Crypto: Update to Mbed TLS 3.6.1

Update the CMake checkout dependency and re-align the
headers to the ones available in Mbed TLS 3.6.1.

Signed-off-by: Antonio de Angelis <antonio.deangelis@arm.com>
Change-Id: I681df1f2662c55b7aaf7eed2642b7ce3eeae8192
diff --git a/interface/include/mbedtls/psa_util.h b/interface/include/mbedtls/psa_util.h
index c78cc23..7350eaf 100644
--- a/interface/include/mbedtls/psa_util.h
+++ b/interface/include/mbedtls/psa_util.h
@@ -21,7 +21,7 @@
  * otherwise error codes would be unknown in test_suite_psa_crypto_util.data.*/
 #include <mbedtls/asn1write.h>
 
-#if defined(MBEDTLS_PSA_CRYPTO_CLIENT)
+#if defined(MBEDTLS_PSA_CRYPTO_CLIENT) || defined(MCUBOOT_USE_PSA_CRYPTO)
 
 /** The random generator function for the PSA subsystem.
  *