libbpf: Factor out low-level BPF program loading helper

Refactor low-level API for BPF program loading to not rely on public API
types. This allows painless extension without constant efforts to cleverly not
break backwards compatibility.

Signed-off-by: Andrii Nakryiko <andrii@kernel.org>
Signed-off-by: Alexei Starovoitov <ast@kernel.org>
Link: https://lore.kernel.org/bpf/20201203204634.1325171-12-andrii@kernel.org