kernel: Clean up _unpend_thread() API

Almost everywhere this was called, it was immediately followed by
_abort_thread_timeout(), for obvious reasons.  The only exceptions
were in timeout and k_timer expiration (unifying these two would be
another good cleanup), which are peripheral parts of the scheduler and
can plausibly use a more "internal" API.

So make the common case the default, and expose the old behavior as
_unpend_thread_no_timeout().  (Along with identical changes for
_unpend_first_thread) Saves code bytes and simplifies scheduler
surface area for future synchronization work.

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