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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>