Fix printk() header inclusion for older kernels

This was tickled when `xeno_math` became the default math kmodule for
RTAI in #235, and Janos Bujtar tried building against the older kernel
packages distributed by the LinuxCNC project ([reported here][1]).

`printk()` was moved from `linux/kernel.h` to `linux/printk.h` in
[late 2010][2].  However, `linux/kernel.h` includes `linux/printk.h`.

Alternatively, `printk()` could be defined by including
`linux/module.h`.  I don't know which is better.

[1]: https://groups.google.com/forum/#!topic/machinekit/PXjZfJqOfPg
[2]: https://lkml.org/lkml/2010/11/9/606
Fixed linuxcnc startup failure due to unknown count=1 parameter used with pepper component.
Merge pull request #249 from modmaker/feature/bugfix

Fix startup failure due to unknown count=1 parameter to pepper component
Merge pull request #243 from zultron/master

Fix printk() header inclusion for older kernels
Merge pull request #251 from zultron/system-config-fixes

 System config fixes
gmoccapy_1_1_5_5 - several bug fixes and improvements

see release notes for detailed information
Merge pull request #252 from gmoccapy/master

gmoccapy_1_1_5_5 - several bug fixes and improvements
Remove shmdrv udev rules from kthread module packages

Don't install shmdrv.rules from kthread module packages.  Apparently
Debian doesn't allow co-ownership of a single file between packages.

Reverses part of a commit in #251.
Fix packaging `clean` target

- Be sure debian/configure is run before build
  - This goof got me in trouble over #251