Remove cake-pattern requirement for no-IO devices

[jerryz123]

This adds a API to rocket-chip that allow devices to inject themselves into the BaseSubsystem without requiring a CanHavePeripheryX trait. This only works for devices that don't generate top-level IO.

This makes it possible to make these devices optional as the chipyard-lite PR #2212

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Type of change:

• Bug fix
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Impact:

• RTL change
• Software change (RISC-V software)
• Build system change
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[abejgonzalez]

LGTM!