Update taskSELECT_HIGHEST_PRIORITY_TASK macro for SMP

[chinglee-iot]

Description

• Move the configUSE_PORT_OPTIMISED_TASK_SELECTION check to FreeRTOS.h
• SMP also use taskSELECT_HIGHEST_PRIORITY_TASK macro

Test Steps

N/A

Checklist:

• I have tested my changes. No regression in existing tests.
• I have modified and/or added unit-tests to cover the code changes in this Pull Request.

Related Issue

Address #750 comment in line 138, 167

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (5fb9b50) 94.35% compared to head (3f9345a) 94.35%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #777   +/-   ##
=======================================
  Coverage   94.35%   94.35%           
=======================================
  Files           6        6           
  Lines        2446     2446           
  Branches      598      598           
=======================================
  Hits         2308     2308           
  Misses         85       85           
  Partials       53       53           

Flag	Coverage Δ
unittests	94.35% <ø> (ø)

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Files Changed	Coverage Δ
tasks.c	94.83% <ø> (ø)

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