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Implement GELI (AES-XTS and AES-CBC only) in gptboot and gptzfsboot

Description

Implement GELI (AES-XTS and AES-CBC only) in gptboot and gptzfsboot

Allows booting from a GELI encrypted root file system, via UFS or ZFS

Reviewed by: gnn, smh (previous version), delphij (previous version)
Relnotes: yes
Sponsored by: ScaleEngine Inc.
Differential Revision: https://reviews.freebsd.org/D4593