xfrm: add IPv6 support for espintcp

This extends espintcp to support IPv6, building on the existing code
and the new UDPv6 encapsulation support. Most of the code is either
reused directly (stream parser, ULP) or very similar to the IPv4
variant (net/ipv6/esp6.c changes).

The separation of config options for IPv4 and IPv6 espintcp requires a
bit of Kconfig gymnastics to enable the core code.

Signed-off-by: Sabrina Dubroca <sd@queasysnail.net>
Signed-off-by: Steffen Klassert <steffen.klassert@secunet.com>