common: Move serial_printf() to the serial header

Move this function header to serial.h since this function is clearly
related to serial. The function itself stays in console.c since we don't
have a single serial file. DM and non-DM each has a separate file so we
would have to either create a new common serial file, or repeat the
function in both serial.c and serial-uclass.c, neither of which seem
worthwhile.

Signed-off-by: Simon Glass <sjg@chromium.org>
Reviewed-by: Tom Rini <trini@konsulko.com>
diff --git a/drivers/usb/musb/musb_udc.c b/drivers/usb/musb/musb_udc.c
index 7620114..584564b 100644
--- a/drivers/usb/musb/musb_udc.c
+++ b/drivers/usb/musb/musb_udc.c
@@ -38,6 +38,7 @@
  */
 
 #include <common.h>
+#include <serial.h>
 #include <usbdevice.h>
 #include <usb/udc.h>
 #include "../gadget/ep0.h"