rcu: Make RCU able to tolerate undefined CONFIG_RCU_KTHREAD_PRIO

This commit updates the initialization of the kthread_prio boot parameter
so that RCU will build even when CONFIG_RCU_KTHREAD_PRIO is undefined.
The kthread_prio boot parameter is set to CONFIG_RCU_KTHREAD_PRIO if
that is defined, otherwise to 1 if CONFIG_RCU_BOOST is defined and
to zero otherwise.  This commit then makes CONFIG_RCU_KTHREAD_PRIO
depend on CONFIG_RCU_EXPERT, so that Kconfig users won't be asked about
CONFIG_RCU_KTHREAD_PRIO unless they want to be.

Reported-by: Linus Torvalds <torvalds@linux-foundation.org>
Reported-by: Ingo Molnar <mingo@kernel.org>
Signed-off-by: Paul E. McKenney <paulmck@linux.vnet.ibm.com>
Reviewed-by: Pranith Kumar <bobby.prani@gmail.com>