sctp: create udp6 sock and set its encap_rcv

This patch is to add the udp6 sock part in sctp_udp_sock_start/stop().
udp_conf.use_udp6_rx_checksums is set to true, as:

   "The SCTP checksum MUST be computed for IPv4 and IPv6, and the UDP
    checksum SHOULD be computed for IPv4 and IPv6"

says in rfc6951#section-5.3.

v1->v2:
  - Add pr_err() when fails to create udp v6 sock.
  - Add #if IS_ENABLED(CONFIG_IPV6) not to create v6 sock when ipv6 is
    disabled.

Signed-off-by: Xin Long <lucien.xin@gmail.com>
Acked-by: Marcelo Ricardo Leitner <marcelo.leitner@gmail.com>
Signed-off-by: Jakub Kicinski <kuba@kernel.org>