Update crypto submodule to test with private headers

Update the crypto submodule to the top of the Mbed Crypto development
branch. This brings in a version of Mbed Crypto that enables building
Mbed Crypto tests that depend on private headers, like
'psa_crypto_invasive.h'.

This also requires updating our config.h to include new configuration
options added to Mbed Crypto. MBEDTLS_PSA_ITS_FILE_C replaces
MBEDTLS_PSA_CRYPTO_STORAGE_FILE_C and MBEDTLS_PSA_CRYPTO_STORAGE_ITS_C.
MBEDTLS_PSA_INJECT_ENTROPY replaces MBEDTLS_PSA_HAS_ITS_IO.
diff --git a/include/mbedtls/check_config.h b/include/mbedtls/check_config.h
index 962d3db..c1450db 100644
--- a/include/mbedtls/check_config.h
+++ b/include/mbedtls/check_config.h
@@ -525,26 +525,25 @@
 #error "MBEDTLS_PSA_CRYPTO_SPM defined, but not all prerequisites"
 #endif
 
-#if defined(MBEDTLS_PSA_CRYPTO_STORAGE_FILE_C) && defined(MBEDTLS_PSA_CRYPTO_STORAGE_ITS_C)
-#error "Only one of MBEDTLS_PSA_CRYPTO_STORAGE_FILE_C or MBEDTLS_PSA_CRYPTO_STORAGE_ITS_C can be defined"
-#endif
-
 #if defined(MBEDTLS_PSA_CRYPTO_STORAGE_C) &&            \
-    !( defined(MBEDTLS_PSA_CRYPTO_C) &&                 \
-       ( defined(MBEDTLS_PSA_CRYPTO_STORAGE_FILE_C) ||  \
-         defined(MBEDTLS_PSA_CRYPTO_STORAGE_ITS_C) ) )
+    ! defined(MBEDTLS_PSA_CRYPTO_C)
 #error "MBEDTLS_PSA_CRYPTO_STORAGE_C defined, but not all prerequisites"
 #endif
 
-#if defined(MBEDTLS_PSA_CRYPTO_STORAGE_FILE_C) &&            \
-    !( defined(MBEDTLS_PSA_CRYPTO_STORAGE_C) &&           \
-       defined(MBEDTLS_FS_IO) )
-#error "MBEDTLS_PSA_CRYPTO_STORAGE_FILE_C defined, but not all prerequisites"
+#if defined(MBEDTLS_PSA_INJECT_ENTROPY) &&      \
+    !( defined(MBEDTLS_PSA_CRYPTO_STORAGE_C) && \
+       defined(MBEDTLS_ENTROPY_NV_SEED) )
+#error "MBEDTLS_PSA_INJECT_ENTROPY defined, but not all prerequisites"
 #endif
 
-#if defined(MBEDTLS_PSA_CRYPTO_STORAGE_ITS_C) &&             \
-    ! defined(MBEDTLS_PSA_CRYPTO_STORAGE_C)
-#error "MBEDTLS_PSA_CRYPTO_STORAGE_ITS_C defined, but not all prerequisites"
+#if defined(MBEDTLS_PSA_INJECT_ENTROPY) &&              \
+    !defined(MBEDTLS_NO_DEFAULT_ENTROPY_SOURCES)
+#error "MBEDTLS_PSA_INJECT_ENTROPY is not compatible with actual entropy sources"
+#endif
+
+#if defined(MBEDTLS_PSA_ITS_FILE_C) && \
+    !defined(MBEDTLS_FS_IO)
+#error "MBEDTLS_PSA_ITS_FILE_C defined, but not all prerequisites"
 #endif
 
 #if defined(MBEDTLS_RSA_C) && ( !defined(MBEDTLS_BIGNUM_C) ||         \
diff --git a/include/mbedtls/config.h b/include/mbedtls/config.h
index 3a2fed5..31a3059 100644
--- a/include/mbedtls/config.h
+++ b/include/mbedtls/config.h
@@ -1237,14 +1237,17 @@
 //#define MBEDTLS_PSA_CRYPTO_SPM
 
 /**
- * \def MBEDTLS_PSA_HAS_ITS_IO
+ * \def MBEDTLS_PSA_INJECT_ENTROPY
  *
- * Enable the non-volatile secure storage usage.
+ * Enable support for entropy injection at first boot. This feature is
+ * required on systems that do not have a built-in entropy source (TRNG).
+ * This feature is currently not supported on systems that have a built-in
+ * entropy source.
  *
- * This is crucial on systems that do not have a HW TRNG support.
+ * Requires: MBEDTLS_PSA_CRYPTO_STORAGE_C, MBEDTLS_ENTROPY_NV_SEED
  *
  */
-//#define MBEDTLS_PSA_HAS_ITS_IO
+//#define MBEDTLS_PSA_INJECT_ENTROPY
 
 /**
  * \def MBEDTLS_RSA_NO_CRT
@@ -2741,40 +2744,26 @@
  *
  * Enable the Platform Security Architecture persistent key storage.
  *
- * Module:  library/psa_crypto_storage.c
+ * Module:  crypto/library/psa_crypto_storage.c
  *
- * Requires: MBEDTLS_PSA_CRYPTO_C and one of either
- * MBEDTLS_PSA_CRYPTO_STORAGE_FILE_C or MBEDTLS_PSA_CRYPTO_STORAGE_ITS_C
- * (but not both)
- *
+ * Requires: MBEDTLS_PSA_CRYPTO_C,
+ *           either MBEDTLS_PSA_ITS_FILE_C or a native implementation of
+ *           the PSA ITS interface
  */
 //#define MBEDTLS_PSA_CRYPTO_STORAGE_C
 
 /**
- * \def MBEDTLS_PSA_CRYPTO_STORAGE_FILE_C
+ * \def MBEDTLS_PSA_ITS_FILE_C
  *
- * Enable persistent key storage over files for the
- * Platform Security Architecture cryptography API.
+ * Enable the emulation of the Platform Security Architecture
+ * Internal Trusted Storage (PSA ITS) over files.
  *
- * Module:  library/psa_crypto_storage_file.c
+ * Module:  crypto/library/psa_its_file.c
  *
- * Requires: MBEDTLS_PSA_CRYPTO_C, MBEDTLS_FS_IO
+ * Requires: MBEDTLS_FS_IO
  *
  */
-//#define MBEDTLS_PSA_CRYPTO_STORAGE_FILE_C
-
-/**
- * \def MBEDTLS_PSA_CRYPTO_STORAGE_ITS_C
- *
- * Enable persistent key storage over PSA ITS for the
- * Platform Security Architecture cryptography API.
- *
- * Module:  library/psa_crypto_storage_its.c
- *
- * Requires: MBEDTLS_PSA_CRYPTO_C, MBEDTLS_PSA_HAS_ITS_IO
- *
- */
-//#define MBEDTLS_PSA_CRYPTO_STORAGE_ITS_C
+//#define MBEDTLS_PSA_ITS_FILE_C
 
 /**
  * \def MBEDTLS_RIPEMD160_C