Improve error message when setting v2 policy is unsupported

If trying to encrypt a directory using a v2 policy fails due to the
kernel lacking support for v2 policies, show a better error message.

One way this can happen is if someone runs 'fscrypt setup' with a new
kernel and then downgrades to an old kernel.

Before:

  # echo -n hunter2 | fscrypt encrypt dir --source=custom_passphrase --name=foo --quiet
  [ERROR] fscrypt encrypt: inappropriate ioctl for device: system error: could not add key to the keyring

After:

  # echo -n hunter2 | fscrypt encrypt dir --source=custom_passphrase --name=foo --quiet
  [ERROR] fscrypt encrypt: kernel is too old to support v2 encryption policies

  v2 encryption policies are only supported by kernel version 5.4 and
  later. Either use a newer kernel, or change policy_version to 1 in
  /etc/fscrypt.conf.

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