update udev rules for new udev version

update udev rules for new udev version

New versions of udev (148+) emit the following warnings:

udevd[425]: BUS= will be removed in a future udev version,
  please use SUBSYSTEM= to match the event device, or
  SUBSYSTEMS= to match a parent device, in /lib/udev/rules.d/60-openocd.rules:1
udevd[425]: SYSFS{}= will be removed in a future udev version,
  please use ATTR{}= to match the event device, or
  ATTRS{}= to match a parent device, in /lib/udev/rules.d/60-openocd.rules:4
udevd[425]: SYSFS{}= will be removed in a future udev version,
  please use ATTR{}= to match the event device, or
  ATTRS{}= to match a parent device, in /lib/udev/rules.d/60-openocd.rules:7
...

See also http://bugs.debian.org/cgi-bin/bugreport.cgi?bug=560141

[dbrownell@users.sourceforge.net: add IDs for Stellaris ICDI, Olimex Tiny-H]

Signed-off-by: David Brownell <dbrownell@users.sourceforge.net>