Mark3 RTOS Source

Optimization and documentation updates:
- Removing dependency of BlockingObjects on Atomic functionality
- Making Atomic functionality a build option
- Moving a number of module-based defines into the global config file
- Updated docs for a few modules
- Fixed a couple of invalid mark3cfg.h combinations
- Adding a size-based profiling tool
- Adding size-based profiling output to the doxygen docs
- Rebuilt doxygen docs

Minor cleanup.

Minor refactoring, eliminating unnecessary CS_ENTER/EXIT's and simplifying some logic in ksemaphore.cpp

Creative-casting to fix build errors on SAMD20

Updating includes in atomic.cpp

Adding comments for atomic class

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.