kernel/mutex: Fix locking to be SMP-safe

The mutex locking was written to use k_sched_lock(), which doesn't
work as a synchronization primitive if there is another CPU running
(it prevents the current CPU from preempting the thread, it says
nothing about what the others are doing).

Use the pre-existing spinlock for all synchronization.  One wrinkle is
that the priority code was needing to call z_thread_priority_set(),
which is a rescheduling call that cannot be called with a lock held.
So that got split out with a low level utility that can update the
schedule state but allow the caller to defer yielding until later.

Fixes #17584

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