firmware: Only default FW_PIC to y if supported

Bare-metal GNU ld does not support PIE, so if using it this will result
in a failure to build. Instead, default to FW_PIC=n if not supported.
Note that an explicit FW_PIC=y is not overridden, to ensure the build
fails rather than silently producing a position-dependent binary.

Signed-off-by: Jessica Clarke <[email protected]>
Reviewed-by: Bin Meng <[email protected]>
Tested-by: Bin Meng <[email protected]>
Reviewed-by: Anup Patel <[email protected]>

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