arm64/debug: Move BRK ESR template macro into <asm/esr.h>

It makes sense to keep all the architectural exception syndrome
definitions in the same place.

Signed-off-by: Dave Martin <Dave.Martin@arm.com>
Acked-by: Mark Rutland <mark.rutland@arm.com>
Acked-by: Catalin Marinas <catalin.marinas@arm.com>
Signed-off-by: Will Deacon <will.deacon@arm.com>