dm: i2c: Add a function to transfer messages

Sometimes it is useful to be able to transfer a raw I2C message. This
happens when the chip address needs to be set manually, or when the data to
be sent/received is in another buffer.

Add a function to provide access to this.

Signed-off-by: Simon Glass <sjg@chromium.org>
Acked-by: Heiko Schocher <hs@denx.de>