tfm: Configure TFM via Kconfig instead of Cmake

Add Kconfig options that will be used by the module
to call the function with the desired parameters.
Refactor the tfm_integration samples and
the supported boards.

Update west.yml to bring in Cmake changes that use the new KConfigs.

Signed-off-by: Øyvind Rønningstad <oyvind.ronningstad@nordicsemi.no>