rcu: Move RCU grace-period cleanup into kthread

As a first step towards allowing grace-period cleanup to be preemptible,
this commit moves the RCU grace-period cleanup into the same kthread
that is now used to initialize grace periods.  This is needed to keep
scheduling latency down to a dull roar.

[ paulmck: Get rid of stray spin_lock_irqsave() calls. ]

Reported-by: Mike Galbraith <mgalbraith@suse.de>
Reported-by: Dimitri Sivanich <sivanich@sgi.com>
Signed-off-by: Paul E. McKenney <paulmck@linux.vnet.ibm.com>
Reviewed-by: Josh Triplett <josh@joshtriplett.org>