state: require block.Time of the fist block to be genesis time (#2594)
* require block.Time of the fist block to be genesis time
Refs #2587:
```
We only start validating block.Time when Height > 1, because there is no
commit to compute the median timestamp from for the first block. This
means a faulty proposer could make the first block with whatever time
they want.
Instead, we should require the timestamp of block 1 to match the genesis
time.
I discovered this while refactoring the ValidateBlock tests to be
table-driven while working on tests for #2560.
```
* do not accept blocks with negative height
* update changelog and spec
* nanos precision for test genesis time
* Fix failing test (#2607)