md: Fix failed allocation of md_register_thread

mddev->sync_thread can be set to NULL on kzalloc failure downstream.
The patch checks for such a scenario and frees allocated resources.

Committer node:

Added similar fix to raid5.c, as suggested by Guoqing.

Cc: stable@vger.kernel.org # v3.16+
Acked-by: Guoqing Jiang <gqjiang@suse.com>
Signed-off-by: Aditya Pakki <pakki001@umn.edu>
Signed-off-by: Song Liu <songliubraving@fb.com>