ARM: smp: Free up the TLS register while running in the kernel

To prepare for a subsequent patch that stores the current task pointer
in the user space TLS register while running in the kernel, modify the
set_tls and switch_tls routines not to touch the register directly, and
update the return to user space code to load the correct value.

Signed-off-by: Ard Biesheuvel <ardb@kernel.org>
Reviewed-by: Linus Walleij <linus.walleij@linaro.org>
Tested-by: Amit Daniel Kachhap <amit.kachhap@arm.com>