kbuild: rename extmod-prefix to extmod_prefix

This seems to be useful in sub-make as well. As a preparation of
exporting it, rename extmod-prefix to extmod_prefix because exported
variables cannot contain hyphens.

Signed-off-by: Masahiro Yamada <masahiroy@kernel.org>
Reviewed-by: Nick Desaulniers <ndesaulniers@google.com>