kernel: Scheduler rewrite

This replaces the existing scheduler (but not priority handling)
implementation with a somewhat simpler one.  Behavior as to thread
selection does not change.  New features:

+ Unifies SMP and uniprocessing selection code (with the sole
  exception of the "cache" trick not being possible in SMP).

+ The old static multi-queue implementation is gone and has been
  replaced with a build-time choice of either a "dumb" list
  implementation (faster and significantly smaller for apps with only
  a few threads) or a balanced tree queue which scales well to
  arbitrary numbers of threads and priority levels.  This is
  controlled via the CONFIG_SCHED_DUMB kconfig variable.

+ The balanced tree implementation is usable symmetrically for the
  wait_q abstraction, fixing a scalability glitch Zephyr had when many
  threads were waiting on a single object.  This can be selected via
  CONFIG_WAITQ_FAST.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>