diff --git a/CMakeLists.txt b/CMakeLists.txt
index 47ddeafb89..578dd5047b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,7 +42,7 @@ endif()
 
 # Avoid warning about DOWNLOAD_EXTRACT_TIMESTAMP in CMake 3.24:
 
-if (CMAKE_VERSION VERSION_GREATER_EQUAL "3.24.0")
+if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.24.0")
   cmake_policy(SET CMP0135 NEW)
 endif()
 
@@ -373,6 +373,8 @@ include(nuttx_add_application)
 include(nuttx_add_romfs)
 include(nuttx_add_symtab)
 include(nuttx_add_module)
+include(nuttx_add_dependencies)
+include(nuttx_export_header)
 include(menuconfig)
 
 include(ExternalProject)
diff --git a/cmake/nuttx_add_dependencies.cmake b/cmake/nuttx_add_dependencies.cmake
new file mode 100644
index 0000000000..eba7db1257
--- /dev/null
+++ b/cmake/nuttx_add_dependencies.cmake
@@ -0,0 +1,63 @@
+# ##############################################################################
+# cmake/nuttx_add_dependencies.cmake
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements.  See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership.  The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License.  You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+include(nuttx_parse_function_args)
+
+# ~~~
+# nuttx_add_dependencies
+#
+# Description:
+#   Wrapper of cmake add_dependencies.
+#   At the same time, It also allows adding the header file path
+#   exported by the dependent library under NUTTX_APPS_BINDIR/include
+#
+# Usage:
+#   nuttx_add_dependencies( TARGET <string> DEPENDS <list>)
+#
+# Parameters:
+#   TARGET            : target needs to add dependencie
+#   DEPENDS           : targets which depends on
+# ~~~
+
+function(nuttx_add_dependencies)
+
+  # parse arguments into variables
+
+  nuttx_parse_function_args(
+    FUNC
+    nuttx_add_dependencies
+    ONE_VALUE
+    TARGET
+    MULTI_VALUE
+    DEPENDS
+    REQUIRED
+    TARGET
+    DEPENDS
+    ARGN
+    ${ARGN})
+
+  foreach(dep ${DEPENDS})
+    # add dependencies
+    add_dependencies(${TARGET} ${dep})
+    # add export include directory
+    target_include_directories(${TARGET}
+                               PRIVATE ${NUTTX_APPS_BINDIR}/include/${dep})
+  endforeach()
+endfunction()
diff --git a/cmake/nuttx_export_header.cmake b/cmake/nuttx_export_header.cmake
new file mode 100644
index 0000000000..b6035f4f4b
--- /dev/null
+++ b/cmake/nuttx_export_header.cmake
@@ -0,0 +1,133 @@
+# ##############################################################################
+# cmake/nuttx_export_headers.cmake
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements.  See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership.  The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License.  You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+include(nuttx_parse_function_args)
+
+# export_relative_path_recursively
+#
+# Used to recursively add all header files under the `include_directory` to the
+# `prefix` directory and preserve their relative relationship
+#
+# When the target relative path is repeated and the original path is different
+# throws an exception and abort the build
+function(export_relative_path_recursively prefix include_directory)
+  # recursively find header files under the path
+  file(GLOB_RECURSE FOUND_FILES ${include_directory}/*.h)
+  if(FOUND_FILES)
+    foreach(FOUND_FILE ${FOUND_FILES})
+      if(EXISTS ${FOUND_FILE})
+        # take relative path
+        file(RELATIVE_PATH REL_FILE ${include_directory} ${FOUND_FILE})
+        # check for path conflicts
+        string(REPLACE "/" "_" CHECK_PROP _check_${prefix}_${REL_FILE})
+        get_property(REL_FILE_CHECK GLOBAL PROPERTY ${CHECK_PROP})
+        if(REL_FILE_CHECK AND NOT REL_FILE_CHECK STREQUAL FOUND_FILE)
+          message(
+            FATAL_ERROR
+              "Error: NUTTX_ADD_APPS_HEADER add a duplicate header files ${FOUND_FILE} ${REL_FILE_CHECK}"
+          )
+        endif()
+        set_property(GLOBAL PROPERTY ${CHECK_PROP} ${FOUND_FILE})
+        message(
+          VERBOSE
+          "NUTTX_ADD_APPS_HEADER: REL_FILE found: ${REL_FILE} in ${INCDIR}")
+        # do export to the BINAPPS/include directory
+        get_filename_component(DES_PATH ${prefix}/${REL_FILE} DIRECTORY)
+        file(
+          COPY ${FOUND_FILE}
+          DESTINATION ${DES_PATH}
+          FOLLOW_SYMLINK_CHAIN)
+      endif()
+    endforeach()
+  endif()
+endfunction()
+
+# ~~~
+# nuttx_export_header
+#
+# Description:
+#   Export include directory to apps global include path.
+#   `${NUTTX_APPS_BINDIR}/include/${TARGET}`
+#   preserve relative paths to all header files.
+#
+#   In the original GNU Make build, we use `Make.defs` to add the global include path,
+#   and the private include path of the application library is written in the `Makefile`
+#   In Nuttx CMake build, we achieve similar global functionality through this function.
+#
+# Usage:
+#   nuttx_export_header(TARGET <string> INCLUDE_DIRECTORIES <list>)
+#
+# Parameters:
+#   TARGET                : target for exporting header directory
+#   INCLUDE_DIRECTORIES   : directory list to be exported
+#
+# Example:
+#   set(INCDIRS foo/include)
+#   nuttx_export_header(TARGET foo INCLUDE_DIRECTORIES ${INCDIRS})
+#
+#   foo/include/                          build/apps/include/foo/
+#       ├── demo/                                   ├── demo/
+#       |   └── demo.h        export to             |   └── demo.h
+#       ├── test/           ============>           ├── test/
+#       |   └── test.h                              |   └── test.h
+#       └── foo.h                                   └── foo.h
+# ~~~
+
+function(nuttx_export_header)
+
+  # parse arguments into variables
+
+  nuttx_parse_function_args(
+    FUNC
+    nuttx_export_header
+    ONE_VALUE
+    TARGET
+    MULTI_VALUE
+    INCLUDE_DIRECTORIES
+    REQUIRED
+    TARGET
+    INCLUDE_DIRECTORIES
+    ARGN
+    ${ARGN})
+
+  # destination directory to be exported
+  set(PATH_PREFIX ${NUTTX_APPS_BINDIR}/include/${TARGET})
+
+  foreach(INCDIR ${INCLUDE_DIRECTORIES})
+    if(NOT EXISTS ${INCDIR})
+      message(
+        WARNING
+          "warning: NUTTX_EXPORT_HEADER ${TARGET} added a path that does not exist ${INCDIR}"
+      )
+    else()
+      if(IS_DIRECTORY ${INCDIR})
+        # export relative path to directories
+        export_relative_path_recursively(${PATH_PREFIX} ${INCDIR})
+      else()
+        # export single file
+        get_filename_component(DES_PATH ${prefix}/${REL_FILE} DIRECTORY)
+        file(
+          COPY ${FOUND_FILE}
+          DESTINATION ${DES_PATH}
+          FOLLOW_SYMLINK_CHAIN)
+      endif()
+    endif()
+  endforeach()
+endfunction()