Change all time conversions.  Yech.  New timer units in microseconds breaks all existing logic that used milliseconds in the conversions.  Something likely got broken doing this, probably because I confused a MSEC2TICK conversion with a TICK2MSEC conversion.  Also, the tickless OS no appears fully functional and passes the OS test on the simulator with no errors

Fix compler error in tickless code when round robin scheduling is enabled.  Other cosmetic fixes to comments

Change CONFIG_MSEC_PER_TICK to CONFIG_USEC_PER_TICK.  This gives more options for system timers in general, but more importantly, let's us realize higher resolution for the case of CONFIG_SCHED_TICKLESS=y -- of course, at the risk of some new interger overvflow problems

Add a new option CONFIG_SCHED_TICKLESS to enable the tickless OS.  This is a work in progress but should be relatively safe since the new features are only enabled by this option (Safer but not 100% safe since it does not protect from typos and other dumb errors).