Fixes to afl-cc and documentation (#1974)

* Always compile with -ldl when building for CODE_COVERAGE

When building with CODE_COVERAGE, the afl runtime contains code that
calls `dladdr` which requires -ldl. Under most circumstances, clang
already adds this (e.g. when building with pc-table), but there are some
circumstances where it isn't added automatically.

* Add visibility declaration to __afl_connected

When building with hidden visibility, the use of __AFL_LOOP inside such
code can cause linker errors due to __afl_connected being declared
"hidden".

* Update docs to clarify that CODE_COVERAGE=1 is required for dynamic_covfilter

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