fix(mbedtls): Fix the MBEDTLS_FS_IO dependency on vfs

By default MBEDTLS_FS_IO option in mbedtls uses the filesystem supported
added by vfs component.
If the vfs support is disabled by user then mbedtls raises a warning
that the filesystem realted operation shall always fail
This commit fixes the behaviour by enabling respective depedency check for the
MBEDTLS_FS_IO option

Closes https://github.com/espressif/esp-idf/issues/14409

components/mbedtls/Kconfig

@@ -1175,4 +1175,14 @@ menu "mbedTLS"
             the flash footprint and hence care must be taken to keep some reserved space
             for the application binary in flash layout.
 
+    config MBEDTLS_FS_IO
+        bool "Enable functions that use the filesystem"
+        default y
+        depends on (VFS_SUPPORT_IO && VFS_SUPPORT_DIR) || IDF_TARGET_LINUX
+        help
+            This option enables functions in mbedTLS that use the filesystem.
+            It uses the default filesystem support for the target,
+            which is added through vfs component for ESP32 based targets or by
+            the host system when the target is Linux.
+
 endmenu  # mbedTLS

components/mbedtls/port/include/mbedtls/esp_config.h

@@ -872,7 +872,13 @@
  *
  * Enable functions that use the filesystem.
  */
+#if CONFIG_MBEDTLS_FS_IO
 #define MBEDTLS_FS_IO
+#else
+#undef MBEDTLS_FS_IO
+#undef MBEDTLS_PSA_ITS_FILE_C
+#undef MBEDTLS_PSA_CRYPTO_STORAGE_C
+#endif
 
 #ifndef CONFIG_IDF_TARGET_LINUX
 /**