Darian Leung 79e74e5d5f freertos: Fix configASSERT thread safety
This commit fixes thread safety issues with configASSERT() calls
regarding the value of uxSchedulerSuspended. A false negative
occurs if a context switch to the opposite core occurs in between
the getting the core ID and the assesment.

Closes https://github.com/espressif/esp-idf/issues/4230
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