doc: Fix some broken links

Fix all external broken links reported by Sphinx linkcheck tool.

This does not take care of broken cross-references between internal
TF-A documentation files. These will be fixed in a future patch.

Change-Id: I2a740a3ec0b688c14aad575a6c2ac71e72ce051e
Signed-off-by: Sandrine Bailleux <sandrine.bailleux@arm.com>