diff --git a/.github/lexicon.txt b/.github/lexicon.txt
index ac548204172..765b05c1eb5 100644
--- a/.github/lexicon.txt
+++ b/.github/lexicon.txt
@@ -2321,6 +2321,8 @@ ulstoppedtimercompensation
 ultablebase
 ultaskgetidleruntimecounter
 ultaskgetidleruntimepercent
+ultaskgetruntimecounter
+ultaskgetruntimepercent
 ultaskhasfpucontext
 ultasknotifystateclear
 ultasknotifytake
diff --git a/include/task.h b/include/task.h
index b01551d5366..f4e72c2c2f5 100644
--- a/include/task.h
+++ b/include/task.h
@@ -1934,6 +1934,42 @@ void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unquali
  */
 void vTaskGetRunTimeStats( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 
+/**
+ * task. h
+ * @code{c}
+ * configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimeCounter( const TaskHandle_t xTask );
+ * configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimePercent( const TaskHandle_t xTask );
+ * @endcode
+ *
+ * configGENERATE_RUN_TIME_STATS must be defined as 1 for these functions to be
+ * available.  The application must also then provide definitions for
+ * portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
+ * portGET_RUN_TIME_COUNTER_VALUE() to configure a peripheral timer/counter and
+ * return the timers current count value respectively.  The counter should be
+ * at least 10 times the frequency of the tick count.
+ *
+ * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
+ * accumulated execution time being stored for each task.  The resolution
+ * of the accumulated time value depends on the frequency of the timer
+ * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
+ * While uxTaskGetSystemState() and vTaskGetRunTimeStats() writes the total
+ * execution time of each task into a buffer, ulTaskGetRunTimeCounter()
+ * returns the total execution time of just one task and
+ * ulTaskGetRunTimePercent() returns the percentage of the CPU time used by
+ * just one task.
+ *
+ * @return The total run time of the given task or the percentage of the total
+ * run time consumed by the given task.  This is the amount of time the task
+ * has actually been executing.  The unit of time is dependent on the frequency
+ * configured using the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
+ * portGET_RUN_TIME_COUNTER_VALUE() macros.
+ *
+ * \defgroup ulTaskGetRunTimeCounter ulTaskGetRunTimeCounter
+ * \ingroup TaskUtils
+ */
+configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimeCounter( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimePercent( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
 /**
  * task. h
  * @code{c}
@@ -1941,13 +1977,12 @@ void vTaskGetRunTimeStats( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e
  * configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercent( void );
  * @endcode
  *
- * configGENERATE_RUN_TIME_STATS, configUSE_STATS_FORMATTING_FUNCTIONS and
- * INCLUDE_xTaskGetIdleTaskHandle must all be defined as 1 for these functions
- * to be available.  The application must also then provide definitions for
- * portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and portGET_RUN_TIME_COUNTER_VALUE()
- * to configure a peripheral timer/counter and return the timers current count
- * value respectively.  The counter should be at least 10 times the frequency of
- * the tick count.
+ * configGENERATE_RUN_TIME_STATS must be defined as 1 for these functions to be
+ * available.  The application must also then provide definitions for
+ * portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
+ * portGET_RUN_TIME_COUNTER_VALUE() to configure a peripheral timer/counter and
+ * return the timers current count value respectively.  The counter should be
+ * at least 10 times the frequency of the tick count.
  *
  * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
  * accumulated execution time being stored for each task.  The resolution
diff --git a/tasks.c b/tasks.c
index 3a0f0470e78..ac221afe739 100644
--- a/tasks.c
+++ b/tasks.c
@@ -5251,19 +5251,19 @@ TickType_t uxTaskResetEventItemValue( void )
 #endif /* configUSE_TASK_NOTIFICATIONS */
 /*-----------------------------------------------------------*/
 
-#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
 
-    configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimeCounter( void )
+    configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimeCounter( const TaskHandle_t xTask )
     {
-        return xIdleTaskHandle->ulRunTimeCounter;
+        return xTask->ulRunTimeCounter;
     }
 
 #endif
 /*-----------------------------------------------------------*/
 
-#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
 
-    configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercent( void )
+    configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimePercent( const TaskHandle_t xTask )
     {
         configRUN_TIME_COUNTER_TYPE ulTotalTime, ulReturn;
 
@@ -5275,7 +5275,7 @@ TickType_t uxTaskResetEventItemValue( void )
         /* Avoid divide by zero errors. */
         if( ulTotalTime > ( configRUN_TIME_COUNTER_TYPE ) 0 )
         {
-            ulReturn = xIdleTaskHandle->ulRunTimeCounter / ulTotalTime;
+            ulReturn = xTask->ulRunTimeCounter / ulTotalTime;
         }
         else
         {
@@ -5285,7 +5285,27 @@ TickType_t uxTaskResetEventItemValue( void )
         return ulReturn;
     }
 
-#endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
+#endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
+/*-----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+    configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimeCounter( void )
+    {
+        return ulTaskGetRunTimeCounter( xIdleTaskHandle );
+    }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+    configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercent( void )
+    {
+        return ulTaskGetRunTimePercent( xIdleTaskHandle );
+    }
+
+#endif
 /*-----------------------------------------------------------*/
 
 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,