libc: Optimize malloc() initialization

The BSPs provide memory for the separate C Program Heap initialization
via _Memory_Get().  Most BSPs provide exactly one memory area.  Only two
BSPs provide more than one memory area (arm/altera-cyclone-v and
bsps/powerpc/mpc55xxevb).  Only if more than one memory area is
provided, there is a need to use _Heap_Extend().  Provide two
implementations to initialize the separate C Program Heap and let the
BSP select one of the implementations based on the number of provided
memory areas.  This gets rid of a dependency on _Heap_Extend().  It
also avoids dead code sections for most BSPs.

Change licence to BSD-2-Clause according to file history.

Update #3053.

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