diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..ef37133
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,68 @@
+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+env:
+  QEMU_TARGET: thumbv8m.main-none-eabi
+
+jobs:
+  test:
+    strategy:
+      matrix:
+        rust:
+          - stable
+        os:
+          - ubuntu-latest
+          - macos-latest
+          - windows-latest
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions-rs/toolchain@v1
+        with:
+          profile: minimal
+          toolchain: ${{ matrix.rust }}
+          override: true
+      - name: Check that all crates build without warning
+        run: RUSTFLAGS='--deny warnings' cargo check --all
+      - name: Run doc and lib tests
+        run: |
+          cargo test --lib
+          cargo test --doc
+      - name: Run examples as test (needs `std` feature)
+        run: cargo test --features std
+
+  qemu-test:
+    strategy:
+      matrix:
+        rust:
+          - stable
+    # ubuntu-latest still points to 18.04, which only has QEMU 2
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions-rs/toolchain@v1
+        with:
+          profile: minimal
+          toolchain: ${{ matrix.rust }}
+          target: ${{ env.QEMU_TARGET }}
+          override: true
+
+      - name: Install QEMU (need >= 4)
+        run: |
+          sudo apt-get update -qq >/dev/null
+          sudo apt-get install -qq qemu-system-arm >/dev/null
+          qemu-system-arm --version
+
+      - name: Build the QEMU tests
+        working-directory: qemu-tests
+        run: make build build-release
+
+      - name: Run the QEMU tests
+        working-directory: qemu-tests
+        run: make test
+