ARM: mpu: add PMSA related registers and bitfields to existing headers

This patch adds the following definitions relevant to the PMSA:

Add SCTLR bit 17, (CR_BR - Background Region bit) to the list of CR_*
bitfields. This bit determines whether to use the architecturally defined
memory map

Add the MPUIR to the available registers when using read_cpuid macro. The
MPUIR is the MPU type register.

Signed-off-by: Jonathan Austin <jonathan.austin@arm.com>
Reviewed-by: Will Deacon <will.deacon@arm.com>
CC:"Uwe Kleine-König" <u.kleine-koenig@pengutronix.de>