Allocate kernel thread stacks out of kmem_map

The kernel submaps eat most of the available kernel space. Using the
main kernel map for thread stacks sometimes lead to exhaustion when many
threads are created. Use kmem_map instead to increase this limit.

* kern/thread.c (stack_alloc): Use kmem_map instead of kernel_map for
stack allocation.
(stack_collect): Likewise for release.

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