arm64/debug: Eliminate magic number from ESR template definition

<asm/esr.h> has perfectly good constants for defining ESR values
already.  Let's use them.

Signed-off-by: Dave Martin <Dave.Martin@arm.com>
Acked-by: Mark Rutland <mark.rutland@arm.com>
Acked-by: Catalin Marinas <catalin.marinas@arm.com>
Signed-off-by: Will Deacon <will.deacon@arm.com>