fix: Add missing macro guards in task.h

- Add missing conditions to prevent unintended access to
  certain APIs in task.h
- The condition is mentioned in the API description but was
  absent in the code

Author: SoniHarsh1

include/task.h

@@ -602,12 +602,12 @@ typedef enum
  * \defgroup xTaskCreateRestricted xTaskCreateRestricted
  * \ingroup Tasks
  */
-#if ( portUSING_MPU_WRAPPERS == 1 )
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
     BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
                                       TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
 #endif
 
-#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
     BaseType_t xTaskCreateRestrictedAffinitySet( const TaskParameters_t * const pxTaskDefinition,
                                                  UBaseType_t uxCoreAffinityMask,
                                                  TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;