xfrm: add generic iptfs defines and functionality

Define `XFRM_MODE_IPTFS` and `IPSEC_MODE_IPTFS` constants, and add these to
switch case and conditionals adjacent with the existing TUNNEL modes.

Signed-off-by: Christian Hopps <chopps@labn.net>
Tested-by: Antony Antony <antony.antony@secunet.com>
Signed-off-by: Steffen Klassert <steffen.klassert@secunet.com>