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/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