coap: update libcoap to fix its broken submodule pointer
Though IDF v4.0 does not have dependency on `tinydtls` repository within libcoap, it created problem in recursive clone. This commit picks up change from upstream libcoap release-v4.2.0 to update `tinydtls` repository pointer. More information at: https://github.com/obgm/libcoap/pull/531 Merges https://github.com/espressif/esp-idf/pull/5626
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Subproject commit cfec0d072c5b99ed3e54828ca50ea2f6b91e1f50
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Subproject commit 017528d7d96dca2318ed587b5fd3c0d57a89e49a
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