TF-M targets: Clean up RTOS configuration

On Armv8 targets, the PSA interface on the non-secure side only
requires mutexes, thus we remove other RTOS overrides to reduce
memory usage in general use cases.

TF-M and PSA test applications require more RTOS resources, and
they have their own configurations defined in
mbed-os-tf-m-regression-tests.

This commit also adds missing configuration for ARM_MUSCA_B1.

cmsis/device/rtos/mbed_lib.json

@@ -85,11 +85,11 @@
         "MCU_PSOC6_M4": {
             "target.macros_add": ["CY_RTOS_AWARE"]
         },
+        "ARM_MUSCA_B1": {
+            "mutex-num": 4
+        },
         "ARM_MUSCA_S1": {
-            "mutex-num": 4,
-            "semaphore-num": 4,
-            "thread-num": 9,
-            "thread-user-stack-size": 8096
+            "mutex-num": 4
         }
     }
 }