Staircase deadline v0.36

What follows is a clean major iteration of the (now) Staircase Deadline cpu scheduler.

Changes from RSDL v0.33:
- All accounting is moved to tasks in nanosecond resolution removing requirement for Rotation component entirely
- list_splice_tail is no longer required; dropped
- Nicer nice with smaller rr_intervals if HZ tolerates it
- Reworked SCHED_BATCH to keep same cpu bandwidith but lax latency
- Updated documentation

Patches that follow are for 2.6.21-rc5

Andrew please use these to replace the RSDL patches.

-ck