arch: add exception fault info print support

ARMv6, ARMv7 and ARMv8 exception model supports system exception and
external interrupts. Few of the system exceptions are used for capturing
faults. This information provides the address location where fault
has occurred and the reason of the fault and is handy while fixing the
bugs.

Add the support to print the fault information for memory, bus, user,
hard and secure faults. Also add the support to print r0, r1, r2, r3,
r12, r14, PC, and xPSR registers stored the stack.

Secure fault handling is handled only if security extensions are enabled
on the platform. Secure fault handling is guarded by __ARM_FEATURE_CMSE
and can be enabled by setting -mcmse while compiling.

Signed-off-by: Nishant Sharma <nishant.sharma@arm.com>
Change-Id: I36f4aa845008d77537c62cadff582c0e993110f5