add library support for tuning TCP_KEEPALIVE

This adds three new options to control the behavior of TCP keepalives:

- CURLOPT_TCP_KEEPALIVE: enable/disable probes
- CURLOPT_TCP_KEEPIDLE: idle time before sending first probe
- CURLOPT_TCP_KEEPINTVL: delay between successive probes

While not all operating systems support the TCP_KEEPIDLE and
TCP_KEEPINTVL knobs, the library will still allow these options to be
set by clients, silently ignoring the values.