Merge development commit 8e76332 into development-psa

Additional changes to temporarily enable running tests:
ssl_srv.c and test_suite_ecdh use mbedtls_ecp_group_load instead of
mbedtls_ecdh_setup
test_suite_ctr_drbg uses mbedtls_ctr_drbg_update instead of 
mbedtls_ctr_drbg_update_ret
diff --git a/doxygen/input/doc_mainpage.h b/doxygen/input/doc_mainpage.h
index b8e16a5..ffc3cec 100644
--- a/doxygen/input/doc_mainpage.h
+++ b/doxygen/input/doc_mainpage.h
@@ -24,7 +24,7 @@
  */
 
 /**
- * @mainpage mbed TLS v2.15.1 source code documentation
+ * @mainpage mbed TLS v2.16.0 source code documentation
  *
  * This documentation describes the internal structure of mbed TLS.  It was
  * automatically generated from specially formatted comment blocks in