tpm: Add error context for every possible error

Add granular error types for every possible error raised by the tpm
module. This improves diagnosing the cause of the errors without showing
complex errors coming from underlying libraries.

This also drops all 'expect()` and `unwrap()` uses to avoid panicking.

Signed-off-by: Anderson Toshiyuki Sasaki <[email protected]>

Author: ansasaki