diff --git a/examples/device/hid_composite_freertos/CMakeLists.txt b/examples/device/hid_composite_freertos/CMakeLists.txt
index ed734b9543..9dec196421 100644
--- a/examples/device/hid_composite_freertos/CMakeLists.txt
+++ b/examples/device/hid_composite_freertos/CMakeLists.txt
@@ -1,17 +1,77 @@
 cmake_minimum_required(VERSION 3.5)
 
-# use BOARD-Directory name for project id
-get_filename_component(PROJECT ${CMAKE_CURRENT_SOURCE_DIR} NAME)
-set(PROJECT ${BOARD}-${PROJECT})
-
 # TOP is absolute path to root directory of TinyUSB git repo
 set(TOP "../../..")
 get_filename_component(TOP "${TOP}" REALPATH)
 
 # Check for -DFAMILY=
 if(FAMILY MATCHES "^esp32s[2-3]")
+  # use BOARD-Directory name for project id
+  get_filename_component(PROJECT ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+  set(PROJECT ${BOARD}-${PROJECT})
   include(${TOP}/hw/bsp/${FAMILY}/family.cmake)
   project(${PROJECT})
+elseif(FAMILY MATCHES "rp2040")
+  # gets PROJECT name for the example (e.g. <BOARD>-<DIR_NAME>)
+  family_get_project_name(PROJECT ${CMAKE_CURRENT_LIST_DIR})
+  if (DEFINED ENV{FREERTOS_KERNEL_PATH})
+  # Pull in FreeRTOS
+  include(FreeRTOS_Kernel_import.cmake)
+  project(${PROJECT})
+  include(${TOP}/hw/bsp/${FAMILY}/family.cmake)
+  # Checks this example is valid for the family and initializes the project
+  family_initialize_project(${PROJECT} ${CMAKE_CURRENT_LIST_DIR})
+
+  add_executable(${PROJECT})
+  # Example source
+  target_sources(${PROJECT} PUBLIC
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/main.c
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/usb_descriptors.c
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/freertos_hook.c
+        )
+
+  # Example include
+  target_include_directories(${PROJECT} PUBLIC
+        ${CMAKE_CURRENT_SOURCE_DIR}/src
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/FreeRTOSConfig
+        )
+  if (PICO_C_COMPILER_IS_GNU)
+    # TODO: watch for update to the FreeRTOS-Kernel code
+    # There are a disturbing number of warnings in the FreeRTOS-Kernel smp branch
+    # The need for -Wno-shadow -Wno-cast-qual -Wno-cast-align indicate likely bugs
+    set_source_files_properties(
+            ${FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/port.c
+            ${FREERTOS_KERNEL_PATH}/portable/MemMang/heap_4.c
+            ${FREERTOS_KERNEL_PATH}/event_groups.c
+            ${FREERTOS_KERNEL_PATH}/croutine.c
+            ${FREERTOS_KERNEL_PATH}/timers.c
+            ${FREERTOS_KERNEL_PATH}/queue.c
+            ${FREERTOS_KERNEL_PATH}/tasks.c
+            ${FREERTOS_KERNEL_PATH}/list.c
+            ${FREERTOS_KERNEL_PATH}/stream_buffer.c
+            PROPERTIES
+            COMPILE_FLAGS "-Wno-type-limits -Wno-conversion -Wno-sign-compare -Wno-shadow -Wno-unused-parameter -Wno-cast-qual -Wno-cast-align")
+    # Small issues in vPortRecursiveLock() in portmacro.h cause the following warnings in our added code
+    set_source_files_properties(
+            ${PICO_TINYUSB_PATH}/hw/bsp/rp2040/family.c
+            ${PICO_TINYUSB_PATH}/src/tusb.c
+            ${PICO_TINYUSB_PATH}/src/portable/raspberrypi/rp2040/dcd_rp2040.c
+            ${PICO_TINYUSB_PATH}/src/class/hid/hid_device.c
+            ${PICO_TINYUSB_PATH}/src/common/tusb_fifo.c
+            ${PICO_TINYUSB_PATH}/src/device/usbd.c
+            ${PICO_TINYUSB_PATH}/src/device/usbd_control.c
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/main.c
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/usb_descriptors.c
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/freertos_hook.c
+            PROPERTIES
+            COMPILE_FLAGS "-Wno-type-limits -Wno-conversion")
+  endif()
+  # Configure compilation flags and libraries for the example... see the corresponding function
+  # in hw/bsp/FAMILY/family.cmake for details.
+  family_configure_device_freertos_example(${PROJECT})
+  else()
+    message(STATUS "skipping ${PROJECT}: FREERTOS_KERNEL_PATH is not defined")
+  endif()
 else()
   message(FATAL_ERROR "Invalid FAMILY specified: ${FAMILY}")
 endif()
diff --git a/examples/device/hid_composite_freertos/FreeRTOS_Kernel_import.cmake b/examples/device/hid_composite_freertos/FreeRTOS_Kernel_import.cmake
new file mode 100644
index 0000000000..dc68ed0387
--- /dev/null
+++ b/examples/device/hid_composite_freertos/FreeRTOS_Kernel_import.cmake
@@ -0,0 +1,62 @@
+# This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
+
+# This can be dropped into an external project to help locate the FreeRTOS kernel
+# It should be include()ed prior to project(). Alternatively this file may
+# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
+# respectively.
+
+if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
+    set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
+    message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
+endif ()
+
+set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
+# undo the above
+set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
+
+if (NOT FREERTOS_KERNEL_PATH)
+    # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
+    get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
+    get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+    endif()
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+        message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
+    elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
+        set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
+        message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
+    endif()
+endif ()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
+        # check if FreeRTOS-Kernel exists under directory that included us
+        set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}})
+        set(SEARCH_ROOT ../../../..)
+        get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
+        if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+            get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
+            message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
+            break()
+        endif()
+    endforeach()
+endif()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
+endif()
+
+set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
+
+get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
+endif()
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
+endif()
+set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
+
+add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)
\ No newline at end of file
diff --git a/examples/device/hid_composite_freertos/skip.txt b/examples/device/hid_composite_freertos/skip.txt
index 49b8ee57b8..97ed7ac788 100644
--- a/examples/device/hid_composite_freertos/skip.txt
+++ b/examples/device/hid_composite_freertos/skip.txt
@@ -4,7 +4,6 @@ mcu:F1C100S
 mcu:GD32VF103
 mcu:MKL25ZXX
 mcu:MSP430x5xx
-mcu:RP2040
 mcu:SAMD11
 mcu:SAMX7X
 mcu:VALENTYUSB_EPTRI
diff --git a/examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h b/examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h
index 9bef9bbbf6..70924bca9a 100644
--- a/examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h
+++ b/examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h
@@ -62,6 +62,103 @@
 
 #endif
 
+#if CFG_TUSB_MCU == OPT_MCU_RP2040
+
+/* Scheduler Related */
+#define configUSE_PREEMPTION                    1
+#define configUSE_TICKLESS_IDLE                 0
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     1
+#define configTICK_RATE_HZ                      ( ( TickType_t ) 1000 )
+#define configMAX_PRIORITIES                    32
+#define configMINIMAL_STACK_SIZE                ( configSTACK_DEPTH_TYPE ) 256
+#define configUSE_16_BIT_TICKS                  0
+
+#define configIDLE_SHOULD_YIELD                 1
+
+/* Synchronization Related */
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_APPLICATION_TASK_TAG          0
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configQUEUE_REGISTRY_SIZE               8
+#define configUSE_QUEUE_SETS                    1
+#define configUSE_TIME_SLICING                  1
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     0
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+
+/* System */
+#define configSTACK_DEPTH_TYPE                  uint32_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+#define configTOTAL_HEAP_SIZE                   (128*1024)
+#define configAPPLICATION_ALLOCATED_HEAP        0
+
+/* Hook function related definitions. */
+#define configCHECK_FOR_STACK_OVERFLOW          2
+#define configUSE_MALLOC_FAILED_HOOK            1
+#define configUSE_DAEMON_TASK_STARTUP_HOOK      0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS           0
+#define configUSE_TRACE_FACILITY                1
+#define configUSE_STATS_FORMATTING_FUNCTIONS    0
+
+/* Co-routine related definitions. */
+#define configUSE_CO_ROUTINES                   0
+#define configMAX_CO_ROUTINE_PRIORITIES         1
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                        1
+#define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 1 )
+#define configTIMER_QUEUE_LENGTH                10
+#define configTIMER_TASK_STACK_DEPTH            1024
+
+/* Interrupt nesting behaviour configuration. */
+/*
+#define configKERNEL_INTERRUPT_PRIORITY         [dependent of processor]
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    [dependent on processor and application]
+#define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
+*/
+
+/* SMP port only */
+#define configNUM_CORES                         2
+#define configTICK_CORE                         0
+#define configRUN_MULTIPLE_PRIORITIES           0
+
+/* RP2040 specific */
+#define configSUPPORT_PICO_SYNC_INTEROP         1
+#define configSUPPORT_PICO_TIME_INTEROP         1
+
+#include <assert.h>
+/* Define to trap errors during development. */
+#define configASSERT(x)                         assert(x)
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_vTaskPrioritySet                1
+#define INCLUDE_uxTaskPriorityGet               1
+#define INCLUDE_vTaskDelete                     1
+#define INCLUDE_vTaskSuspend                    1
+#define INCLUDE_vTaskDelayUntil                 1
+#define INCLUDE_vTaskDelay                      1
+#define INCLUDE_xTaskGetSchedulerState          1
+#define INCLUDE_xTaskGetCurrentTaskHandle       1
+#define INCLUDE_uxTaskGetStackHighWaterMark     1
+#define INCLUDE_xTaskGetIdleTaskHandle          1
+#define INCLUDE_eTaskGetState                   1
+#define INCLUDE_xTimerPendFunctionCall          1
+#define INCLUDE_xTaskAbortDelay                 1
+#define INCLUDE_xTaskGetHandle                  1
+#define INCLUDE_xTaskResumeFromISR              1
+#define INCLUDE_xQueueGetMutexHolder            1
+
+#else
+
 /* Cortex M23/M33 port configuration. */
 #define configENABLE_MPU								        0
 #define configENABLE_FPU								        1
@@ -202,5 +299,5 @@ See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
 #define configMAX_SYSCALL_INTERRUPT_PRIORITY 	        ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
 
 #endif
-
+#endif
 #endif /* __FREERTOS_CONFIG__H */
diff --git a/examples/device/hid_composite_freertos/src/freertos_hook.c b/examples/device/hid_composite_freertos/src/freertos_hook.c
index ab885947c6..0a806d9d28 100644
--- a/examples/device/hid_composite_freertos/src/freertos_hook.c
+++ b/examples/device/hid_composite_freertos/src/freertos_hook.c
@@ -37,7 +37,7 @@ void vApplicationMallocFailedHook(void)
   TU_ASSERT(false, );
 }
 
-void vApplicationStackOverflowHook(xTaskHandle pxTask, char *pcTaskName)
+void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName)
 {
   (void) pxTask;
   (void) pcTaskName;
@@ -46,6 +46,11 @@ void vApplicationStackOverflowHook(xTaskHandle pxTask, char *pcTaskName)
   TU_ASSERT(false, );
 }
 
+void vApplicationTickHook( void )
+{
+}
+
+#if configSUPPORT_STATIC_ALLOCATION
 /* configSUPPORT_STATIC_ALLOCATION is set to 1, so the application must provide an
  * implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
  * used by the Idle task. */
@@ -93,7 +98,7 @@ void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, Stack
     configTIMER_TASK_STACK_DEPTH is specified in words, not bytes. */
   *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
 }
-
+#endif
 #if CFG_TUSB_MCU == OPT_MCU_RX63X | CFG_TUSB_MCU == OPT_MCU_RX65X
 #include "iodefine.h"
 void vApplicationSetupTimerInterrupt(void)
diff --git a/examples/device/hid_composite_freertos/src/main.c b/examples/device/hid_composite_freertos/src/main.c
index ca02af1005..201f4f1d05 100644
--- a/examples/device/hid_composite_freertos/src/main.c
+++ b/examples/device/hid_composite_freertos/src/main.c
@@ -41,7 +41,6 @@
   #include "freertos/timers.h"
 
   #define USBD_STACK_SIZE     4096
-
 #else
   #include "FreeRTOS.h"
   #include "semphr.h"
diff --git a/hw/bsp/board.h b/hw/bsp/board.h
index 0365567316..8441dec7a0 100644
--- a/hw/bsp/board.h
+++ b/hw/bsp/board.h
@@ -80,7 +80,7 @@ int board_uart_write(void const * buf, int len);
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
   static inline uint32_t board_millis(void)
   {
-    return ( ( ((uint64_t) xTaskGetTickCount()) * 1000) / configTICK_RATE_HZ );
+    return (uint32_t)( ( ((uint64_t) xTaskGetTickCount()) * 1000) / configTICK_RATE_HZ );
   }
 
 #elif CFG_TUSB_OS == OPT_OS_MYNEWT
diff --git a/hw/bsp/rp2040/family.cmake b/hw/bsp/rp2040/family.cmake
index 5d80ab66e2..063060dfae 100644
--- a/hw/bsp/rp2040/family.cmake
+++ b/hw/bsp/rp2040/family.cmake
@@ -23,133 +23,218 @@ if (NOT TARGET _rp2040_family_inclusion_marker)
 		set(PICO_TINYUSB_PATH ${TOP})
 	endif()
 
-	if (NOT TINYUSB_OPT_OS)
-		set(TINYUSB_OPT_OS OPT_OS_PICO)
+	unset(SUPPORTED_OS_LIST)
+	if (DEFINED TINYUSB_OPT_OS)
+		# for backward compatibility, let the user force the OS option
+		list(APPEND SUPPORTED_OS_LIST ${TINYUSB_OPT_OS})
+	else()
+		# otherwise, build both the pico-sdk and FreeRTOS versions of the library
+		list(APPEND SUPPORTED_OS_LIST OPT_OS_PICO OPT_OS_FREERTOS)
 	endif()
+	set(PROJ_SUFFIX "")
+	foreach(SUPPORTED_OS IN LISTS SUPPORTED_OS_LIST)
+		if (${SUPPORTED_OS} MATCHES OPT_OS_FREERTOS)
+			# see if FreeRTOS kernel source is available; based on <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake
+			if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
+				set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
+				message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
+			endif ()
+
+			set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
+			# undo the above
+			set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
+
+			if (NOT FREERTOS_KERNEL_PATH)
+				# check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
+				get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
+				get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
+				if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+					get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+				endif()
+				if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+					get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+					message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of family.cmake")
+				elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
+					set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
+					message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
+				endif()
+			endif ()
+
+			if (NOT FREERTOS_KERNEL_PATH)
+				foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
+					# check if FreeRTOS-Kernel exists under directory that included us
+					set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
+					set(SEARCH_ROOT ../../../..)
+					get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
+					if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+						get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
+						message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
+						break()
+					endif()
+				endforeach()
+			endif()
+			if (NOT FREERTOS_KERNEL_PATH)
+				message(STATUS "FREERTOS_KERNEL_PATH not defined. Skipping tinyusb OPT_OS_FREERTOS")
+				continue()
+			else()
+				set(PROJ_SUFFIX "_freertos")
+				if (NOT DEFINED ENV{FREERTOS_KERNEL_PATH})
+					set(ENV{FREERTOS_KERNEL_PATH} ${FREERTOS_KERNEL_PATH})
+				endif()
+			endif()
+		endif()
+		set(TINYUSB_OPT_OS ${SUPPORTED_OS})
+		message(STATUS "Configuring for TINYUSB_OPT_OS=${TINYUSB_OPT_OS}")
+		#------------------------------------
+		# Base config for both device and host; wrapped by SDK's tinyusb_common
+		#------------------------------------
+		set(TUSB_COMMON_BASE tinyusb_common_base${PROJ_SUFFIX})
+		add_library(${TUSB_COMMON_BASE} INTERFACE)
+
+		target_sources(${TUSB_COMMON_BASE} INTERFACE
+				${TOP}/src/tusb.c
+				${TOP}/src/common/tusb_fifo.c
+				)
+
+		target_include_directories(${TUSB_COMMON_BASE} INTERFACE
+				${TOP}/src
+				${TOP}/src/common
+				${TOP}/hw
+				)
+
+		target_link_libraries(${TUSB_COMMON_BASE} INTERFACE
+				hardware_structs
+				hardware_irq
+				hardware_resets
+				pico_sync
+				)
+
+		set(TINYUSB_DEBUG_LEVEL 0)
+		if (CMAKE_BUILD_TYPE STREQUAL "Debug")
+			message("Compiling TinyUSB with CFG_TUSB_DEBUG=1")
+			set(TINYUSB_DEBUG_LEVEL 1)
+		endif()
 
-	#------------------------------------
-	# Base config for both device and host; wrapped by SDK's tinyusb_common
-	#------------------------------------
-	add_library(tinyusb_common_base INTERFACE)
-
-	target_sources(tinyusb_common_base INTERFACE
-			${TOP}/src/tusb.c
-			${TOP}/src/common/tusb_fifo.c
-			)
-
-	target_include_directories(tinyusb_common_base INTERFACE
-			${TOP}/src
-			${TOP}/src/common
-			${TOP}/hw
-			)
+		target_compile_definitions(${TUSB_COMMON_BASE} INTERFACE
+				CFG_TUSB_MCU=OPT_MCU_RP2040
+				CFG_TUSB_OS=${TINYUSB_OPT_OS}
+				#CFG_TUSB_DEBUG=${TINYUSB_DEBUG_LEVEL}
+		)
 
-	target_link_libraries(tinyusb_common_base INTERFACE
-			hardware_structs
-			hardware_irq
-			hardware_resets
-			pico_sync
-			)
+		#------------------------------------
+		# Base config for device mode; wrapped by SDK's tinyusb_device
+		#------------------------------------
+		set(TUSB_DEV_BASE tinyusb_device_base${PROJ_SUFFIX})
+		add_library(${TUSB_DEV_BASE} INTERFACE)
+		target_sources(${TUSB_DEV_BASE} INTERFACE
+				${TOP}/src/portable/raspberrypi/rp2040/dcd_rp2040.c
+				${TOP}/src/portable/raspberrypi/rp2040/rp2040_usb.c
+				${TOP}/src/device/usbd.c
+				${TOP}/src/device/usbd_control.c
+				${TOP}/src/class/audio/audio_device.c
+				${TOP}/src/class/cdc/cdc_device.c
+				${TOP}/src/class/dfu/dfu_device.c
+				${TOP}/src/class/dfu/dfu_rt_device.c
+				${TOP}/src/class/hid/hid_device.c
+				${TOP}/src/class/midi/midi_device.c
+				${TOP}/src/class/msc/msc_device.c
+				${TOP}/src/class/net/ecm_rndis_device.c
+				${TOP}/src/class/net/ncm_device.c
+				${TOP}/src/class/usbtmc/usbtmc_device.c
+				${TOP}/src/class/vendor/vendor_device.c
+				${TOP}/src/class/video/video_device.c
+				)
+
+		#------------------------------------
+		# Base config for host mode; wrapped by SDK's tinyusb_host
+		#------------------------------------
+		set(TUSB_HOST_BASE tinyusb_host_base${PROJ_SUFFIX})
+		add_library(${TUSB_HOST_BASE} INTERFACE)
+		target_sources(${TUSB_HOST_BASE} INTERFACE
+				${TOP}/src/portable/raspberrypi/rp2040/hcd_rp2040.c
+				${TOP}/src/portable/raspberrypi/rp2040/rp2040_usb.c
+				${TOP}/src/host/usbh.c
+				${TOP}/src/host/hub.c
+				${TOP}/src/class/cdc/cdc_host.c
+				${TOP}/src/class/hid/hid_host.c
+				${TOP}/src/class/msc/msc_host.c
+				${TOP}/src/class/vendor/vendor_host.c
+				)
+
+		# Sometimes have to do host specific actions in mostly common functions
+		target_compile_definitions(${TUSB_HOST_BASE} INTERFACE
+				RP2040_USB_HOST_MODE=1
+		)
 
-	set(TINYUSB_DEBUG_LEVEL 0)
-	if (CMAKE_BUILD_TYPE STREQUAL "Debug")
-		message("Compiling TinyUSB with CFG_TUSB_DEBUG=1")
-		set(TINYUSB_DEBUG_LEVEL 1)
-	endif()
+		#------------------------------------
+		# BSP & Additions
+		#------------------------------------
+		add_library(tinyusb_bsp${PROJ_SUFFIX} INTERFACE)
+		target_sources(tinyusb_bsp${PROJ_SUFFIX} INTERFACE
+				${TOP}/hw/bsp/rp2040/family.c
+				)
+		#	target_include_directories(tinyusb_bsp INTERFACE
+		#			${TOP}/hw/bsp/rp2040)
+
+		# tinyusb_additions will hold our extra settings for examples
+		add_library(tinyusb_additions${PROJ_SUFFIX} INTERFACE)
+
+		target_compile_definitions(tinyusb_additions${PROJ_SUFFIX} INTERFACE
+			PICO_RP2040_USB_DEVICE_ENUMERATION_FIX=1
+			PICO_RP2040_USB_DEVICE_UFRAME_FIX=1
+		)
 
-	target_compile_definitions(tinyusb_common_base INTERFACE
-			CFG_TUSB_MCU=OPT_MCU_RP2040
-			CFG_TUSB_OS=${TINYUSB_OPT_OS}
-			#CFG_TUSB_DEBUG=${TINYUSB_DEBUG_LEVEL}
-	)
+		if(DEFINED LOG)
+			target_compile_definitions(tinyusb_additions${PROJ_SUFFIX} INTERFACE CFG_TUSB_DEBUG=${LOG})
+		endif()
 
-	#------------------------------------
-	# Base config for device mode; wrapped by SDK's tinyusb_device
-	#------------------------------------
-	add_library(tinyusb_device_base INTERFACE)
-	target_sources(tinyusb_device_base INTERFACE
-			${TOP}/src/portable/raspberrypi/rp2040/dcd_rp2040.c
-			${TOP}/src/portable/raspberrypi/rp2040/rp2040_usb.c
-			${TOP}/src/device/usbd.c
-			${TOP}/src/device/usbd_control.c
-			${TOP}/src/class/audio/audio_device.c
-			${TOP}/src/class/cdc/cdc_device.c
-			${TOP}/src/class/dfu/dfu_device.c
-			${TOP}/src/class/dfu/dfu_rt_device.c
-			${TOP}/src/class/hid/hid_device.c
-			${TOP}/src/class/midi/midi_device.c
-			${TOP}/src/class/msc/msc_device.c
-			${TOP}/src/class/net/ecm_rndis_device.c
-			${TOP}/src/class/net/ncm_device.c
-			${TOP}/src/class/usbtmc/usbtmc_device.c
-			${TOP}/src/class/vendor/vendor_device.c
-			${TOP}/src/class/video/video_device.c
+		if(LOGGER STREQUAL "rtt")
+			target_compile_definitions(tinyusb_additions${PROJ_SUFFIX} INTERFACE
+					LOGGER_RTT
+					SEGGER_RTT_MODE_DEFAULT=SEGGER_RTT_MODE_BLOCK_IF_FIFO_FULL
 			)
 
-	#------------------------------------
-	# Base config for host mode; wrapped by SDK's tinyusb_host
-	#------------------------------------
-	add_library(tinyusb_host_base INTERFACE)
-	target_sources(tinyusb_host_base INTERFACE
-			${TOP}/src/portable/raspberrypi/rp2040/hcd_rp2040.c
-			${TOP}/src/portable/raspberrypi/rp2040/rp2040_usb.c
-			${TOP}/src/host/usbh.c
-			${TOP}/src/host/hub.c
-			${TOP}/src/class/cdc/cdc_host.c
-			${TOP}/src/class/hid/hid_host.c
-			${TOP}/src/class/msc/msc_host.c
-			${TOP}/src/class/vendor/vendor_host.c
+			target_sources(tinyusb_additions${PROJ_SUFFIX} INTERFACE
+					${TOP}/lib/SEGGER_RTT/RTT/SEGGER_RTT.c
 			)
 
-	# Sometimes have to do host specific actions in mostly common functions
-	target_compile_definitions(tinyusb_host_base INTERFACE
-			RP2040_USB_HOST_MODE=1
-	)
-
-	#------------------------------------
-	# BSP & Additions
-	#------------------------------------
-	add_library(tinyusb_bsp INTERFACE)
-	target_sources(tinyusb_bsp INTERFACE
-			${TOP}/hw/bsp/rp2040/family.c
+			target_include_directories(tinyusb_additions${PROJ_SUFFIX} INTERFACE
+					${TOP}/lib/SEGGER_RTT/RTT
 			)
-	#	target_include_directories(tinyusb_bsp INTERFACE
-	#			${TOP}/hw/bsp/rp2040)
+		endif()
+	endforeach()
 
-	# tinyusb_additions will hold our extra settings for examples
-	add_library(tinyusb_additions INTERFACE)
+	# TODO: For FreeRTOS support, add wrapper libraries. This should happen
+	# in ${PICO_SDK_PATH}/src/rp2common/tinyusb/CMakeLists.txt
+	# but it is done here for testing purposes
+	if (DEFINED FREERTOS_KERNEL_PATH)
+		add_library(tinyusb_common_freertos INTERFACE)
+		target_link_libraries(tinyusb_common_freertos INTERFACE tinyusb_common_base_freertos)
 
-	target_compile_definitions(tinyusb_additions INTERFACE
-		PICO_RP2040_USB_DEVICE_ENUMERATION_FIX=1
-		PICO_RP2040_USB_DEVICE_UFRAME_FIX=1
-	)
+		pico_add_library(tinyusb_device_freertos)
+		target_link_libraries(tinyusb_device_freertos INTERFACE tinyusb_common_freertos pico_fix_rp2040_usb_device_enumeration tinyusb_device_base_freertos)
 
-	if(DEFINED LOG)
-		target_compile_definitions(tinyusb_additions INTERFACE CFG_TUSB_DEBUG=${LOG})
-	endif()
+		pico_add_library(tinyusb_host_freertos)
+		target_link_libraries(tinyusb_host_freertos INTERFACE tinyusb_host_base_freertos tinyusb_common_freertos)
 
-	if(LOGGER STREQUAL "rtt")
-		target_compile_definitions(tinyusb_additions INTERFACE
-				LOGGER_RTT
-				SEGGER_RTT_MODE_DEFAULT=SEGGER_RTT_MODE_BLOCK_IF_FIFO_FULL
-		)
-
-		target_sources(tinyusb_additions INTERFACE
-				${TOP}/lib/SEGGER_RTT/RTT/SEGGER_RTT.c
-		)
-
-		target_include_directories(tinyusb_additions INTERFACE
-				${TOP}/lib/SEGGER_RTT/RTT
-		)
+		pico_add_library(tinyusb_board_freertos)
+		target_link_libraries(tinyusb_board_freertos INTERFACE tinyusb_bsp_freertos)
+	else()
+		message(STATUS "FREERTOS_KERNEL_PATH not defined")
 	endif()
 
 	#------------------------------------
 	# Functions
 	#------------------------------------
 
-	function(family_configure_target TARGET)
+	function(family_configure_target TARGET PR_SUFFIX)
 		pico_add_extra_outputs(${TARGET})
 		pico_enable_stdio_uart(${TARGET} 1)
-		target_link_libraries(${TARGET} PUBLIC pico_stdlib pico_bootsel_via_double_reset tinyusb_board tinyusb_additions)
+		target_link_libraries(${TARGET} PUBLIC pico_stdlib pico_bootsel_via_double_reset tinyusb_board${PR_SUFFIX} tinyusb_additions${PR_SUFFIX})
+		if (${PR_SUFFIX} MATCHES "_freertos")
+			message(STATUS "${TARGET}: Adding FreeRTOS-Kernel and FreeRTOS-Kernel-Heap4 libraries")
+			target_link_libraries(${TARGET} PUBLIC FreeRTOS-Kernel FreeRTOS-Kernel-Heap4)
+		endif()
 	endfunction()
 
 	function(rp2040_family_configure_example_warnings TARGET)
@@ -163,17 +248,24 @@ if (NOT TARGET _rp2040_family_inclusion_marker)
 	endfunction()
 
 	function(family_configure_device_example TARGET)
-		family_configure_target(${TARGET})
+		family_configure_target(${TARGET} "")
 		target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_device)
 		rp2040_family_configure_example_warnings(${TARGET})
 	endfunction()
 
+	function(family_configure_device_freertos_example TARGET)
+		message(STATUS "configuring freertos example ${TARGET}")
+		family_configure_target(${TARGET} "_freertos")
+		target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_device_freertos)
+		rp2040_family_configure_example_warnings(${TARGET})
+	endfunction()
+
 	function(family_add_pico_pio_usb TARGET)
 		target_link_libraries(${TARGET} PUBLIC tinyusb_pico_pio_usb)
 	endfunction()
 
 	function(family_configure_host_example TARGET)
-		family_configure_target(${TARGET})
+		family_configure_target(${TARGET} "")
 		target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_host)
 		rp2040_family_configure_example_warnings(${TARGET})
 
@@ -187,7 +279,7 @@ if (NOT TARGET _rp2040_family_inclusion_marker)
 	endfunction()
 
 	function(family_configure_dual_usb_example TARGET)
-		family_configure_target(${TARGET})
+		family_configure_target(${TARGET} "")
 		# require tinyusb_pico_pio_usb
 		target_link_libraries(${TARGET} PUBLIC pico_stdlib tinyusb_device tinyusb_host tinyusb_pico_pio_usb )
 		rp2040_family_configure_example_warnings(${TARGET})