diff --git a/.github/workflows/build-build.yaml b/.github/workflows/build-build.yaml
new file mode 100644
index 0000000..8114094
--- /dev/null
+++ b/.github/workflows/build-build.yaml
@@ -0,0 +1,40 @@
+name: Build
+
+on: [push,pull_request]
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        submodules: recursive
+        fetch-depth: 0
+
+    - name: Discover cores
+      if: ${{ matrix.os != 'macos-latest' }}
+      run: lscpu | egrep 'Model name|Socket|Thread|NUMA|CPU\(s\)'
+
+    # Build machines don't have arm-none-eabi gcc, so let's download it and put it on the path
+    - name: Download & Install GCC
+      env:
+        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
+      run: | # Compiler hosted on our other git repo - avoids having to download from the nice folks at ARM every time
+        wget 'https://github.com/rusefi/build_support/raw/master/gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.xz' -O compiler.tar.xz
+        tar -xvf compiler.tar.xz
+        echo "::add-path::`pwd`/gcc-arm-none-eabi-9-2020-q2-update/bin"
+
+    # Make sure the compiler we just downloaded works - just print out the version
+    - name: Test Compiler
+      run: arm-none-eabi-gcc -v
+
+
+    - name: Build Tests
+      working-directory: .
+      run: make -j4
+      
diff --git a/Makefile b/Makefile
index 5bfe079..daaddad 100644
--- a/Makefile
+++ b/Makefile
@@ -88,10 +88,10 @@ CHIBIOS = $(CHIBIOSLUA)/ChibiOS
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/hal/boards/ST_STM32F4_DISCOVERY/board.mk
 include $(CHIBIOS)/os/hal/ports/STM32/STM32F4xx/platform.mk
-include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
-include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_stm32f4xx.mk
-include $(CHIBIOS)/test/rt/test.mk
+include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
+include $(CHIBIOS)/test/rt/rt_test.mk
 
 # Define linker script file here
 LDSCRIPT= STM32F407xG.ld