In folder:"Other Files" the file "PIC32MX_MPLAB.map" is missing, I couldn't find. after compilation I got:

Clean: Deleting intermediary and output files.
Clean: Deleted file "C:\Documents and Settings\me\My Documents\My Design\FreeRTOS\FreeRTOSV5.1.0\FreeRTOS\Demo\PIC32MX_MPLAB\RTOSDemo.mcs".
Clean: Done.
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "main.c" -o"main.o" -MMD -MF"main.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "ParTest\ParTest.c" -o"ParTest.o" -MMD -MF"ParTest.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\..\Source\portable\MPLAB\PIC32MX\port.c" -o"port.o" -MMD -MF"port.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\..\Source\list.c" -o"list.o" -MMD -MF"list.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\..\Source\queue.c" -o"queue.o" -MMD -MF"queue.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\..\Source\tasks.c" -o"tasks.o" -MMD -MF"tasks.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -c -MMD -MF"port_asm.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG "..\..\Source\portable\MPLAB\PIC32MX\port_asm.S" -o"port_asm.o" -I"..\..\Source\portable\MPLAB\PIC32MX" -I"." -Wa,--defsym=__DEBUG=1,--keep-locals,--gdwarf-2
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -c -MMD -MF"RegisterTestTasks.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG "RegisterTestTasks.s" -o"RegisterTestTasks.o" -I"..\..\Source\portable\MPLAB\PIC32MX" -I"." -Wa,--defsym=__DEBUG=1,--keep-locals,--gdwarf-2
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\..\Source\portable\MemMang\heap_2.c" -o"heap_2.o" -MMD -MF"heap_2.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\Common\Minimal\flash.c" -o"flash.o" -MMD -MF"flash.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\Common\Minimal\QPeek.c" -o"QPeek.o" -MMD -MF"QPeek.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\Common\Minimal\semtest.c" -o"semtest.o" -MMD -MF"semtest.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\Common\Minimal\GenQTest.c" -o"GenQTest.o" -MMD -MF"GenQTest.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\Common\Minimal\blocktim.c" -o"blocktim.o" -MMD -MF"blocktim.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "lcd.c" -o"lcd.o" -MMD -MF"lcd.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "serial\serial.c" -o"serial.o" -MMD -MF"serial.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\Common\Minimal\comtest.c" -o"comtest.o" -MMD -MF"comtest.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -c -MMD -MF"serial_isr.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG "serial\serial_isr.S" -o"serial_isr.o" -I"..\..\Source\portable\MPLAB\PIC32MX" -I"." -Wa,--defsym=__DEBUG=1,--keep-locals,--gdwarf-2
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "timertest.c" -o"timertest.o" -MMD -MF"timertest.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -c -MMD -MF"timertest_isr.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG "timertest_isr.S" -o"timertest_isr.o" -I"..\..\Source\portable\MPLAB\PIC32MX" -I"." -Wa,--defsym=__DEBUG=1,--keep-locals,--gdwarf-2
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "..\Common\Minimal\IntQueue.c" -o"IntQueue.o" -MMD -MF"IntQueue.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
..\Common\Minimal\IntQueue.c:134:114: warning: backslash and newline separated by space
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "IntQueueTimer.c" -o"IntQueueTimer.o" -MMD -MF"IntQueueTimer.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -c -MMD -MF"IntQueueTimer_isr.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG "IntQueueTimer_isr.S" -o"IntQueueTimer_isr.o" -I"..\..\Source\portable\MPLAB\PIC32MX" -I"." -Wa,--defsym=__DEBUG=1,--keep-locals,--gdwarf-2
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mprocessor=32MX360F512L -x c -c "printf-stdarg.c" -o"printf-stdarg.o" -MMD -MF"printf-stdarg.d" -I"." -I"." -I"..\common\include" -I"..\..\source\portable\mplab\pic32mx" -I"..\..\source\include" -D__DEBUG -g -DMPLAB_PIC32MX_PORT -Wall -fomit-frame-pointer
Executing: "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe" -mdebugger -mprocessor=32MX360F512L "main.o" "ParTest.o" "port.o" "list.o" "queue.o" "tasks.o" "port_asm.o" "RegisterTestTasks.o" "heap_2.o" "flash.o" "QPeek.o" "semtest.o" "GenQTest.o" "blocktim.o" "lcd.o" "serial.o" "comtest.o" "serial_isr.o" "timertest.o" "timertest_isr.o" "IntQueue.o" "IntQueueTimer.o" "IntQueueTimer_isr.o" "printf-stdarg.o" -o"RTOSDemo.elf" -O3 -Wl,--defsym=__MPLAB_BUILD=1,--defsym=__MPLAB_DEBUG=1,--defsym=__MPLAB_DEBUGGER_REAL_ICE=1,--defsym=__ICD2RAM=1,--defsym=_min_heap_size=0,--defsym=_min_heap_size=0,-Map="RTOSDemo.map"
serial.o: In function `xSerialPortInitMinimal':
serial/serial.c:95: undefined reference to `sitofp'
serial/serial.c:95: relocation truncated to fit: R_MIPS_26 against `sitofp'
serial/serial.c:95: undefined reference to `sitofp'
serial/serial.c:95: relocation truncated to fit: R_MIPS_26 against `sitofp'
serial/serial.c:95: undefined reference to `fpadd'
serial/serial.c:95: relocation truncated to fit: R_MIPS_26 against `fpadd'
serial/serial.c:95: undefined reference to `fpmul'
serial/serial.c:95: relocation truncated to fit: R_MIPS_26 against `fpmul'
serial/serial.c:95: undefined reference to `fpdiv'
serial/serial.c:95: relocation truncated to fit: R_MIPS_26 against `fpdiv'
serial/serial.c:95: undefined reference to `fpsub'
serial/serial.c:95: relocation truncated to fit: R_MIPS_26 against `fpsub'
serial/serial.c:95: undefined reference to `fptoui'
serial/serial.c:95: relocation truncated to fit: R_MIPS_26 against `fptoui'
Link step failed.

>In folder:"Other Files" the file "PIC32MX_MPLAB.map" is missing

This file is output by the linker - so I would not expect the file to exist until you have successfully compiled and linked the demo.

>undefined reference to `sitofp' [etc]

This looks like a compiler configuration issue regarding soft floating point support.

+ Which compiler version are you using? Type "C:\Program Files\Microchip\MPLAB C32 Suite\bin\pic32-gcc.exe --version" to find out.

+ Did you change anything at all in the project settings?

I have tried a clean V5.1.0 install and it built with no problems.

Regards.

Should have said - this is my version:

pic32-gcc (GCC) 3.4.4 MPLAB C32 v1.02-20080408

C:\Program Files\Microchip\MPLAB C32\bin>pic32mx-gcc-3.4.4 --version
pic32mx-gcc-3.4.4 (GCC) 3.4.4 MPLAB C32 v1.02-20080408
Copyright (C) 2004 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

MPLAB IDE Version: 8.15.00.00

I did not change anything.