refactor(mbedtls): avoid including MBEDTLS_CONFIG_FILE

Currently we include MBEDTLS_CONFIG_FILE directly and if a custom
config file is used it will included.

However from mbedtls-3.x onwards it discourages usage of
MBEDTLS_CONFIG_FILE include directly, so to resolve this and keep 2.28
compatibility include version.h which would include the custom config
file if present and also would expose us with mbedtls-major-version
number which could be used for selecting features and functions for
mbedtls 2.28 or 3.3

Change-Id: I029992311be2a38b588ebbb350875b03ea29acdb
Signed-off-by: Govindraj Raja <govindraj.raja@arm.com>
diff --git a/drivers/auth/mbedtls/mbedtls_common.c b/drivers/auth/mbedtls/mbedtls_common.c
index a12e49c..4f30d82 100644
--- a/drivers/auth/mbedtls/mbedtls_common.c
+++ b/drivers/auth/mbedtls/mbedtls_common.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2015-2022, Arm Limited and Contributors. All rights reserved.
+ * Copyright (c) 2015-2023, Arm Limited and Contributors. All rights reserved.
  *
  * SPDX-License-Identifier: BSD-3-Clause
  */
@@ -10,10 +10,11 @@
 /* mbed TLS headers */
 #include <mbedtls/memory_buffer_alloc.h>
 #include <mbedtls/platform.h>
+#include <mbedtls/version.h>
 
 #include <common/debug.h>
 #include <drivers/auth/mbedtls/mbedtls_common.h>
-#include MBEDTLS_CONFIG_FILE
+
 #include <plat/common/platform.h>
 
 static void cleanup(void)