diff --git a/.gitignore b/.gitignore
index 0e79ef1..b10ca45 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,3 +3,4 @@
 BUILD
 cmake_build
 mbed-os
+definitions.h
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 785405e..4133f33 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,9 @@
 cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
 
+# Create definitions.h, a header file with definitions generated from setup.yml and tests.yml
+execute_process(COMMAND ./parseConfigs.py
+                COMMAND_ERROR_IS_FATAL ANY)
+
 set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/mbed-os CACHE INTERNAL "")
 set(MBED_CONFIG_PATH ${CMAKE_CURRENT_BINARY_DIR} CACHE INTERNAL "")
 set(APP_TARGET embedded-mbed)
@@ -12,6 +16,12 @@ add_subdirectory(${MBED_PATH})
 
 add_executable(${APP_TARGET} testRunner.cpp)
 
+# Precompile the definitions header. The generated header will be force included in all source files, so they don't need `#include "definitions.h"`
+target_precompile_headers(${APP_TARGET}
+    PRIVATE
+        definitions.h
+)
+
 target_sources(${APP_TARGET}
     PRIVATE
         testRunner.cpp
diff --git a/parseConfigs.py b/parseConfigs.py
new file mode 100755
index 0000000..ea0e9ee
--- /dev/null
+++ b/parseConfigs.py
@@ -0,0 +1,55 @@
+#!/bin/python3
+
+import yaml
+
+
+# Get information from configuration files
+with open('tests.yml', 'r') as testFile, open('setup.yml', 'r') as setupFile:
+	testCfg = yaml.safe_load(testFile)
+	setupCfg = yaml.safe_load(setupFile)
+
+
+# Get target and ensure that it is consistent across the configuration files
+target = setupCfg['setup']['target']
+assert target == list(testCfg.keys())[0], "Target in setup.yml ({}) does not match the root key in tests.yml ({})".format(target, list(testCfg.keys())[0])
+
+
+# Stores lines of generated definitions header file
+definitions=[]
+lineNum = 1
+
+
+# Insert definitions for devices and drivers macros
+# These macros will be used throughout the project whenever test setup-related info is needed
+for setupCat in ['devices', 'drivers']:
+	if isinstance(setupCfg['setup'][setupCat], dict):
+		definitions.insert(lineNum, '{}// Define macros for {}\n'.format('\n' if setupCat != 'devices' else '', setupCat))
+		lineNum += 1
+		for setup, setupInfo in setupCfg['setup'][setupCat].items():
+			for attr, val in setupInfo.items():
+				# If val is a list, make it a string and reformat it as a C array (i.e. {...} instead of [...])
+				if isinstance(val, list):
+					val = '{' + str(val)[1:-1] + '}'
+				definitions.insert(lineNum, '#define {}_{}    {}\n'.format(setup.upper(), attr.upper(), val))
+				lineNum += 1
+
+# Insert definitions for test macros
+# These macros will be used in testRunner.cpp to determine what tests should be run,
+# as well as in any source files that have test-dependent configurations
+if isinstance(testCfg[target], dict):
+	definitions.insert(lineNum, '\n// Define macros for tests\n')
+	lineNum += 1
+	for testCat, tests in testCfg[target].items():
+		startLine=lineNum
+		for test, testType in tests.items():
+			if testType != 'disabled':
+				definitions.insert(lineNum, '#define {}_{}    \"{}\"\n'.format(testCat.upper(), test.upper(), testType.upper()))
+				lineNum += 1
+		# Only insert the TEST_<TEST_CAT> line if one or more of the tests within that category are not disabled
+		if startLine < lineNum:
+			definitions.insert(startLine - 1, '// Start {} test definitions\n#define TEST_{}\n'.format(testCat, testCat.upper()))
+			lineNum += 1
+
+# Create/Replace the contents of definitions.h with the generated lines
+with open('definitions.h', 'w') as definitionsFile:
+	definitionsFile.writelines(definitions)