Mark3 RTOS Source

More optimizations:
-Moved TransactionQueue to the BlockingObject class instead of children
-Added LockAndQueue to perform atomic lock-and-queue operation, which takes care of any remaining corner-case conerns

Improvements:
-Added kernel-panic codes for "impossible" locking scenarios
-Atomic lock-and-queue eliminates race conditions in kernel-object operations
-Refactored semaphore test to terminate more gracefully, re-enabled previously disabled tests
-Better docs for recently-added code

Documentation and optimization.
-Sleep() now uses- the thread's built in timer
-Blocking objects have slightly-improved documentation
-Moving some bits of code around for thread-safety without adding more critical sections

Optimization of Block/Unblock calls (no CS required, as these APIs are called from Scheduler-disabled/serial-access contexts)

Fixing Event flag (and associated tests); was missing timer set operation in flag Wait() operations.

More test fixes for 328p

Fixing unit tests that had corrupt relative paths

Adding updated unit tests

Adding missing scheduler ehader changes

Implemented Semaphore/Mutex/Event-flags based on the new kernel transaction queue. The kernel code is now fully deterministic in that all critical sections are fixed-time in duration (Complexity of O(1) - previously implementation contained O(n) Critical sections). There's a tradeoff - the code is slightly more complex and a bit slower, but we spend far less time with interrupts disabled in total. Determinism wins out here.

Resizing stacks for tests. Weird failure on ut_semaphore that needs some investigation...