OpenPicoRTOS v1.7.0

[jnaulet]

A new release of OpenPicoRTOS (v1.7.0) is available.

First, the obvious. This version adds support for shared priorities / round robin scheduling at minimal CPU cost.
It's quite easy to use, just give n tasks the same priority and they will alternate depending on the tick modulo. Not exactly what i had in mind but it's highly predictable & will do the trick for 99.999% of the projects.

This required some minimal changes to the API. picoRTOS_SMP_set_core_mask() has been removed and replaced by a simpler picoRTOS_SMP_add_task().

Unit tests have been added and called for a change in the assert system to ensure a decent coverage.
picoRTOS_assert_fatal() now returns a value and a picoRTOS_assert_void_fatal() has been added to bridge the gap.

Regarding the drivers, I2C is my nemesis, but support for slave mode on the dw_apb_i2c (Raspberry Pico) has been added & somewhat tested (on 1 character transfers, you've been warned).
Some drivers for these devices have been moved around to avoid potential name conflicts in the future :

• gpio-sio -> gpio-rp2040_sio
• spi-pl022 -> spi-arm_pl022
• uart-pl011 -> uart-arm_pl011

A "misc" driver for RESETS on RPi Pico has been added for convenience (but will be required in the future).

The v1.7.x branch will be the last of its kind, where the scheduler basically "hijacks" the system at runtime.
The next generation will provide all the necessary files for complete boot to increase portability & safety.