modules: trusted-firmware-m: update val, pal, test static lib path

Previously val_nspe.a, pal_nspe.a, test_combine.a created under tfm binary
directory (${TFM_BINARY_DIR}/app/psa_api_tests/) now from TFM 1.6 it is
generated to the respective tfm binary directory with parent directory
(${TFM_BINARY_DIR}/tf-m-tests/app/psa_api_tests), update the CMake
accordingly.

Signed-off-by: Rajkumar Kanagaraj <rajkumar.kanagaraj@linaro.org>