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Correct a race condition in the pthread join logic.  Sometimes the join structure was being deallocated while it was still needed.


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Moved exclusion logic to a higher level so that printf output is more readable when the same stdout FILE* is shared
by many pthreads (tasks did not have this probablem because they have separate stdout streams).


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Divided _task_init() in several smaller functions that take fewer paramters.  This was necessary to reduce the stack usage for the 8051/2 which has a tiny, 256 byte stack


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