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/psa/crypto_adjust_auto_enabled.h b/interface/include/psa/crypto_adjust_auto_enabled.h
index 63fb29e..3a2af15 100644
--- a/interface/include/psa/crypto_adjust_auto_enabled.h
+++ b/interface/include/psa/crypto_adjust_auto_enabled.h
@@ -2,6 +2,8 @@
  * \file psa/crypto_adjust_auto_enabled.h
  * \brief Adjust PSA configuration: enable always-on features
  *
+ * This is an internal header. Do not include it directly.
+ *
  * Always enable certain features which require a negligible amount of code
  * to implement, to avoid some edge cases in the configuration combinatorics.
  */
@@ -13,6 +15,14 @@
 #ifndef PSA_CRYPTO_ADJUST_AUTO_ENABLED_H
 #define PSA_CRYPTO_ADJUST_AUTO_ENABLED_H
 
+#if !defined(MBEDTLS_CONFIG_FILES_READ)
+#error "Do not include psa/crypto_adjust_*.h manually! This can lead to problems, " \
+    "up to and including runtime errors such as buffer overflows. " \
+    "If you're trying to fix a complaint from check_config.h, just remove " \
+    "it from your configuration file: since Mbed TLS 3.0, it is included " \
+    "automatically at the right point."
+#endif /* */
+
 #define PSA_WANT_KEY_TYPE_DERIVE 1
 #define PSA_WANT_KEY_TYPE_PASSWORD 1
 #define PSA_WANT_KEY_TYPE_PASSWORD_HASH 1