Revert "Forbid passing NULL input buffers to RSA encryption routines"

Resolve incompatibilties in the RSA module where changes made for
parameter validation prevent Mbed Crypto from working. Mbed Crypto
depends on being able to pass zero-length buffers that are NULL to RSA
encryption functions.

This reverts commit 2f660d047dd60ac68ebe6c8d4da0d141403b6d71.
diff --git a/include/mbedtls/rsa.h b/include/mbedtls/rsa.h
index 4ff5bdd..489f2ed 100644
--- a/include/mbedtls/rsa.h
+++ b/include/mbedtls/rsa.h
@@ -601,7 +601,8 @@
  *                 #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE (deprecated).
  * \param ilen     The length of the plaintext in Bytes.
  * \param input    The input data to encrypt. This must be a readable
- *                 buffer of size \p ilen Bytes. This must not be \c NULL.
+ *                 buffer of size \p ilen Bytes. It may be \c NULL if
+ *                 `ilen == 0`.
  * \param output   The output buffer. This must be a writable buffer
  *                 of length \c ctx->len Bytes. For example, \c 256 Bytes
  *                 for an 2048-bit RSA modulus.
@@ -641,7 +642,8 @@
  *                 #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE (deprecated).
  * \param ilen     The length of the plaintext in Bytes.
  * \param input    The input data to encrypt. This must be a readable
- *                 buffer of size \p ilen Bytes. This must not be \c NULL.
+ *                 buffer of size \p ilen Bytes. It may be \c NULL if
+ *                 `ilen == 0`.
  * \param output   The output buffer. This must be a writable buffer
  *                 of length \c ctx->len Bytes. For example, \c 256 Bytes
  *                 for an 2048-bit RSA modulus.
@@ -685,7 +687,8 @@
  * \param label_len  The length of the label in Bytes.
  * \param ilen       The length of the plaintext buffer \p input in Bytes.
  * \param input      The input data to encrypt. This must be a readable
- *                   buffer of size \p ilen Bytes. This must not be \c NULL.
+ *                   buffer of size \p ilen Bytes. It may be \c NULL if
+ *                   `ilen == 0`.
  * \param output     The output buffer. This must be a writable buffer
  *                   of length \c ctx->len Bytes. For example, \c 256 Bytes
  *                   for an 2048-bit RSA modulus.