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rtos/zephyr: arm: fetch arm exc return offset
Since https://github.com/zephyrproject-rtos/zephyr/commit/c3eeae8, Zephyr OS exposes offset of mode_exc_return in the arch struct for ARM.
Accounting for this allows for consistency and enables logic with further offsets that may be added after this.
This is now under review in upstream: https://review.openocd.org/c/openocd/+/7851