Revert "sem: remove limitation of irq context when do sem_trywait"

This reverts commit 7c547b3ebd.

mm/mm_heap/mm_sem.c

@@ -80,13 +80,9 @@ bool mm_takesemaphore(FAR struct mm_heap_s *heap)
 
   if (up_interrupt_context())
     {
-#ifdef CONFIG_DEBUG_MM
-      return _SEM_TRYWAIT(&heap->mm_semaphore) >= 0;
-#else
       /* Can't take semaphore in the interrupt handler */
 
       return false;
-#endif
     }
   else
 #endif

sched/semaphore/sem_trywait.c

@@ -69,11 +69,9 @@ int nxsem_trywait(FAR sem_t *sem)
   irqstate_t flags;
   int ret;
 
-#ifndef CONFIG_DEBUG_MM
   /* This API should not be called from interrupt handlers */
 
   DEBUGASSERT(sem != NULL && up_interrupt_context() == false);
-#endif
 
   if (sem != NULL)
     {