Bump CMake minimum requirement to 3.21.0
CMake 3.21 onwards includes a fix for the ARMClang toolchain to remove
the default addition of flags based on the value CMAKE_SYSTEM_PROCESSOR.
This means we do not need to set POLICY CMP0123 in the HAL ARMClang
toolchain file, and we do not need to propagate the policy scope to
consumers.
Signed-off-by:
Robert Walton <rob.walton@arm.com>
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