Add RTC clock conversions for BCD values, with non-panic validation.

RTC clock hardware frequently uses BCD numbers. Currently the low-level
bcd2bin() and bin2bcd() functions will KASSERT if given out-of-range BCD
values. Every RTC driver must implement its own code for validating the
unreliable data coming from the hardware to avoid a potential kernel panic.

This change introduces two new functions, clock_bcd_to_ts() and
clock_ts_to_bcd(). The former validates its inputs and returns EINVAL if any
values are out of range. The latter guarantees the returned data will be
valid BCD in a known format (4-digit years, etc).

A new bcd_clocktime structure is used with the new functions. It is similar
to the original clocktime structure, but defines the fields holding BCD
values as uint8_t (uint16_t for year), and adds a PM flag for handling hours
using AM/PM mode.

PR: 224813
Differential Revision: https://reviews.freebsd.org/D13730 (no reviewers)