How can I make the VS Code clangd extension aware of the include paths defined in my CMake configuration? [duplicate]

I'm coding C++ on a Raspberry Pi 3B via VSCode's remote ssh. Currently, I just manually add all extra include directories (and other compiler settings) in settings.json:

{ "clangd.fallbackFlags": [ "-I/usr/include/foo", "-I/usr/include/bar", "-I${workspaceFolder}/src", "-std=c++17" ] } 

And I'm seeking for an automated way to do that.

I'm NOT using the CMake Tools and IntelliSense plugin, as it is very CPU and memory consuming, almost exhaust RPi's 1GB memory. In contrast, clangd is much lighter and capable by a RPi.