intrng: Use less confusing return value for intr_pic_add_handler

Currently intr_pic_add_handler either returns the PIC you gave it (which
is useless and risks causing confusion about whether it's creating
another PIC) or, on error, NULL. Instead, convert it to return an int
error code as one would expect.

Note that the only consumer of this API, arm64's gicv3_its, does not use
the return value, so no uses need updating to work with the revised API.

Reviewed by: markj, mmel
MFC after: 1 week
Differential Revision: https://reviews.freebsd.org/D33341

(cherry picked from commit a3e828c91d34e9e00f3f99516c1e5a349e49b1d4)