This has several advantages:
* More simplified Makefile.am
* Actually used doxygen config is available as a file
* Building doc out-of-tree is possible

Signed-off-by: Alexander Stein <alexander.stein@mailbox.org>
[Bartosz: add a dependency on Doxygen to the doc target in Makefile]
Signed-off-by: Bartosz Golaszewski <bgolaszewski@baylibre.com>