Part of implementing #9904

Move programs/test/benchmark.c to the TF-PSA-Crypto repository.

Since the benchmark program only benchmarks cryptographic algorithms (and that through the legacy APIs) move it to TF-PSA-Crypto.

This task is done when the benchmark program resides in the TF-PSA-Crypto repository and can be built and run there, even in a standalone checkout of TF-PSA-Crypto (i.e. not within Mbed TLS).

Estimate: 4 Ideal Engineering Hours