From b8f4d8690bec206be73a4e819ae71685177ae3e9 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 23:38:06 +0100
Subject: [PATCH] determination of freeRTOS features from version

---
 osal/FreeRTOS/BinSemaphUsingTask.h |  3 ---
 osal/FreeRTOS/PeriodicTask.cpp     | 18 +++++++++++-------
 osal/FreeRTOS/PeriodicTask.h       |  1 +
 3 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
index 0061c252..8a413d5a 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.h
+++ b/osal/FreeRTOS/BinSemaphUsingTask.h
@@ -10,9 +10,6 @@
 #if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
     tskKERNEL_VERSION_MAJOR > 8
 
-// todo: does not work for older FreeRTOS version, so we should
-// actually check whether tskKERNEL_VERSION_MAJOR is larger than.. 7 or 8 ?
-
 /**
  * @brief 	Binary Semaphore implementation using the task notification value.
  * 			The notification value should therefore not be used
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 04c588d2..96389187 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -80,10 +80,16 @@ void PeriodicTask::taskFunctionality() {
 			object->performOperation();
 		}
 
-		checkMissedDeadline(xLastWakeTime, xPeriod);
-
-		vTaskDelayUntil(&xLastWakeTime, xPeriod);
-
+#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || \
+    tskKERNEL_VERSION_MAJOR > 10
+		BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, xPeriod);
+		if(wasDelayed == pdFALSE) {
+		    handleMissedDeadline();
+		}
+#else
+        checkMissedDeadline(xLastWakeTime, xPeriod);
+        vTaskDelayUntil(&xLastWakeTime, xPeriod);
+#endif
 	}
 }
 
@@ -112,8 +118,6 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
-#if tskKERNEL_VERSION_MAJOR >= 10 && tskKERNEL_VERSION_MINOR > 4)
-#else
     // Time to wake has not overflown.
     if(timeToWake > xLastWakeTime) {
         /* If the current time has overflown exclusively or the current
@@ -128,7 +132,7 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
     else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
         handleMissedDeadline();
     }
-#endif
+
 }
 
 TaskHandle_t PeriodicTask::getTaskHandle() {
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 87b8b6d2..80d00bf1 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -71,6 +71,7 @@ public:
 
 	TaskHandle_t getTaskHandle() override;
 protected:
+
 	bool started;
 	TaskHandle_t handle;