elf: Replace PI_STATIC_AND_HIDDEN with opposite HIDDEN_VAR_NEEDS_DYNAMIC_RELOC

elf: Replace PI_STATIC_AND_HIDDEN with opposite HIDDEN_VAR_NEEDS_DYNAMIC_RELOC

PI_STATIC_AND_HIDDEN indicates whether accesses to internal linkage
variables and hidden visibility variables in a shared object (ld.so)
need dynamic relocations (usually R_*_RELATIVE). PI (position
independent) in the macro name is a misnomer: a code sequence using GOT
is typically position-independent as well, but using dynamic relocations
does not meet the requirement.

Not defining PI_STATIC_AND_HIDDEN is legacy and we expect that all new
ports will define PI_STATIC_AND_HIDDEN. Current ports defining
PI_STATIC_AND_HIDDEN are more than the opposite. Change the configure
default.

No functional change.

Reviewed-by: Adhemerval Zanella  <adhemerval.zanella@linaro.org>