Got Pico SDK + FreeRTOS to work

i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt

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+# Generated Cmake Pico project file
+
+cmake_minimum_required(VERSION 3.13)
+
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+# Initialise pico_sdk from installed location
+# (note this can come from environment, CMake cache etc)
+
+# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
+if(WIN32)
+    set(USERHOME $ENV{USERPROFILE})
+else()
+    set(USERHOME $ENV{HOME})
+endif()
+set(sdkVersion 2.1.0)
+set(toolchainVersion 13_3_Rel1)
+set(picotoolVersion 2.1.0)
+set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
+if (EXISTS ${picoVscode})
+    include(${picoVscode})
+endif()
+# ====================================================================================
+set(PICO_BOARD pico CACHE STRING "Board type")
+
+# Pull in Raspberry Pi Pico SDK (must be before project)
+include(pico_sdk_import.cmake)
+
+# Adding FreeRTOS
+set(FREERTOS_KERNEL_PATH ../lib/FreeRTOS-Kernel)
+include(cmake/FreeRTOS_Kernel_import.cmake)
+#include(cmake/freeRTOS.cmake)
+
+project(i2c-hub-firmware C CXX ASM)
+
+# Initialise the Raspberry Pi Pico SDK
+pico_sdk_init()
+
+# Add executable. Default name is the project name, version 0.1
+
+add_executable(i2c-hub-firmware 
+    src/main.cpp
+    #src/freeRTOS_impl.c
+    )
+
+pico_set_program_name(i2c-hub-firmware "i2c-hub-firmware")
+pico_set_program_version(i2c-hub-firmware "0.1")
+
+# Modify the below lines to enable/disable output over UART/USB
+pico_enable_stdio_uart(i2c-hub-firmware 1)
+pico_enable_stdio_usb(i2c-hub-firmware 0)
+
+# Add the standard library to the build
+target_link_libraries(i2c-hub-firmware
+        FreeRTOS-Kernel-Heap4
+        #FreeRTOS
+        pico_stdlib
+    )
+
+# Add the standard include files to the build
+target_include_directories(i2c-hub-firmware PRIVATE
+  ${CMAKE_CURRENT_LIST_DIR}
+)
+
+# Add any user requested libraries
+target_link_libraries(i2c-hub-firmware 
+        hardware_i2c
+        )
+
+pico_add_extra_outputs(i2c-hub-firmware)
+