diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 946a90fe0b..b186fb2118 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,6 +1,5 @@
 # Builds Betaflight Firmware.
 #
-# After building, artifacts are kept for 7 days.
 
 name: CI
 
@@ -8,28 +7,93 @@ on:
   workflow_call:
     inputs:
       release_build:
-        description: 'Specifies if it is a debug build or a release build'
+        description: 'Specifies if it is a build that should include commit hash in hex file names or not'
         default: false
         required: false
         type: boolean
 
 jobs:
-  build:
-    name: Build
-    runs-on:  ubuntu-20.04
+  setup:
+    name: Setup
+    runs-on: ubuntu-20.04
+    outputs:
+      targets: ${{ steps.get-targets.outputs.targets }}
     steps:
-      - name: Code Checkout
-        uses: actions/checkout@v2
+      - uses: actions/checkout@v2
 
-      - name: Prepare environment
+      - name: Get all official build targets
+        id: get-targets
+        run: echo "::set-output name=targets::$(make targets-ci-print | jq -R -c 'split(" ")')"
+
+      - name: Cache build toolchain
+        uses: actions/cache@v2
+        id: cache-toolchain
+        with:
+          path: tools/
+          key: ${{ runner.os }}-${{ hashFiles('make/tools.mk') }}
+
+      - name: Download and install toolchain
+        if: steps.cache-toolchain.outputs.cache-hit != 'true'
         run: make arm_sdk_install
 
-      - name: Execute Build
-        run: make all
+  build:
+    name: Build
+    needs: setup
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        target: ${{ fromJson(needs.setup.outputs.targets) }}
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Fetch toolchain from cache
+        uses: actions/cache@v2
+        id: cache-toolchain
+        with:
+          path: tools/
+          key: ${{ runner.os }}-${{ hashFiles('make/tools.mk') }}
+
+      - name: Build target (without revision)
+        if: inputs.release_build == true
+        run: make EXTRA_FLAGS=-Werror ${{ matrix.target }}
+        
+      - name: Build target (with revision)
+        if: inputs.release_build == false
+        run: make EXTRA_FLAGS=-Werror ${{ matrix.target }}_rev
 
       - name: Publish build artifacts
         uses: actions/upload-artifact@v3
         with:
           name: Assets
-          path: ./obj/*.hex
-          retention-days: 7
+          path: obj/*.hex
+          retention-days: 60
+
+  test:
+    name: Test
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Install dependencies
+        run: sudo apt-get install -y libblocksruntime-dev
+
+      - name: Run sanity checks
+        run: make EXTRA_FLAGS=-Werror checks
+
+      - name: Run all unit tests
+        run: make EXTRA_FLAGS=-Werror test-all
+
+  result:
+    name: Complete
+    needs: [build, test]
+    if: ${{ always() }}
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Check build matrix result
+        if: ${{ needs.build.result != 'success' }}
+        run: exit 1
+
+      - name: Check test result
+        if: ${{ needs.test.result != 'success' }}
+        run: exit 1
diff --git a/Makefile b/Makefile
index 662752fccd..d73bd7c50e 100644
--- a/Makefile
+++ b/Makefile
@@ -623,6 +623,9 @@ targets:
 	@echo "targets-group-rest:  $(words $(GROUP_OTHER_TARGETS)) targets"
 	@echo "total in all groups  $(words $(CI_TARGETS)) targets"
 
+targets-ci-print:
+	@echo $(CI_TARGETS)
+
 ## target-mcu        : print the MCU type of the target
 target-mcu:
 	@echo $(TARGET_MCU)
diff --git a/make/tools.mk b/make/tools.mk
index 7b65029319..ebf2a55b2b 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -261,7 +261,7 @@ zip_clean:
 
 ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && echo "exists"), exists)
   ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
-else ifeq (,$(findstring _install,$(MAKECMDGOALS)))
+else ifeq (,$(filter %_install test% clean% %-print checks help, $(MAKECMDGOALS)))
   GCC_VERSION = $(shell arm-none-eabi-gcc -dumpversion)
   ifeq ($(GCC_VERSION),)
     $(error **ERROR** arm-none-eabi-gcc not in the PATH. Run 'make arm_sdk_install' to install automatically in the tools folder of this repo)