arch: Enhance compatibility for `arch_nvic_init`

In Cortex-M3/M4/M23/M33, a core register block was named the System Control and
ID Register, separate from the System Control Block (SCnSCB). In Cortex-M55/M85,
the same block was renamed to Implementation Control Registers (ICB), creating a
naming discrepancy within the same Cortex v8m family. Therefore, using #ifdef
ARMV7M alone is inadequate. To ensure compatibility, the register's definition
is utilized over the family.

This adjustment should facilitate the build for Cortex-M23 and M33 cores.

Signed-off-by: Wei-Chia Su <Wei-Chia.Su@arm.com>