doc: Convert internal links to RST format ...

Currently links between documents are using the format:

<path/to/><filename>.rst

This was required for services like GitHub because they render each
document in isolation - linking to another document is like linking
to any other file, just provide the full path.

However, with the new approach, the .rst files are only the raw
source for the documents. Once the documents have been rendered
the output is now in another format (HTML in our case) and so,
when linking to another document, the link must point to the
rendered version and not the .rst file.

The RST spec provides a few methods for linking between content.
The parent of this patch enabled the automatic creation of anchors
for document titles - we will use these anchors as the targets for
our links. Additional anchors can be added by hand if needed, on
section and sub-section titles, for example.

An example of this new format, for a document with the title
"Firmware Design" is :ref:`Firmware Design`.

One big advantage of this is that anchors are not dependent on
paths. We can then move documents around, even between directories,
without breaking any links between documents. Links will need to be
updated only if the title of a document changes.

Change-Id: I9e2340a61dd424cbd8fd1ecc2dc166f460d81703
Signed-off-by: Paul Beesley <paul.beesley@arm.com>

doc: Move content out of readme and create new index page ...

Previously the readme.rst file served as the entrypoint for the
documentation. With a Sphinx build the top-level document is set
to be index.rst as it contains the primary document index.

This patch moves some content from readme.rst into index.rst and
splits the license information out into license.rst.

Change-Id: I5c50250b81136fe36aa9ceedaae302b44ec11e47
Signed-off-by: Paul Beesley <paul.beesley@arm.com>