cmake: armfvp: Add FVP min version check

After the fix of FVP_BaseR_AEMv8R booting issue, the minimum required
version of FVP will be 11.16.16. Add an FVP minimal required version
check in building time.

When the ARMFVP_MIN_VERSION is set in board cmake file, the version
check will be enabled and print a warning.

Signed-off-by: Jaxson Han <jaxson.han@arm.com>
Change-Id: Ibbade0c328b5e91b8830fb35cba6917f08aabbda
(cherry picked from commit 3c1f3197)