diff --git a/bsp/ESP/ESP32_C3/SConstruct b/bsp/ESP/ESP32_C3/SConstruct
index 4b507b7b6a74..57b34386ce5b 100644
--- a/bsp/ESP/ESP32_C3/SConstruct
+++ b/bsp/ESP/ESP32_C3/SConstruct
@@ -68,6 +68,10 @@ Export('rtconfig')
 # prepare building environment
 objs = PrepareBuilding(env, RTT_ROOT, remove_components = ['libc'])
 
+sys.path = sys.path + [os.path.join(os.path.dirname(SDK_ROOT), 'tools')]
+from freertos_include import fix_freertos_include_order
+fix_freertos_include_order(env)
+
 objs.extend(SConscript(os.path.join(libraries_path_prefix, 'drivers', 'SConscript'), variant_dir='build/libraries/drivers', duplicate=0))
 # make a building
 DoBuilding(TARGET, objs)
diff --git a/bsp/ESP/ESP32_C6/SConstruct b/bsp/ESP/ESP32_C6/SConstruct
index 2d877aebd133..6375e3a55033 100644
--- a/bsp/ESP/ESP32_C6/SConstruct
+++ b/bsp/ESP/ESP32_C6/SConstruct
@@ -164,6 +164,10 @@ _match_idf_spi_lock_stub_to_spi_config()
 
 objs = PrepareBuilding(env, RTT_ROOT, remove_components = ['libc'])
 
+sys.path = sys.path + [os.path.join(os.path.dirname(SDK_ROOT), 'tools')]
+from freertos_include import fix_freertos_include_order
+fix_freertos_include_order(env)
+
 objs.extend(SConscript(os.path.join(libraries_path_prefix, 'drivers', 'SConscript'), variant_dir='build/libraries/drivers', duplicate=0))
 DoBuilding(TARGET, objs)
 
diff --git a/bsp/ESP/tools/freertos_include.py b/bsp/ESP/tools/freertos_include.py
new file mode 100644
index 000000000000..a30bafbfcaf7
--- /dev/null
+++ b/bsp/ESP/tools/freertos_include.py
@@ -0,0 +1,57 @@
+"""Build helpers shared by the ESP32 BSPs."""
+
+import os
+
+
+def _norm(path):
+    return os.path.normcase(os.path.abspath(str(path))).replace('\\', '/').lower()
+
+
+def fix_freertos_include_order(env):
+    """Keep the RT-Thread FreeRTOS-Wrapper first in the include search order.
+
+    ESP-IDF's scons shim (components/rtthread/scons/include/freertos/FreeRTOS.h)
+    forwards <freertos/FreeRTOS.h> with #include_next, so the Wrapper include
+    directories must be searched after the shim but before ESP-IDF's own
+    FreeRTOS-Kernel copy.  Package SConscripts are evaluated in directory
+    order, which is not stable, so enforce the order after PrepareBuilding().
+    """
+    cpp = list(env.get('CPPPATH', []))
+    shim = None
+    wrapper = []
+    front = []
+    front_keys = set()
+
+    for path in cpp:
+        norm = _norm(path)
+        if norm.endswith('/components/rtthread/scons/include'):
+            if shim is None:
+                shim = path
+            continue
+
+        if '/freertos_wrapper-' in norm or '/freertos-wrapper-' in norm:
+            if norm not in front_keys:
+                front_keys.add(norm)
+                wrapper.append(path)
+                front.append(path)
+        elif norm.endswith('/idf_port/include') or \
+                norm.endswith('/idf_port/include/freertos'):
+            # The BSP's FreeRTOSConfig.h must win over the ESP-IDF copy that
+            # Wi-Fi/BLE configurations add to the include path.
+            if norm not in front_keys:
+                front_keys.add(norm)
+                front.append(path)
+
+    if shim is None or not wrapper:
+        return
+
+    # Drop the Wrapper and BSP port config entries first so that they can be
+    # inserted right after the shim, whatever order the SConscripts ran in.
+    rest = [p for p in cpp if _norm(p) not in front_keys]
+
+    shim_key = _norm(shim)
+    for index, path in enumerate(rest):
+        if _norm(path) == shim_key:
+            rest[index + 1:index + 1] = front
+            env.Replace(CPPPATH=rest)
+            return