Update as per review suggestion

Author: tony-josi-aws

source/include/FreeRTOSIPConfigDefaults.h

@@ -1162,14 +1162,8 @@ STATIC_ASSERT( pdMS_TO_TICKS( ipconfigPHY_LS_LOW_CHECK_TIME_MS ) <= portMAX_DELA
     #error ipconfigIP_TASK_PRIORITY must be at least 0
 #endif
 
-#if ( configENABLE_MPU != 0 )
-    #if ( ipconfigIP_TASK_PRIORITY > ( ( configMAX_PRIORITIES - 1 ) | portPRIVILEGE_BIT ) )
-        #error ipconfigIP_TASK_PRIORITY must be at most ( ( configMAX_PRIORITIES - 1 ) | portPRIVILEGE_BIT ) )
-    #endif
-#else
-    #if ( ipconfigIP_TASK_PRIORITY > ( configMAX_PRIORITIES - 1 ) )
-        #error ipconfigIP_TASK_PRIORITY must be at most configMAX_PRIORITIES - 1
-    #endif
+#if ( ( ipconfigIP_TASK_PRIORITY & ~( portPRIVILEGE_BIT ) ) > ( configMAX_PRIORITIES - 1 ) )
+    #error ipconfigIP_TASK_PRIORITY must be at most configMAX_PRIORITIES - 1 or ( ( configMAX_PRIORITIES - 1 ) | portPRIVILEGE_BIT ) ) when configENABLE_MPU is enabled.
 #endif
 
 /*---------------------------------------------------------------------------*/