psa: Add initializers for key policies

Add new initializers for key policies and use them in our docs, example
programs, tests, and library code. Prefer using the macro initializers
due to their straightforwardness.
diff --git a/programs/psa/crypto_examples.c b/programs/psa/crypto_examples.c
index 53b6b2a..db85468 100644
--- a/programs/psa/crypto_examples.c
+++ b/programs/psa/crypto_examples.c
@@ -49,9 +49,8 @@
                                     psa_algorithm_t alg )
 {
     psa_status_t status;
-    psa_key_policy_t policy;
+    psa_key_policy_t policy = PSA_KEY_POLICY_INIT;
 
-    psa_key_policy_init( &policy );
     psa_key_policy_set_usage( &policy, key_usage, alg );
     status = psa_set_key_policy( key_handle, &policy );
     ASSERT_STATUS( status, PSA_SUCCESS );