Use relative imports when importing other modules in the same directory

We were using absolute imports under the assumption that the /scripts
directory is in the path. This worked in normal use because every one of our
Python scripts either were in the /scripts directory, or added the /scripts
directory to the module search path in order to reference mbedtls_dev.
However, this broke things like
```
python3 -m unittest scripts/mbedtls_dev/psa_storage.py
```

Fix this by using relative imports.

Relative imports are only supposed to be used inside a package (Python
doesn't complain, but Pylint does). So make /scripts/mbedtls_dev a proper
package by creating __init__.py.

Signed-off-by: Gilles Peskine <Gilles.Peskine@arm.com>
diff --git a/scripts/mbedtls_dev/psa_storage.py b/scripts/mbedtls_dev/psa_storage.py
index a06dce1..bae9938 100644
--- a/scripts/mbedtls_dev/psa_storage.py
+++ b/scripts/mbedtls_dev/psa_storage.py
@@ -26,7 +26,7 @@
 from typing import Dict, List, Optional, Set, Union
 import unittest
 
-from mbedtls_dev import c_build_helper
+from . import c_build_helper
 
 
 class Expr: