Remove run state assertion in prvCheckForRunStateChange (#1093)

In `prvCheckForRunStateChange()`, enabling interrupts should cause this core to immediately service the pending interrupt and yield. Upon the next scheduling of the task, the assertion `configASSERT(pxThisTCB->xTaskRunState != taskTASK_SCHEDULED_TO_YIELD);` may not be true, as other cores could have requested a yield for this task before it evaluates its run state within the assertion. To address this, the task re-evaluates its run state in critical section within a loop until it is eligible for execution, which is the current implementation. Consequently, this assertion should be removed to ensure correct behavior.

tasks.c

@@ -845,10 +845,11 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
 
             portENABLE_INTERRUPTS();
 
-            /* Enabling interrupts should cause this core to immediately
-             * service the pending interrupt and yield. If the run state is still
-             * yielding here then that is a problem. */
-            configASSERT( pxThisTCB->xTaskRunState != taskTASK_SCHEDULED_TO_YIELD );
+            /* Enabling interrupts should cause this core to immediately service
+             * the pending interrupt and yield. After servicing the pending interrupt,
+             * the task needs to re-evaluate its run state within this loop, as
+             * other cores may have requested this task to yield, potentially altering
+             * its run state. */
 
             portDISABLE_INTERRUPTS();
             portGET_TASK_LOCK();