bluetooth: host: avdtp: Fix command and response format error

There are three aspects of changes involved:
1.  The format of Service Category should be checked  in set
configuration cmd and error code and Service Category
should be detailed in response.
2. There is no  INT Stream Endpoint ID in re_config cmd,.
3. Fail ACP SEID should be added to start and suspend rej rsp.

Signed-off-by: Cheng Chang <cheng.chang@nxp.com>