dma: i.MX31 IPU DMA robustness improvements

Add DMA error handling to the ISR, move common code fragments to functions, fix
scatter-gather element queuing in the ISR, survive channel freeing and
re-allocation in a quick succession.
Signed-off-by: Guennadi Liakhovetski <lg@denx.de>
Signed-off-by: Dan Williams <dan.j.williams@intel.com>