From 9170f466e8ccaf74da9bd97d260fd846fcb6551a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 23:21:07 +0100
Subject: [PATCH] freeRTOS version checks

---
 osal/FreeRTOS/BinSemaphUsingTask.h | 5 +++++
 osal/FreeRTOS/PeriodicTask.cpp     | 3 +++
 2 files changed, 8 insertions(+)

diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
index 65a091a3f..0061c252f 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.h
+++ b/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_ */
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 5c0a840da..04c588d23 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/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() {