replace kernel_autoconf with sel4_autoconf

since the mainline kernel's kernel_autoconf doesn't include
seL4/gen_config.h but sel4_autoconf does

util_libs: remove autoconf.h from util_libs

this commit removes autoconf.h generation from each lib and
append '#include <<lib_name>/gen_config.h>' after each
'#include <autoconf.h>' since autoconf.h is only the for the
kernel config now. This is a temporarily solution, since we
currently don't have a way to tell which header files each file
is trying to include when it includes 'autoconf.h'

libcpio: make position-independent

The elfloader uses libcpio, and is position-independent. Without this
patch, loading images from the CPIO archive will fail.

trivial: style CMakeLists.txt

libcpio: Remove unused muslc dependency

This library is used by the elfloader, which should not be including muslc

RISC-V: CMake support

Add CMake build rules for various libraries