ARMv7-A: Modify up_fullcontextrestore() for CONFIG_BUILD_KERNEL. It changed...

ARMv7-A: Modify up_fullcontextrestore() for CONFIG_BUILD_KERNEL.  It changed CPSR while in kernel.  That will crash is the new CPSR is user mode while executing in kernel space.  Fixed by adding a SYS_context_restore system call.  There is an alternative, simpler modification to up_fullcontextrestore() that could have been done:  It might have been possible to use the SPSR instead of the CPRSR and then do an exception return from up_fullcontextrestore().  That would be more efficient, but I never tried it.