Commits on May 19, 2021

1. Fix nasa#1027, defer cancellation when BSP locked …

   Resolves two related issues:
   - OS_TaskGetId does not return a valid value for tasks where cancellation
     is pending, but they are still running.  This in turn is likely to trigger
     other (bogus) debug checks which invoke OS_DEBUG and in turn do console writes.
   - The console write itself is a cancellation point, which is now done while
     holding a BSP mutex.  If canceled here, then the mutex is not released.
   
   Solution is in two parts:
   - OS_TaskGetId should return the task ID it knows about, regardless of whether
     the task is pending cancellation or not.
   - Defer cancellation of the task while the BSP is locked, ensure it reaches the
     unlock, then restore the previous cancel state.

   

   jphickey committed May 19, 2021
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