configure.ac: use MbedTLS pkg-config if available #2590

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Job	Run time
pre-commit	10s
check-missing-updates	24s
build-linux (gcc, no)	54s
scan-build	4m 37s
build-linux (gcc, openssl)	59s
tinydtls-build	56s
build-linux (gcc, gnutls)	55s
build-linux (gcc, mbedtls)	51s
cmake-build (no)	30s
build-linux (gcc, wolfssl)	46s
cmake-macos	19s
cmake-build (openssl)	26s
build-linux (clang, no)	1m 1s
cmake-build (gnutls)	29s
build-linux (clang, openssl)	53s
cmake-build (mbedtls)	33s
contiki-build-macos	45s
build-linux (clang, gnutls)	1m 0s
mingw-cmake	1m 56s
cmake-build (wolfssl)	23s
build-linux (clang, mbedtls)	53s
cmake-build (tinydtls)	31s
build-linux (clang, wolfssl)	59s
ms-build	1m 24s
ms-cmake	2m 16s
other-build (contiki)	46s
additional-tests	45s
other-build (lwip)	56s
distribution	4m 50s
other-build (riot)	1m 33s
documentation	2m 48s
	36m 28s