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Merge a20_mp_start_ap and a31_mp_start_ap into one function.

Description

Merge a20_mp_start_ap and a31_mp_start_ap into one function.
This function works with all smp non-multicluster allwinner SoC (A20, A31, A31S and H3).

Approved by: cognet (mentor)
Differential Revision: https://reviews.freebsd.org/D6269