arm64: compat: Add separate CP15 trapping hook

Instead of directly generating an UNDEF when trapping a CP15 access,
let's add a new entry point to that effect (which only generates an
UNDEF for now).

Acked-by: Mark Rutland <mark.rutland@arm.com>
Signed-off-by: Marc Zyngier <marc.zyngier@arm.com>
Signed-off-by: Catalin Marinas <catalin.marinas@arm.com>