According to the standard assert(X) should be replaced by a void expression when
NDEBUG is set. IDF's behavior was to not trigger an assertion, but we would still
evaluate X, e.g. if X was a function it would be ran.
This MR adds a kconfig option CONFIG_COMPILER_ASSERT_NDEBUG_EVALUATE which allows us
revert the behavior to be inline with the standard.
With IDF v6.0 the plan is to make CONFIG_COMPILER_ASSERT_NDEBUG_EVALUATE=n the default
behavior.
Closes https://github.com/espressif/esp-idf/issues/10136
Closes https://github.com/espressif/esp-idf/issues/2758
newlib/assert: replace unlikely with likely to keep original assertion
newlib/assert: fix assert macro that uses likely
freertos/port: add the missing sdkconfig.h back
newlib/assert: assert macro back to a single line
