libbpf: Add some details for BTF parsing failures

As CONFIG_DEBUG_INFO_BTF is default off the existing "failed to find
valid kernel BTF" message makes diagnosing the kernel build issue somewhat
cryptic. Add a little more detail with the hope of helping users.

Before:
```
libbpf: failed to find valid kernel BTF
libbpf: Error loading vmlinux BTF: -3
```

After not accessible:
```
libbpf: kernel BTF is missing at '/sys/kernel/btf/vmlinux', was CONFIG_DEBUG_INFO_BTF enabled?
libbpf: failed to find valid kernel BTF
libbpf: Error loading vmlinux BTF: -3
```

After not readable:
```
libbpf: failed to read kernel BTF from (/sys/kernel/btf/vmlinux): -1
```

Closes: https://lore.kernel.org/bpf/CAP-5=fU+DN_+Y=Y4gtELUsJxKNDDCOvJzPHvjUVaUoeFAzNnig@mail.gmail.com/

Signed-off-by: Ian Rogers <irogers@google.com>
Signed-off-by: Andrii Nakryiko <andrii@kernel.org>
Link: https://lore.kernel.org/bpf/20240125231840.1647951-1-irogers@google.com

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