esp-idf/components/freertos/test_apps/orig_inc_path/main/CMakeLists.txt

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CMake

idf_component_register(SRCS "test_main.c"
INCLUDE_DIRS ".")
# Update include path to not include the directory, i.e. "task.h" instead of "freertos/task.h"
idf_component_get_property(FREERTOS_ORIG_INCLUDE_PATH freertos ORIG_INCLUDE_PATH)
target_include_directories(${COMPONENT_TARGET} PRIVATE "${FREERTOS_ORIG_INCLUDE_PATH}")