freertos: Fix xTaskIncrementTick()

Previously, xTaskIncrementTick() would always trigger a yield (i.e., return pdTRUE)
when called on core 1. This would mean core 1 would call vTaskSwitchContext() on
every tick, leading to uneccesary CPU overhead.

This commit fixes xTaskIncrementTick() in the following ways:

- Clearly mark IDF additions in xTaskIncrementTick()
- Moved esp_vApplicationTickHook() to be called direclty in xPortSysTickHandler() in order to
  simplify xTaskIncrementTick().
- Only core 0 calls xTaskIncrementTick() in order to simplify the function's logic. Core 0 is
  solely responsible for managing xTickCount and xPendedTicks
- All other cores call xTaskIncrementTickOtherCores() instead which is a simplified version of
  xTaskIncrementTick() and handles the following:
    - Check if core 0 has unblocked a higher priority task to run
    - Check if the current core requires time slicing
    - Call vApplicationTickHook()

components/freertos/FreeRTOS-Kernel/include/freertos/task.h

@@ -3314,9 +3314,25 @@ BaseType_t xTaskGetAffinity( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  *     or
  *   + Time slicing is in use and there is a task of equal priority to the
  *     currently running task.
+ *
+ * Note: For SMP, this function must only be called by core 0. Other cores should
+ *       call xTaskIncrementTickOtherCores() instead.
  */
 BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
 
+#ifdef ESP_PLATFORM
+/*
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
+ * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
+ * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
+ *
+ * Called from all other cores except core 0 when their tick interrupt
+ * occurs. This function will check if the current core requires time slicing,
+ * and also call the application tick hook.
+ */
+BaseType_t xTaskIncrementTickOtherCores( void ) PRIVILEGED_FUNCTION;
+#endif // ESP_PLATFORM
+
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
  * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.