west.yml: update to bring hal_xtensa headers in zephyr for AMD ACP 7X platforms

Update the zephyr revision to 21958f13cf1a to bring in hal_xtensa
headers required for AMD ACP 7X platforms.

Signed-off-by: DineshKumar Kalva <DineshKumar.Kalva@amd.com>

Author: DINESHKUMARK1

west.yml

@@ -43,7 +43,7 @@ manifest:
 
     - name: zephyr
       repo-path: zephyr
-      revision: 3841a72452ec13ff7a0a5df14f514e7870b71817
+      revision: 21958f13cf1a15bfb95c3ecdd67ff33fc166b9cb
       remote: zephyrproject
 
       # Import some projects listed in zephyr/west.yml@revision