there is a CDP Studio IDE available that makes cross compile and deploy quite simple from both windows and linux and you can just check the raspberry toolchain checkbox during the installation. (PS. it has GPIO and I2C support so no code is needed to access those)
The IDE demo of raspberry use is up here: https://youtu.be/4SVZ68sQz5U
and you can download the IDE here: https://cdpstudio.com/home-edition