Get rid of BOARD_NFC_HAL_SUFFIX & use defaults

Change-Id: Ifc7829e58e2e090d247914b0f955550ef2a7690f
pn54x.default is only if BOARD_NFC_CHIPSET=pn547 so keep same for now
to avoid breaking build, or device not booting, until I or someone
fixes the pn544 libnfc-nxp Nfc package.

Change-Id: I08f900a55e710396a9a6cf6cc6599fb775087125