Improve task memory allocation #119
Description
Need to improve the task memory allocation on task creation.
The allocation must be in words, not bytes, easier to understand.
Improve the memory codebase for task allocation, this part is messy I think.
And improve docs for invariants and diagram.
This is a really important part and it's too messy for me.
The documentation and invariants must be really explicit, like the range of the task stack, where the guards are, how the kernel handle all task memory allocation, etc.