doc: Updates info on using Keystone2 secure devices

Add a section describing the secure boot image used on
Keystone2 secure devices.

Signed-off-by: Madan Srinivas <madans@ti.com>
Signed-off-by: Andrew F. Davis <afd@ti.com>
Reviewed-by: Tom Rini <trini@konsulko.com>
Reviewed-by: Lokesh Vutla <lokeshvutla@ti.com>