diff --git a/include/etl/mutex/mutex_freertos.h b/include/etl/mutex/mutex_freertos.h
index 080b571a..6fde9d2c 100644
--- a/include/etl/mutex/mutex_freertos.h
+++ b/include/etl/mutex/mutex_freertos.h
@@ -31,8 +31,26 @@ SOFTWARE.
 
 #include "../platform.h"
 
-#include "FreeRTOS.h"
-#include <semphr.h>
+#if defined(__has_include) // Compiler supports __has_include
+
+  #if __has_include(<FreeRTOS.h>) && __has_include(<semphr.h>) // Standard FreeRTOS include layout
+    #include <FreeRTOS.h>
+    #include <semphr.h>
+
+  #elif __has_include(<freertos/FreeRTOS.h>) && __has_include(<freertos/semphr.h>) // ESP-IDF style include layout
+    #include <freertos/FreeRTOS.h>
+    #include <freertos/semphr.h>
+
+  #else // Neither include layout found
+    #error "FreeRTOS.h and semphr.h not found. Please include path to FreeRTOS in your project settings"
+  #endif
+
+#else
+
+  #include <FreeRTOS.h>
+  #include <semphr.h>
+
+#endif
 
 namespace etl
 {