Merge development-psa from mbedTLS into development

[AndrzejKurek]

This PR supersedes #40.
It merges development_psa from mbedtls repository (commit 409fdae) into development.
The aim is to have a sibling PR to the big merge happening here: Mbed-TLS/mbedtls#2395 , to have the tests pass on the TLS side. Then, an updated PR with development -> mbed-crypto merge will be created.
I have performed the following tests:

• make test (passed);
• ssl-opt.sh (passed).

Following conflicts have been resolved:

• CMakeFiles.txt: used PSA - added "include_directories(include/)" and "include_directories(library/)";
• include/mbedtls/check_config.h: used PSA - added crypto_spm, crypto_storage_c, crypto_storage_file_c and crypto_storage_its_c prerequisites;
• cipher.h:
  • used mbedtls: formatting style of mbedtls_cipher_set_iv;
  • used mbedtls: documentation of mbedtls_cipher_update_ad;
  • used mbedtls: documentation of mbedtls_cipher_auth_encrypt;
  • used mbedtls: documentation of mbedtls_cipher_auth_decrypt;
• pk.h: used mbedtls - documentation of mbedtls_pk_free;
• library/version_features.c: used PSA - definition of additional features like psa_crypto_storage_c, storage_file_c, etc.;
• scripts/config.pl: used PSA - added "psa_crypto_spm", "psa_has_its_io", "psa_crypto_storage_its_c", "use_psa_crypto" to @excluded;
• Readme.md - used PSA - used the bare version of readme that PSA repository has (cut off at "the test suites need Perl [...]"). Not sure about it though.
• include/mbedtls/config.h - used PSA - used the less elaborate descriptions of PSA defines from PSA repository, with PSA_CRYPTO_C defined on default and with added new storage-related defines.
• library/ssl_srv.c: used PSA - used mbedtls - MBEDTLS_SSL_DEBUG_ECDH instead of DEBUG_ECP in line ~3925;
• library/pk.c: used mbedtls - parameter validation in mbedtls_pk_check_pair (makes checks for pub == NULL and pr == NULL conditional);
• library/rsa.c:
  • used both - rsa_rsaes_pkcs1_v15_encrypt: additional null checks from PSA and mode & padding checks from mbedtls;
  • used mbedtls - mbedtls_rsa_rsaes_pkcs1_v15_decrypt with mbedtls logic of handling padding - not sure about that;
• library/pk_wrap.c: used psa - handling public key format in the new way (even though the PR will have to be reworked), since it has already been merged in the crypto repository;
• tests/suites/helpers.function - used both - parameter validation handling via new test macros and the new PSA_ASSERT and other definitions.
• tests/scripts/all.sh - used both - removed a check for crypto/Makefile (crypto submodule initialization), removed tests of crypto submodule, added parameter validation tests according to the even newer development head - unfortunately the commit that is merged into development-psa is a commit just before adding component checks to all.sh, but it's already present in mbed-crypto repository, so it is added here as a component check, but in development-psa - it's the old way.
• library/CMakeLists.txt - used both - PSA version of the file with mbedTLS SOVERSION's.
• library/cipher.c:
  • return parentheses added at line ~416 - used mbedtls
  • mbedtls_cipher_set_iv - used mbedtls - added parameter validation and removed the "ctx->iv_size = 0;" setting if ( iv == NULL && iv_len == 0 );
  • mbedtls_cipher_crypt - used mbedtls - added parameter validation;
  • mbedtls_cipher_auth_encrypt - used mbedtls - added parameter validation;
  • mbedtls_cipher_auth_decrypt - used mbedtls - added parameter validation;
  • mbedtls_cipher_setkey - used mbedtls - added parameter validation;

Manual changes:

• removed .gitmodules file and crypto submodule
• removed submodule option from Makefile, programs/Makefile, library/Makefile, tests/Makefile, and CMakeLists.txt

[AndrzejKurek]

I've performed a merge of development into this PR (without conflicts) to include Hanno's changes to public key format adaption code.

[AndrzejKurek]

I've merged the Mbed-TLS/mbedtls#2395 branch into the branch used in this PR, to have the tests passing on MbedTLS side.

[mpg]

Jaeden has created #51 which supersedes this.