Rename read-char-with-history to read-char-from-minibuffer (bug#10477)

Rename read-char-with-history to read-char-from-minibuffer (bug#10477)

* lisp/simple.el (read-char-from-minibuffer-history):
Rename from read-char-with-history--history.
(read-char-from-minibuffer-map):
Rename from read-char-with-history--map.
(read-char-from-minibuffer): Rename from read-char-with-history.
(read-char-from-minibuffer-self-insert): New command.
(zap-to-char): Use read-char-from-minibuffer.