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/IAR/ARM_CA9/portASM.s

@@ -75,7 +75,7 @@ IRQ_MODE			EQU		0x12
 	INCLUDE portASM.h
 
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-; SVC handler is used to start the scheduler and yield a task.
+; SVC handler is used to yield a task.
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 FreeRTOS_SWI_Handler
 
@@ -85,10 +85,15 @@ FreeRTOS_SWI_Handler
 	portSAVE_CONTEXT
 	LDR R0, =vTaskSwitchContext
 	BLX	R0
-
-vPortRestoreTaskContext
 	portRESTORE_CONTEXT
 
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; vPortRestoreTaskContext is used to start the scheduler.
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+vPortRestoreTaskContext
+	; Switch to system mode
+	CPS		#SYS_MODE
+	portRESTORE_CONTEXT
 
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 ; PL390 GIC interrupt handler
@@ -167,7 +172,7 @@ exit_without_switch
 	MOVS	PC, LR
 
 switch_before_exit
-	; A context swtich is to be performed.  Clear the context switch pending
+	; A context switch is to be performed.  Clear the context switch pending
 	; flag.
 	MOV		r0, #0
 	STR		r0, [r1]