diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..4573676
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,50 @@
+name: PlatformIO CI
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  clang-format-check:
+    name: Clang-format formatting check
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: Run clang-format style check.
+      uses: jidicula/clang-format-action@v4.11.0
+      with:
+        clang-format-version: '14'
+        include-regex: ^.*\.(cpp|hpp)$
+
+  build:
+    name: PlatformIO build
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Cache pip
+        uses: actions/cache@v2
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+      - name: Cache PlatformIO
+        uses: actions/cache@v2
+        with:
+          path: ~/.platformio
+          key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.10'
+      - name: Install PlatformIO
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade platformio
+      - name: Run PlatformIO
+        run: pio run -e genericSTM32F401RC
diff --git a/Inc/firmware/hal_compat.hpp b/Inc/firmware/hal_compat.hpp
index 4f35a89..24c313d 100644
--- a/Inc/firmware/hal_compat.hpp
+++ b/Inc/firmware/hal_compat.hpp
@@ -22,8 +22,14 @@ inline void gpio_toggle(const GPIO& gpio) {
   HAL_GPIO_TogglePin(gpio.port, gpio.pin);
 }
 
-inline uint32_t time() { return HAL_GetTick(); }
+inline uint32_t time() {
+  return HAL_GetTick();
+}
 
-inline void reset() { NVIC_SystemReset(); }
+inline void reset() {
+  NVIC_SystemReset();
+}
 
-inline void delay(uint32_t delay_ms) { HAL_Delay(delay_ms); }
\ No newline at end of file
+inline void delay(uint32_t delay_ms) {
+  HAL_Delay(delay_ms);
+}
\ No newline at end of file
diff --git a/Lib/icm42605/ICM42605.cpp b/Lib/icm42605/ICM42605.cpp
index e46fccf..9a22ce3 100644
--- a/Lib/icm42605/ICM42605.cpp
+++ b/Lib/icm42605/ICM42605.cpp
@@ -9,7 +9,9 @@
 
 ICM42605::ICM42605(I2C_HandleTypeDef* i2c_bus) : _i2c_bus(i2c_bus) {}
 
-uint8_t ICM42605::getChipID() { return readByte(ICM42605_WHO_AM_I); }
+uint8_t ICM42605::getChipID() {
+  return readByte(ICM42605_WHO_AM_I);
+}
 
 float ICM42605::getAres(uint8_t Ascale) {
   switch (Ascale) {
diff --git a/Src/firmware/imu_reveiver.cpp b/Src/firmware/imu_reveiver.cpp
index fbce89d..9f84951 100644
--- a/Src/firmware/imu_reveiver.cpp
+++ b/Src/firmware/imu_reveiver.cpp
@@ -24,7 +24,8 @@ void ImuReceiver::update() {
   temp = static_cast<float>(ICM42605Data[0]) * TEMP_RESOLUTION + TEMP_OFFSET;
   ax = static_cast<float>(ICM42605Data[2]) * ares_ * GRAVITATIONAL_ACCELERATION;
   ay = static_cast<float>(ICM42605Data[1]) * ares_ * GRAVITATIONAL_ACCELERATION;
-  az = -static_cast<float>(ICM42605Data[3]) * ares_ * GRAVITATIONAL_ACCELERATION;
+  az =
+      -static_cast<float>(ICM42605Data[3]) * ares_ * GRAVITATIONAL_ACCELERATION;
   gx = static_cast<float>(ICM42605Data[5]) * gres_ * DEGREE_TO_RADIAN;
   gy = static_cast<float>(ICM42605Data[4]) * gres_ * DEGREE_TO_RADIAN;
   gz = -static_cast<float>(ICM42605Data[6]) * gres_ * DEGREE_TO_RADIAN;
diff --git a/Src/firmware/motor_controller.cpp b/Src/firmware/motor_controller.cpp
index 88b7907..22519f4 100644
--- a/Src/firmware/motor_controller.cpp
+++ b/Src/firmware/motor_controller.cpp
@@ -32,7 +32,9 @@ void MotorController::setPWMDutyCycle(float pwm_duty) {
   }
 }
 
-float MotorController::getPWMDutyCycle() { return pwm_duty_; }
+float MotorController::getPWMDutyCycle() {
+  return pwm_duty_;
+}
 
 int32_t MotorController::getEncoderCnt() {
   uint16_t ticks_timer = *config_.enc_cnt;
diff --git a/Src/firmware/parameters.cpp b/Src/firmware/parameters.cpp
index 8ab0f20..1b6f7b9 100644
--- a/Src/firmware/parameters.cpp
+++ b/Src/firmware/parameters.cpp
@@ -5,14 +5,15 @@
 static constexpr int TIMEOUT = 1000;
 
 void Parameters::load(ros::NodeHandle &nh) {
-  nh.getParam("firmware/wheels/encoder_resolution", &wheel_encoder_resolution, 1,
-              TIMEOUT);
+  nh.getParam("firmware/wheels/encoder_resolution", &wheel_encoder_resolution,
+              1, TIMEOUT);
   nh.getParam("firmware/wheels/torque_constant", &wheel_torque_constant, 1,
               TIMEOUT);
   nh.getParam("firmware/wheels/pid/p", &wheel_pid_p, 1, TIMEOUT);
   nh.getParam("firmware/wheels/pid/i", &wheel_pid_i, 1, TIMEOUT);
   nh.getParam("firmware/wheels/pid/d", &wheel_pid_d, 1, TIMEOUT);
-  nh.getParam("firmware/wheels/pwm_duty_limit", &wheel_pwm_duty_limit, 1, TIMEOUT);
+  nh.getParam("firmware/wheels/pwm_duty_limit", &wheel_pwm_duty_limit, 1,
+              TIMEOUT);
 
   nh.getParam("firmware/diff_drive/wheel_radius", &dd_wheel_radius, 1, TIMEOUT);
   nh.getParam("firmware/diff_drive/wheel_separation", &dd_wheel_separation, 1,