Introduce a new configuration option MBEDTLS_CHECK_PARAMS_ASSERT,
which is disabled by default. When this option is enabled,
MBEDTLS_PARAM_FAILED defaults to assert rather than to a call to
mbedtls_param_failed, and <assert.h> is included.
This fixes#2671 (no easy way to make MBEDTLS_PARAM_FAILED assert)
without breaking backward compatibility. With this change,
`config.pl full` runs tests with MBEDTLS_PARAM_FAILED set to assert,
so the tests will fail if a validation check fails, and programs don't
need to provide their own definition of mbedtls_param_failed().
