Failure of userland copy should return EFAULT

Many key internal functions pass system return codes that are safe to
return to userland. In the case of ddi_copyin(9F), an error passes -1
and the documentation states very clearly that drivers should pass
EFAULT to userland when this happens.

http://illumos.org/man/9F/ddi_copyin

This does not happen in the ZFS source code. I believe it should be
changed to pass EFAULT. I caught this when writing man pages for the
libzfs_core API.

Signed-off-by: Richard Yao <[email protected]>
Signed-off-by: Brian Behlendorf <[email protected]>
Closes #3575

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