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Use the regulator framework to get the voltage regulator associated
with the MPU voltage domain and use it to scale voltage along with
frequency.

While here, CONFIG_CPU_FREQ_DEBUG doesn't exist anymore, so move
debug prints to use dev_dbg().

Special thanks to Afzal Mohammed for suggestions on more robust error
checking.

Cc: Afzal Mohammed  <afzal@ti.com>
Signed-off-by: Kevin Hilman <khilman@ti.com>