rcu: Simplify RCU_TINY RCU callback invocation

TINY_PREEMPT_RCU could use a kthread to handle RCU callback invocation,
which required an API to abstract kthread vs. softirq invocation.
Now that TINY_PREEMPT_RCU is no longer with us, this commit retires
this API in favor of direct use of the relevant softirq primitives.

Signed-off-by: Paul E. McKenney <paulmck@linux.vnet.ibm.com>
Reviewed-by: Josh Triplett <josh@joshtriplett.org>