runtime: start GC background sweep eagerly

runtime: start GC background sweep eagerly

Starting it lazily causes a memory allocation (for the goroutine) during GC.

First use of channels for runtime implementation.

Change-Id: I9cd24dcadbbf0ee5070ee6d0ed7ea415504f316c
Reviewed-on: https://go-review.googlesource.com/6960
Run-TryBot: Russ Cox <rsc@golang.org>
Reviewed-by: Austin Clements <austin@google.com>