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Drop requirement for a CLA
The Mbed TLS project no longer requires a CLA. Contributions from now on must be made under both Apache-2.0 AND GPL-2.0-or-later licenses, to enable LTS (Long Term Support) branches of the software to continue to be provided under either Apache-2.0 OR GPL-2.0-or-later. Contributors must accept the terms of the Developer Certificate of Origin (DCO) by adding a Signed-off-by: line to each commit message. The software on the development branch continues to be provided under Apache-2.0. Update README.md, CONTRIBUTING.md and pull_request_template.md to explain the new licensing model. Add a copy of the DCO to the project. Expand the full Apache-2.0 license text in the LICENSE file and remove the redundant apache-2.0.txt. Signed-off-by: Dan Handley <dan.handley@arm.com>
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Notes:
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* Pull requests cannot be accepted until:
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- The submitter has [accepted the online agreement here with a click through](https://developer.mbed.org/contributor_agreement/)
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or for companies or those that do not wish to create an mbed account, a slightly different agreement can be found [here](https://www.mbed.com/en/about-mbed/contributor-license-agreements/)
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- The PR follows the [mbed TLS coding standards](https://tls.mbed.org/kb/development/mbedtls-coding-standards)
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* Pull requests cannot be accepted until the PR follows the [contributing guidelines](../CONTRIBUTING.md). In particular, each commit must have at least one `Signed-off-by:` line from the committer to certify that the contribution is made under the terms of the [Developer Certificate of Origin](../dco.txt).
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* This is just a template, so feel free to use/remove the unnecessary things
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## Description
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A few sentences describing the overall goals of the pull request's commits.
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