[riscv] Provide a millicode variant of print_message()
RISC-V has a millicode calling convention that allows for the use of
an alternative link register x5/t0. With sufficient care, this allows
for two levels of subroutine call even when no stack is available.
Provide both standard and millicode entry points for print_message(),
and use the millicode entry point to allow for printing debug messages
from libprefix.S itself.