SPM: Add STATUS_NEED_SCHEDULE to manage scheduler

THRD_EXPECTING_SCHEDULE() calls thrd_next() to decide whether
scheduling is required and when it is required, PendSV will
call thrd_next() again in ipc_schedule(). This duplicated
call of thrd_next() can be avoided by returning a status of
STATUS_NEED_SCHDULABLE from backend in these locations:

 - SVC_Handler
 - SPM cross API
 - Interrupt handler

Signed-off-by: Jianliang Shen <jianliang.shen@arm.com>
Change-Id: I3f1fccbb045938624089e856b5a98c3365c76fcc