lib/mbedtls: Switch to currently latest commit of LTS branch v2.16.
From a version numbering point of view this is a downgrade (2.17.0 -> 2.16.x). However the latest commit for version 2.17.0 is from March 2019 and no further minor release happened after 2.17.0. This version is EOL. 2.16.x though is still actively maintained as a long term release, hence security and stability fixes are still being backported, including compatibility with upcoming compiler releases.
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Subproject commit 3f8d78411a26e833db18d9fbde0e2f0baeda87f0
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Subproject commit 1b6a24f759cefbb4a69ae9476885d7f42a847e3d
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