zephyr: kconfig: make MBEDTLS_PROMPTLESS depend on MBEDTLS #1767

Job	Run time
config (RELEASE 2,4,6 SIGNATURE)	9m 3s
config (RELEASE 2,4,6 SIGNATURE LOW)	13m 22s
config (RELEASE 2,4,6 SIGNATURE MEDIUM)	17m 7s
config (RELEASE 8,10 SIGNATURE)	6m 24s
config (RELEASE 8,10 SIGNATURE LOW)	9m 17s
config (RELEASE 8,10 SIGNATURE MEDIUM)	11m 56s
config (MINSIZEREL 2,4,6 SIGNATURE)	15m 0s
config (MINSIZEREL 2,4,6 SIGNATURE LOW)	19m 39s
config (MINSIZEREL 2,4,6 SIGNATURE MEDIUM)	23m 44s
config (MINSIZEREL 8,10 SIGNATURE)	10m 25s
config (MINSIZEREL 8,10 SIGNATURE LOW)	13m 35s
config (MINSIZEREL 8,10 SIGNATURE MEDIUM)	16m 12s
	2h 45m 44s

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