1c@oss.qualcomm.com
Signed-off-by: Mark Brown <broonie@kernel.org>

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