dmaengine: ti: k3-udma: Fix cleanup code for alloc_chan_resources

commit 5a9377cc

 upstream.

Some of the earlier errors should be sent to the error cleanup path to
make sure that the uchan struct is reset, the dma_pool (if allocated) is
released and memcpy channel pairs are released in a correct way.

Signed-off-by: Peter Ujfalusi <peter.ujfalusi@ti.com>