xtensa: noMMU: allow handling protection faults

Many xtensa CPU cores without full MMU still have memory protection
features capable of raising exceptions for invalid instruction
fetches/data access. Allow handling such exceptions. This improves
behavior of processes that pass invalid memory pointers to syscalls in
noMMU configs: in case of exception the kernel instead of killing the
process is now able to return -EINVAL from a syscall.

Introduce CONFIG_PFAULT that controls whether protection fault code is
enabled and register handlers for common memory protection exceptions
when it is enabled.

Signed-off-by: Max Filippov <jcmvbkbc@gmail.com>