freeRTOS version checks

osal/FreeRTOS/BinSemaphUsingTask.h

@@ -7,6 +7,9 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
+#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 ?
 
@@ -90,4 +93,6 @@ protected:
 	TaskHandle_t handle;
 };
 
+#endif
+
 #endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */

osal/FreeRTOS/PeriodicTask.cpp

@@ -112,6 +112,8 @@ 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
@@ -126,6 +128,7 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
     else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
         handleMissedDeadline();
     }
+#endif
 }
 
 TaskHandle_t PeriodicTask::getTaskHandle() {