Merge branch 'development-psa-proposed' into development

Resolve conflicts by performing the following.

- Take the upstream Mbed TLS ChangeLog verbatim.
- Reject changes to Makefiles and CMake that are related to using Mbed
  Crypto as a submodule. It doesn't make sense to use Mbed Crypto as a
  submodule of itself.
- Reject README changes, as Mbed Crypto has its own, different README.
- Reject PSA-related changes to config.h. We don't want to disable the
  availability of the PSA Crypto API by default in the Mbed Crypto
  config.h.
- Don't inadvertently revert dead code removal in
  mbedtls_cipher_write_tag() which was added in f2a7529403 ("Fix
  double return statement in cipher.c")
- Where Mbed Crypto already had some MBEDTLS_USE_PSA_CRYPTO code (from
  past companion PRs) take the latest version from Mbed TLS which
  includes integration with MBEDTLS_CHECK_PARAMS.
- Update the version of the shared library files to match what's
  currently present in Mbed TLS.
- Reject removal of testing with PSA from config full tests.
- Resolve conflicts in test tests/suites/helpers.function, where both
  Mbed Crypto and Mbed TLS both added documentation for TEST_ASSERT.
  Combine text from both documentation efforts.
- Reject adding a submodule of ourselves.
- Reject addition of submodule tests in all.sh.
- Reject addition of submodule to library path in
  tests/scripts/run-test-suites.pl.
- Avoid using USE_CRYPTO_SUBMODULE=1 in
  component_test_use_psa_crypto_full_cmake_asan() in all.sh.

library/version_features.c

@@ -72,6 +72,9 @@ static const char *features[] = {
 #if defined(MBEDTLS_PLATFORM_SNPRINTF_ALT)
     "MBEDTLS_PLATFORM_SNPRINTF_ALT",
 #endif /* MBEDTLS_PLATFORM_SNPRINTF_ALT */
+#if defined(MBEDTLS_PLATFORM_VSNPRINTF_ALT)
+    "MBEDTLS_PLATFORM_VSNPRINTF_ALT",
+#endif /* MBEDTLS_PLATFORM_VSNPRINTF_ALT */
 #if defined(MBEDTLS_PLATFORM_NV_SEED_ALT)
     "MBEDTLS_PLATFORM_NV_SEED_ALT",
 #endif /* MBEDTLS_PLATFORM_NV_SEED_ALT */
@@ -84,6 +87,9 @@ static const char *features[] = {
 #if defined(MBEDTLS_DEPRECATED_REMOVED)
     "MBEDTLS_DEPRECATED_REMOVED",
 #endif /* MBEDTLS_DEPRECATED_REMOVED */
+#if defined(MBEDTLS_CHECK_PARAMS)
+    "MBEDTLS_CHECK_PARAMS",
+#endif /* MBEDTLS_CHECK_PARAMS */
 #if defined(MBEDTLS_TIMING_ALT)
     "MBEDTLS_TIMING_ALT",
 #endif /* MBEDTLS_TIMING_ALT */