lib: Use new kselftest header

We just added a new C header file for use with test modules that are
intended to be run with kselftest.  We can reduce code duplication by
using this header.

Use new kselftest header to reduce code duplication in test_printf and
test_bitmap test modules.

Acked-by: Kees Cook <keescook@chromium.org>
Signed-off-by: Tobin C. Harding <tobin@kernel.org>
Signed-off-by: Shuah Khan <shuah@kernel.org>