kheaders: use `command -v` to test for existence of `cpio`

Commit 13e1df09284d ("kheaders: explicitly validate existence of cpio
command") added an explicit check for `cpio` using `type`.

However, `type` in `dash` (which is used in some popular distributions
and base images as the shell script runner) prints the missing message
to standard output, and thus no error is printed:

$ bash -c 'type missing >/dev/null'
bash: line 1: type: missing: not found
$ dash -c 'type missing >/dev/null'
$

For instance, this issue may be seen by loongarch builders, given its
defconfig enables CONFIG_IKHEADERS since commit 9cc1df421f00 ("LoongArch:
Update Loongson-3 default config file").

Therefore, use `command -v` instead to have consistent behavior, and
take the chance to provide a more explicit error.

Fixes: 13e1df09284d ("kheaders: explicitly validate existence of cpio command")
Signed-off-by: Miguel Ojeda <ojeda@kernel.org>
Signed-off-by: Masahiro Yamada <masahiroy@kernel.org>