diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 0000000..ce65cf2
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,25 @@
+name: Build NUSense firmware for STM32H753
+
+on:
+  push:
+    branches:
+      - "**"
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.x"
+
+      - name: Install PlatformIO
+        run: pip install platformio
+
+      - name: Build firmware
+        run: cd NUSense && pio run -e nucleo_h753zi
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
index a859f94..b7be746 100644
--- a/.gitignore
+++ b/.gitignore
@@ -113,3 +113,4 @@ tags
 .ccls-cache
 
 .vscode
+NUSense/.pio
\ No newline at end of file
diff --git a/NUSense/platformio.ini b/NUSense/platformio.ini
new file mode 100644
index 0000000..590d502
--- /dev/null
+++ b/NUSense/platformio.ini
@@ -0,0 +1,50 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+src_dir = .
+include_dir = Core/Inc
+
+[env:nucleo_h753zi]
+platform = ststm32
+board = nucleo_h753zi
+framework = stm32cube
+platform_packages =
+	toolchain-gccarmnoneeabi@~1.120301.0
+
+; Ensure C++20 headers (e.g. <bit>) are available/selected.
+build_unflags =
+	-std=gnu++11
+	-std=gnu++14
+	-std=gnu++17
+
+; Compile all C/C++ sources under Core/Src recursively.
+build_src_filter =
+	+<Core/Src/**/*.c>
+	+<Core/Src/**/*.cpp>
+	+<USB_DEVICE/App/*.c>
+	+<USB_DEVICE/Target/*.c>
+	-<Core/Src/system_stm32h7xx.c>
+
+; Make Core/Src module headers visible without changing include statements.
+build_flags =
+	-O2 ; optimize for speed - change this based on what you're up to :D
+	-std=gnu++20
+	-ICore/Src
+	-ICore/Src/device
+	-ICore/Src/dynamixel
+	-ICore/Src/nusense
+	-ICore/Src/uart
+	-ICore/Src/usb
+	-ICore/Src/utility
+	-IUSB_DEVICE/App
+	-IUSB_DEVICE/Target
+	-IMiddlewares/ST/STM32_USB_Device_Library/Core/Inc
+	-IMiddlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
\ No newline at end of file