arch: arm: core: aarch32: fix regression introduced with Cortex-R

Regression introduced on ARMV6_M_ARMV8_M_BASELINE by Cortex-R PR #28231
Fixes #38421

Signed-off-by: Alexandre Bourdiol <[email protected]>

Author: ABOSTM

arch/arm/core/aarch32/userspace.S

@@ -548,9 +548,6 @@ dispatch_syscall:
 #elif defined(CONFIG_ARMV7_M_ARMV8_M_MAINLINE) \
     /* set stack back to unprivileged stack */
     ldr ip, [sp,#12]
-#endif
-
-#if !defined(CONFIG_CPU_CORTEX_R)
     msr PSP, ip
 #endif