avcodec/liblc3dec: support sample format negotiation and planar layout.HEADmaster

1. Adds support for respecting the requested sample format. Previously,
   the decoder always used AV_SAMPLE_FMT_FLTP. Now it checks if the
   caller requested a specific format via avctx->request_sample_fmt and
   honors that request when supported.

2. Improves planar/interleaved audio buffer handling. The decoding
   logic now properly handles both planar and interleaved sample
   formats by calculating the correct stride and buffer pointers based
   on the actual sample format.

The changes include:
- Added format mapping between AVSampleFormat and lc3_pcm_format
- Implemented format selection logic in initialization.
- Updated buffer pointer calculation for planar/interleaved data.
- Maintained backward compatibility with existing behavior.

Signed-off-by: cenzhanquan1 <[email protected]>

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