Demo application related:

+ Update the RZ IAR project so it targets the RZ RSK rather than custom hardware.
+ Update the RZ ARM/DS-5 project so it targets the RZ RSK rather than custom hardware.
+ Updated RX64M demos to use the new iodefine.h naming.

Cortex-A9 port related:
+ Update IAR, ARM and GCC Cortex-A9 port layers to include a 'task exit error' function which is called if a task attempts to incorrectly exit its implementing function.
+ Moved the instruction which switches into system mode out of the restore context macro, as it is only needed when starting the first task.

Core kernel files related:
+ Ensure there are no references to the mutexes held count when mutexes are excluded from the build.

FreeRTOS/Source/portable/GCC/ARM_CA9/port.c

@@ -176,6 +176,15 @@ the CPU itself before modifying certain hardware registers. */
 #define portMAX_8_BIT_VALUE							( ( uint8_t ) 0xff )
 #define portBIT_0_SET								( ( uint8_t ) 0x01 )
 
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case is messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+#endif
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -184,6 +193,11 @@ the CPU itself before modifying certain hardware registers. */
  */
 extern void vPortRestoreTaskContext( void );
 
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
 /*-----------------------------------------------------------*/
 
 /* A variable is used to keep track of the critical section nesting.  This
@@ -243,7 +257,7 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
 	pxTopOfStack--;
 
 	/* Next all the registers other than the stack pointer. */
-	*pxTopOfStack = ( StackType_t ) 0x00000000;	/* R14 */
+	*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* R14 */
 	pxTopOfStack--;
 	*pxTopOfStack = ( StackType_t ) 0x12121212;	/* R12 */
 	pxTopOfStack--;
@@ -286,6 +300,20 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
 }
 /*-----------------------------------------------------------*/
 
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( ulPortInterruptNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
 BaseType_t xPortStartScheduler( void )
 {
 uint32_t ulAPSR;
@@ -380,7 +408,7 @@ void vPortEnterCritical( void )
 	ulCriticalNesting++;
 
 	/* This is not the interrupt safe version of the enter critical function so
-	assert() if it is being called from an interrupt context.  Only API 
+	assert() if it is being called from an interrupt context.  Only API
 	functions that end in "FromISR" can be used in an interrupt.  Only assert if
 	the critical nesting count is 1 to protect against recursive calls if the
 	assert function also uses a critical section. */

FreeRTOS/Source/portable/GCC/ARM_CA9/portASM.S

@@ -120,9 +120,6 @@
 
 .macro portRESTORE_CONTEXT
 
-	/* Switch to system mode. */
-	CPS		#SYS_MODE
-
 	/* Set the SP to point to the stack of the task being restored. */
 	LDR		R0, pxCurrentTCBConst
 	LDR		R1, [R0]
@@ -168,7 +165,7 @@
 
 
 /******************************************************************************
- * SVC handler is used to start the scheduler and yield a task.
+ * SVC handler is used to start the scheduler.
  *****************************************************************************/
 .align 4
 .type FreeRTOS_SWI_Handler, %function
@@ -177,9 +174,16 @@ FreeRTOS_SWI_Handler:
 	portSAVE_CONTEXT
 	LDR R0, vTaskSwitchContextConst
 	BLX	R0
+	portRESTORE_CONTEXT
 
+
+/******************************************************************************
+ * vPortRestoreTaskContext is used to start the scheduler.
+ *****************************************************************************/
 .type vPortRestoreTaskContext, %function
 vPortRestoreTaskContext:
+	/* Switch to system mode. */
+	CPS		#SYS_MODE
 	portRESTORE_CONTEXT
 
 .align 4

FreeRTOS/Source/portable/GCC/RX600v2/port.c

@@ -74,6 +74,9 @@
 /* Library includes. */
 #include "string.h"
 
+/* Hardware specifics. */
+#include "iodefine.h"
+
 /*-----------------------------------------------------------*/
 
 /* Tasks should start with interrupts enabled and in Supervisor mode, therefore