raid5: create multiple threads to handle stripes

This is a new tempt to make raid5 handle stripes in multiple threads, as
suggested by Neil to have maxium flexibility and better numa binding. It
basically is a combination of my first and second generation patches. By
default, no multiple thread is enabled (all stripes are handled by raid5d).

An example to enable multiple threads:
#echo 3 > /sys/block/md0/md/auxthread_number
This will create 3 auxiliary threads to handle stripes. The threads can run
on any cpus and handle stripes produced by any cpus.

#echo 1-3 > /sys/block/md0/md/auxth0/cpulist
This will bind auxiliary thread 0 to cpu 1-3, and this thread will only handle
stripes produced by cpu 1-3. User tool can further change the thread's
affinity, but the thread can only handle stripes produced by cpu 1-3 till the
sysfs entry is changed again.

If stripes produced by a CPU aren't handled by any auxiliary thread, such
stripes will be handled by raid5d. Otherwise, raid5d doesn't handle any
stripes.

Signed-off-by: Shaohua Li <shli@fusionio.com>
Signed-off-by: NeilBrown <neilb@suse.de>