kconfig: make default prompt of mainmenu less specific

If "mainmenu" is not specified, "Linux Kernel Configuration" is used
as a default prompt.

Given that Kconfig is used in other projects than Linux, let's use
a more generic prompt, "Main menu".

Suggested-by: Sam Ravnborg <sam@ravnborg.org>
Signed-off-by: Masahiro Yamada <yamada.masahiro@socionext.com>