riscv: decouple the Zephyr CPU number from the hart ID

Currently it is assumed that Zephyr CPU numbers match their hartid
value one for one. This assumption was relied upon to efficiently
retrieve the current CPU's `struct _cpu` pointer.

People are starting to have systems with a mix of different usage for
each CPU and such assumption may no longer be true.

Let's completely decouple the hartid from the Zephyr CPU number by
stuffing each CPU's `struct _cpu` pointer in their respective scratch
register instead. `arch_curr_cpu()` becomes more efficient as well.

Since the scratch register was previously used to store userspace's
exception stack pointer, that is now moved into `struct _cpu_arch`
which implied minor user space entry code cleanup and rationalization.

Signed-off-by: Nicolas Pitre <npitre@baylibre.com>