diff --git a/.github/workflows/run-tests.yml b/.github/workflows/run-tests.yml
new file mode 100644
index 0000000..b7b30d7
--- /dev/null
+++ b/.github/workflows/run-tests.yml
@@ -0,0 +1,123 @@
+name: run-tests
+
+on:
+  pull_request:
+    branches:
+      - 'main'
+
+# The cancel-in-progress concurrency option can only be specified at the workflow or job level, and job-level concurrency is ineffective when dealing with queued workflows.
+# Given that we don't want to cancel the workflow while fetching mbed-os libraries or flashing, the cancel-in-progress option is set to false to prevent canceling the
+# workflow at these times. However, this still prevents multiple identical queued workflows from piling up.
+concurrency:
+  group: ${{ github.event_name }}.${{ github.head_ref }}.${{ github.workflow }}
+  cancel-in-progress: false
+
+jobs:
+  setup:
+    runs-on:
+      - self-hosted
+
+    outputs:
+      target: ${{ steps.get-dev-info.outputs.device }}
+      ser_port: ${{ steps.get-dev-info.outputs.serial }}
+      flash_mntpt: ${{ steps.get-dev-info.outputs.mountpoint }}
+
+    steps:
+     - name: Set Environment Variables
+       run: |
+         echo "MBED_OS_REF_LOCATION=$HOME/${{ github.repository }}/mbed-os-ref" >> "$GITHUB_ENV"
+
+     - name: Get Repo
+       uses: actions/checkout@v3
+       with:
+# Don't run `git clean -ffdx` and `git reset --hard HEAD` in this step to avoid removing `mbed-os/`.
+# These will be run post checkout in the following step
+         clean: false
+
+# Clean up any changes in the working index, including untracked files aside from mbed-os/
+     - name: Post Checkout Cleanup
+       run: |
+         git clean -ffdxe mbed-os
+         git reset --hard HEAD
+
+# Checks if the current reference in mbed-os.lib is the same as what is stored on the runner from the
+# previous workflow. If not, update the stored reference and fetch the new libraries
+# TODO This only handles mbed-os.lib. To be able to handle other .lib files, it would be worth creating
+#      a script or custom action to check/update all library references
+     - name: Check if mbed-os Libraries Need to be Fetched
+       id: check-mbed-os-libs
+       run: |
+         echo ${{ github.event.before }} ${{ github.event.after }}
+         git reflog
+         # Get the commit hashes of the two most recent states of the repo on the runner
+         # If mbed-os.lib changed between the two states, fetch the mbed libraries in the next step
+         hashes=$(git reflog | head -n 1 | grep -Po "(?<=moving from )\S+|(?<= to )\S+$")
+         echo "$hashes"
+         git diff --name-only $hashes
+         echo "SEPARATOR"
+         git diff $hashes
+         if [[ -f "$MBED_OS_REF_LOCATION/mbed-os.lib" ]]; then
+           if [[ -n $(diff "$MBED_OS_REF_LOCATION/mbed-os.lib" mbed-os.lib) ]]; then
+             cp mbed-os.lib "$MBED_OS_REF_LOCATION"
+             echo "fetch_libs=y" >> "$GITHUB_OUTPUT"
+             echo "Needed to fetch mbed-os libraries because they were not up-to-date on the runner" >> $GITHUB_STEP_SUMMARY
+           else
+             echo "fetch_libs=$([[ -d mbed-os ]] && echo n || echo y)" >> "$GITHUB_OUTPUT"
+             [[ -d mbed-os ]] && \
+               echo "mbed-os libraries are up-to-date :relieved:" >> $GITHUB_STEP_SUMMARY || \
+               echo "Needed to fetch mbed-os libraries because mbed-os did not exist on the runner, but the stored library reference was up-to-date :finnadie:" >> $GITHUB_STEP_SUMMARY
+           fi
+         else
+           mkdir -p "$MBED_OS_REF_LOCATION"
+           cp mbed-os.lib "$MBED_OS_REF_LOCATION"
+           echo "fetch_libs=$([[ -d mbed-os ]] && echo n || echo y)" >> "$GITHUB_OUTPUT"
+           echo "Needed to fetch mbed-os libraries because neither mbed-os nor the stored reference was present on the runner :point_right::point_left:" >> $GITHUB_STEP_SUMMARY
+         fi
+
+     - name: Fetch Mbed Libraries
+       if: steps.check-mbed-os-libs.outputs.fetch_libs == 'y'
+       run: |
+         if [[ -d mbed-os ]]; then
+           echo "Removing mbed-os before fetching libraries"
+           rm -rf mbed-os
+         fi
+         mbed-tools deploy
+
+# Gets device info using `mbed-tools detect` and sets output needed for compiling and flashing
+# NOTE: Expecting '/mnt/$USER/' to be the base path for the mount point, as specified in the runner's ldm (https://github.com/LemonBoy/ldm) configuration,
+#       despite /media/[$USER/] typically being the base path for removable media
+     - name: Get Device Info
+       id: get-dev-info
+       run: |
+         device=$(python3 parseConfigs.py)
+         detect_out=$(mbed-tools detect | grep "$device")
+         #device=$(echo "$detect_out" | grep -oE "NUCLEO_\\S*")
+         serial=$(echo "$detect_out" | grep -oE "/dev/tty\\S*")
+         mountpoint=$(echo "$detect_out" | grep -oE "/mnt/$USER/\\S*")
+         if [[ -z "$serial" || -z "$mountpoint" ]]; then
+           echo "Failed to detect serial port and/or mount point matching '/dev/tty*' and '/mnt/$USER/*', respectively, for target '$device' :hurtrealbad:" >> $GITHUB_STEP_SUMMARY
+           exit 1
+         fi
+         echo "device=$device" >> "$GITHUB_OUTPUT"
+         echo "serial=$serial" >> "$GITHUB_OUTPUT"
+         echo "mountpoint=$mountpoint" >> "$GITHUB_OUTPUT"
+         echo "Found target '$device' connected to serial port '$serial' with storage mounted to '$mountpoint' :relieved:" >> $GITHUB_STEP_SUMMARY
+
+  compile-and-flash:
+    needs: setup
+    env:
+      BUILD_PROFILE: develop
+      TOOLCHAIN: GCC_ARM
+    runs-on:
+      - self-hosted
+
+    steps:
+     - name: Compile and Flash
+       if: false # TODO Remove
+       run: |
+         mbed-tools configure -t ${{ env.TOOLCHAIN }} -m ${{ needs.setup.outputs.target }}
+         cmake -S . -B cmake_build/${{ needs.setup.outputs.target }}/${{ env.BUILD_PROFILE }}/${{ env.TOOLCHAIN }} -GNinja
+         cmake --build cmake_build/${{ needs.setup.outputs.target }}/${{ env.BUILD_PROFILE }}/${{ env.TOOLCHAIN }}
+         cp cmake_build/${{ needs.setup.outputs.target }}/${{ env.BUILD_PROFILE }}/${{ env.TOOLCHAIN }}/embedded-mbed.bin ${{ needs.setup.outputs.flash_mntpt }}
+         echo "Successfully flashed to ${{ needs.setup.outputs.target }} :v:" >> $GITHUB_STEP_SUMMARY
+
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..0e79ef1
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+.build
+.mbed
+BUILD
+cmake_build
+mbed-os
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..5ccd950
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+
+set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/mbed-os CACHE INTERNAL "")
+set(MBED_CONFIG_PATH ${CMAKE_CURRENT_BINARY_DIR} CACHE INTERNAL "")
+set(APP_TARGET embedded-mbed)
+
+# --- START MACROS ---
+# ---- END MACROS ----
+
+include(${MBED_PATH}/tools/cmake/app.cmake)
+
+project(${APP_TARGET})
+
+add_subdirectory(${MBED_PATH})
+
+add_executable(${APP_TARGET} testRunner.cpp)
+
+target_sources(${APP_TARGET}
+    PRIVATE
+        testRunner.cpp
+)
+
+target_link_libraries(${APP_TARGET}
+    PRIVATE
+        mbed-os
+)
+
+mbed_set_post_build(${APP_TARGET})
+
+option(VERBOSE_BUILD "Have a verbose build process")
+if(VERBOSE_BUILD)
+    set(CMAKE_VERBOSE_MAKEFILE ON)
+endif()
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..0b148ef
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,58 @@
+# Allow the user to specify different values for 'PROFILE' and 'TOOLCHAIN'
+PROFILE?=develop
+TOOLCHAIN?=GCC_ARM
+
+# Useless change
+
+# Parse setup.yml to determine the build target
+TARGET       := $(shell grep -Po '(^\s+target:\s+)\K.+' setup.yml)
+# Check that a value for 'target' was found in setup.yml
+ifndef TARGET
+$(error Did not find a value for 'target' in setup.yml)
+endif
+BUILD_DIR    := cmake_build/$(TARGET)/$(PROFILE)/$(TOOLCHAIN)
+BINARY       := embedded-mbed.bin
+START_MACROS := ^\# --- START MACROS ---$$
+END_MACROS   := ^\# ---- END MACROS ----$$
+# Search for files matching *.{cpp,h}, but don't search mbed-os/ or cmake_build/
+SOURCES      := $(shell find . -type d \( -path ./mbed-os -o -path ./cmake_build \) -prune -o -type f -regex '.*\.\(cpp\|h\)' -print)
+
+
+.PHONY: flash
+flash: mountpoint compile
+	cp $(BUILD_DIR)/$(BINARY) $(MOUNTPOINT)
+
+.PHONY: compile
+compile: $(BUILD_DIR)/$(BINARY)
+
+$(BUILD_DIR)/$(BINARY): $(BUILD_DIR)/mbed_config.cmake setup.yml tests.yml CMakeLists.txt parseConfigs.py $(SOURCES)
+	./parseConfigs.py
+	cmake -S . -B $(BUILD_DIR) -GNinja
+	cmake --build $(BUILD_DIR)
+
+.PHONY: configure
+configure: $(BUILD_DIR)/mbed_config.cmake
+
+$(BUILD_DIR)/mbed_config.cmake: mbed-os mbed_app.json
+	mbed-tools configure -t $(TOOLCHAIN) -m $(TARGET)
+
+.PHONY: deploy
+deploy: mbed-os
+
+mbed-os: mbed-os.lib
+	mbed-tools deploy
+
+# Check that MOUNTPOINT was defined as a CLA
+.PHONY: mountpoint
+mountpoint:
+ifndef MOUNTPOINT
+	$(error variable 'MOUNTPOINT' not set)
+endif
+
+.PHONY: clean
+clean: clean-cmakelists
+	rm -rf cmake_build/ mbed-os/
+
+.PHONY: clean-cmakelists
+clean-cmakelists:
+	sed -i '/$(START_MACROS)/,/$(END_MACROS)/{/$(START_MACROS)/!{/$(END_MACROS)/!d}}' CMakeLists.txt
diff --git a/install-pre-commit.sh b/install-pre-commit.sh
new file mode 100644
index 0000000..e3540ed
--- /dev/null
+++ b/install-pre-commit.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+dir=$(dirname "${BASH_SOURCE[0]}")
+
+chmod +x $dir/pre-commit
+cp $dir/pre-commit $dir/.git/hooks/
+
+echo "Copied $dir/pre-commit to $dir/.git/hooks/"
diff --git a/mbed-os.lib b/mbed-os.lib
new file mode 100644
index 0000000..144619b
--- /dev/null
+++ b/mbed-os.lib
@@ -0,0 +1 @@
+https://github.com/ARMmbed/mbed-os/#17dc3dc2e6e2817a8bd3df62f38583319f0e4fed
diff --git a/mbed_app.json b/mbed_app.json
new file mode 100644
index 0000000..14ca336
--- /dev/null
+++ b/mbed_app.json
@@ -0,0 +1,8 @@
+{
+    "target_overrides": {
+        "*": {
+            "target.printf_lib": "std",
+            "target.c_lib": "small"
+        }
+    }
+}
diff --git a/parseConfigs.py b/parseConfigs.py
new file mode 100755
index 0000000..fdea854
--- /dev/null
+++ b/parseConfigs.py
@@ -0,0 +1,68 @@
+#!/bin/python3
+
+import yaml
+
+
+# Get necessary information from configuration files and CMakeLists.txt
+# Additionally, clear existing macros between start and end markers in CMakeLists.txt
+with open('tests.yml', 'r') as testFile, open('setup.yml', 'r') as setupFile, open('CMakeLists.txt', 'r') as cmakeFile:
+	testCfg = yaml.safe_load(testFile)
+	setupCfg = yaml.safe_load(setupFile)
+	initCmake = cmakeFile.readlines()
+	
+	# Iterate through CMakeLists.txt lines and
+	#   - Add all lines to cmake, except for those between the start and end macros markers
+	#   - Store the line number of the start macros marker
+	cmake = []
+	keep = True
+	for lnum, line in enumerate(initCmake):
+		if keep:
+			cmake.append(line)
+			if line == '# --- START MACROS ---\n':
+				lineNum = lnum + 1
+				keep = False
+		elif line == '# ---- END MACROS ----\n':
+			cmake.append(line)
+			keep = True
+
+
+# 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])
+
+
+# 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):
+		cmake.insert(lineNum, '\n# Define macros for {}\n'.format(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] + '}'
+				cmake.insert(lineNum, 'ADD_DEFINITIONS(-D{}_{}={})\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
+if isinstance(testCfg[target], dict):
+	cmake.insert(lineNum, '\n# Define macros for tests\n')
+	lineNum += 1
+	for testCat, tests in testCfg[target].items():
+		for test, testType in tests.items():
+			if testType != 'disabled':
+				cmake.insert(lineNum, 'ADD_DEFINITIONS(-D{}_{})\n'.format(testCat.upper(), test.upper()))
+				lineNum += 1
+
+# Add empty line before end macros marker for styling purposes
+cmake.insert(lineNum, '\n')
+
+# Replace the contents of CMakeLists.txt with the modified lines
+with open('CMakeLists.txt', 'w') as cmakeFile:
+	cmakeFile.writelines(cmake)
+
+
+# Output the target so that it can be used to check target availability in the workflow
+print(target)
diff --git a/pre-commit b/pre-commit
new file mode 100644
index 0000000..b72095d
--- /dev/null
+++ b/pre-commit
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+# If there are no changes to CMakeLists.txt being committed, then there's no need to check this commit's diff
+if [[ -z $(git diff --cached --name-only CMakeLists.txt) ]]; then
+    exit 0
+fi
+
+# Store a diff with every line of CMakeLists.txt in the context to determine if there were any changes between the markers
+diff=$(git diff --cached -U$(wc -l CMakeLists.txt) CMakeLists.txt)
+grep -Pzo " # --- START MACROS ---\n # ---- END MACROS ----\n" <<< "$diff" 2>/dev/null
+
+# Strict check to ensure that each marker is still in the proper location and only appears once
+if [ $(grep -E "^.# --- START MACROS ---$" <<< "$diff" 2>/dev/null | wc -l) != 1 ] || \
+   [ $(grep -E "^.# ---- END MACROS ----$" <<< "$diff" 2>/dev/null | wc -l) != 1 ] || \
+   [ $(grep -Pzo " # --- START MACROS ---\n # ---- END MACROS ----\n" <<< "$diff" 2>/dev/null | wc -l) != 2 ]
+then
+    echo -e "\033[1;31mIllegal Modification:\n    \033[0;31mAttempted to change lines related to start and end macro definition markers in CMakeLists.txt\033[0m\n\n"
+    git diff --cached CMakeLists.txt
+    exit 1
+fi
diff --git a/setup.yml b/setup.yml
new file mode 100644
index 0000000..93afbff
--- /dev/null
+++ b/setup.yml
@@ -0,0 +1,32 @@
+# --- Structure ---
+# setup:
+#   target: <target>
+#   devices:
+#     <device>:
+#       <attribute>: <value>
+#   drivers:
+#     <driver>:
+#       <attribute>: <value>
+#
+# NOTE: If <value> is an array, format it as a Python list (i.e. [...])
+
+setup:
+  target: NUCLEO_F767ZI
+  devices:
+    i2c_generic:
+      address: '0x10'
+    ina219:
+      address: '0x24'
+    tcp_server:
+      address: '"192.168.1.16"'
+      port: 4001
+    tcp_client:
+      address: '"192.168.1.15"'
+      port: 4001
+  drivers:
+    i2c:
+      data: PF_0
+      clock: PF_1
+    ethernet:
+      netmask: '"255.255.255.0"'
+      gateway: '"0.0.0.0"'
diff --git a/testRunner.cpp b/testRunner.cpp
new file mode 100644
index 0000000..a67ccc5
--- /dev/null
+++ b/testRunner.cpp
@@ -0,0 +1,8 @@
+#include "mbed.h"
+
+int main()
+{
+    printf("Hello World!\n");
+
+    while(1) {}
+}
diff --git a/tests.yml b/tests.yml
new file mode 100644
index 0000000..5b665aa
--- /dev/null
+++ b/tests.yml
@@ -0,0 +1,17 @@
+# --- Structure ---
+# <target>:
+#   <driver>:
+#     <test_name>: <mock|hardware|disabled>
+#
+# --- Test Options ---
+# mock: Raspberry Pi emulates the device through software
+# hardware: Hardware setup connected to the UUT. The Raspberry Pi does not mock the device
+# disabled: Test will not be run
+
+NUCLEO_F767ZI:
+  i2c:
+    generic: mock
+    ina219: mock
+  ethernet:
+    ping_tcp_server: mock
+    ping_tcp_client: mock