diff --git a/.github/workflows/maze-build.yml b/.github/workflows/maze-build.yml
new file mode 100644
index 0000000..c614d20
--- /dev/null
+++ b/.github/workflows/maze-build.yml
@@ -0,0 +1,36 @@
+name: Build and Test MazeSolver
+
+on:
+  push:
+    branches: [ release/stm32maze ]
+  pull_request:
+    branches: [ release/stm32maze ]
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      # ubuntu-latest ships with GCC and Make — no setup action needed
+
+      - name: Build project (debug)
+        run: make
+
+      - name: Run maze solver
+        run: ./build/mazealgo
+
+      - name: Build project (release / -O2)
+        run: |
+          make clean
+          make CFLAGS+=' -O2'
+
+      - name: Upload build artifacts
+        uses: actions/upload-artifact@v4
+        if: always()           # capture artifacts even on failure
+        with:
+          name: mazealgo-build
+          path: build/
+          retention-days: 7
\ No newline at end of file
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..1adedda
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,25 @@
+SRCS = astar.c floodfill.c main.c
+OBJS = $(patsubst %.c,build/%.o,$(SRCS))
+DEPS = $(OBJS:.o=.d)
+TARGET = build/mazealgo
+CC ?= gcc
+
+CFLAGS = -Wall -Wextra -Werror -std=c11 -Og -g -pedantic
+CFLAGS += -Wconversion -Wshadow -Wformat=2 -fstack-protector-strong
+
+-include $(DEPS)
+
+build/mazealgo: $(OBJS)
+	$(CC) -o $@ $^ $(CFLAGS)
+build/%.o: %.c
+	mkdir -p build
+	$(CC) -MMD -MP -c $< -o $@ $(CFLAGS)
+.PHONY: clean help
+clean:
+	rm -rf build
+
+help:
+	@echo "This project is built using 'make' (see Makefile)."
+	@echo "If the README still refers to CMake-based builds, those instructions are legacy."
+	@echo "To build the binary used by CI, run:  make"
+	@echo "To clean build artifacts, run:       make clean"
diff --git a/astar.c b/astar.c
new file mode 100644
index 0000000..0c88a0a
--- /dev/null
+++ b/astar.c
@@ -0,0 +1,6 @@
+#include "astar.h"
+
+void astar(void)
+{
+
+}
diff --git a/astar.h b/astar.h
new file mode 100644
index 0000000..1276a1f
--- /dev/null
+++ b/astar.h
@@ -0,0 +1,5 @@
+#ifndef ASTAR_H
+#define ASTAR_H
+
+void astar(void);
+#endif
diff --git a/floodfill.c b/floodfill.c
new file mode 100644
index 0000000..2092eb1
--- /dev/null
+++ b/floodfill.c
@@ -0,0 +1,6 @@
+#include "floodfill.h"
+
+void floodfill(void)
+{
+
+}
diff --git a/floodfill.h b/floodfill.h
new file mode 100644
index 0000000..c06783c
--- /dev/null
+++ b/floodfill.h
@@ -0,0 +1,6 @@
+#ifndef FLOODFILL_H
+#define FLOODFILL_H
+
+void floodfill(void);
+
+#endif
diff --git a/main.c b/main.c
new file mode 100644
index 0000000..5c6302e
--- /dev/null
+++ b/main.c
@@ -0,0 +1,11 @@
+#include "astar.h"
+#include "floodfill.h"
+
+int main(int argc, char** argv)
+{
+    (void)argc;
+    (void)argv;
+    floodfill();
+    astar();
+    return 0;
+}