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 f2a752940307 ("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.
diff --git a/library/CMakeLists.txt b/library/CMakeLists.txt
index 3b56c44..e9372be 100644
--- a/library/CMakeLists.txt
+++ b/library/CMakeLists.txt
@@ -179,7 +179,7 @@
 
 if(USE_SHARED_MBEDTLS_LIBRARY)
     add_library(mbedcrypto SHARED ${src_crypto})
-    set_target_properties(mbedcrypto PROPERTIES VERSION 2.14.0 SOVERSION 3)
+    set_target_properties(mbedcrypto PROPERTIES VERSION 2.16.0 SOVERSION 3)
     target_link_libraries(mbedcrypto ${libs})
     target_include_directories(mbedcrypto
         PUBLIC ${CMAKE_SOURCE_DIR}/include/
@@ -191,11 +191,11 @@
                 PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE)
     else()
         add_library(mbedx509 SHARED ${src_x509})
-        set_target_properties(mbedx509 PROPERTIES VERSION 2.14.0 SOVERSION 0)
+        set_target_properties(mbedx509 PROPERTIES VERSION 2.16.0 SOVERSION 0)
         target_link_libraries(mbedx509 ${libs} mbedcrypto)
 
         add_library(mbedtls SHARED ${src_tls})
-        set_target_properties(mbedtls PROPERTIES VERSION 2.14.0 SOVERSION 12)
+        set_target_properties(mbedtls PROPERTIES VERSION 2.16.0 SOVERSION 12)
         target_link_libraries(mbedtls ${libs} mbedx509)
 
         install(TARGETS mbedtls mbedx509 mbedcrypto