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MLBEDSW-10754: Make kernel object usage more consistent

Philip Hall requested to merge MLBEDSW-10754 into main

This commit rationalises the use of the kernel object to make it simpler to use the unit kernel, and ensures that called functions have the correct kernel constness to prevent accidental modification.

Signed-off-by: Philip Hall philip.hall@arm.com Change-Id: I27c63feb8e876f359b434a916bed50f41c97f411

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