west: prepend -c to openocd commands

commit 0df4a531 changed the behavior of
how openocd commands are passed to openocd. We used to add -c to each
command, now the commands are being added without -c causing an error.

This adds "-c" to all commands instead of just passing a list.

Also fixes #20449.

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
Signed-off-by: Martí Bolívar <marti.bolivar@nordicsemi.no>