Make it easier to define MBEDTLS_PARAM_FAILED as assert

Introduce a new configuration option MBEDTLS_CHECK_PARAMS_ASSERT,
which is disabled by default. When this option is enabled,
MBEDTLS_PARAM_FAILED defaults to assert rather than to a call to
mbedtls_param_failed, and <assert.h> is included.

This fixes #2671 (no easy way to make MBEDTLS_PARAM_FAILED assert)
without breaking backward compatibility. With this change,
`config.pl full` runs tests with MBEDTLS_PARAM_FAILED set to assert,
so the tests will fail if a validation check fails, and programs don't
need to provide their own definition of mbedtls_param_failed().
diff --git a/programs/ssl/query_config.c b/programs/ssl/query_config.c
index 143a45d..b7be959 100644
--- a/programs/ssl/query_config.c
+++ b/programs/ssl/query_config.c
@@ -282,6 +282,14 @@
     }
 #endif /* MBEDTLS_CHECK_PARAMS */
 
+#if defined(MBEDTLS_CHECK_PARAMS_ASSERT)
+    if( strcmp( "MBEDTLS_CHECK_PARAMS_ASSERT", config ) == 0 )
+    {
+        MACRO_EXPANSION_TO_STR( MBEDTLS_CHECK_PARAMS_ASSERT );
+        return( 0 );
+    }
+#endif /* MBEDTLS_CHECK_PARAMS_ASSERT */
+
 #if defined(MBEDTLS_TIMING_ALT)
     if( strcmp( "MBEDTLS_TIMING_ALT", config ) == 0 )
     {