Crypto library: Migrate support to MbedTLS v2.24.0

This patch migrates the mbedcrypto dependency for TF-A
to mbedTLS repo v2.24.0 which is the latest release tag.
The relevant documentation is updated to reflect the
use of new version.

Change-Id: I116f44242e8c98e856416ea871d11abd3234dac1
Signed-off-by: Alexei Fedorov <Alexei.Fedorov@arm.com>
diff --git a/drivers/auth/mbedtls/mbedtls_common.mk b/drivers/auth/mbedtls/mbedtls_common.mk
index 8454105..53ebe30 100644
--- a/drivers/auth/mbedtls/mbedtls_common.mk
+++ b/drivers/auth/mbedtls/mbedtls_common.mk
@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2015-2020, ARM Limited and Contributors. All rights reserved.
+# Copyright (c) 2015-2020, Arm Limited. All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
 #
@@ -35,7 +35,6 @@
 					bignum.c				\
 					gcm.c 					\
 					md.c					\
-					md_wrap.c				\
 					pk.c 					\
 					pk_wrap.c 				\
 					pkparse.c 				\