diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6210ecd..f80050a 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -23,13 +23,29 @@ jobs:
         with:
           name: build
           path: build.tar.gz
-      - name: Compile Arduino examples
+  Embedded:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Clone repo
+        uses: actions/checkout@v2
+      - name: Build Arduino examples
         run: |
           pushd build
           curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh
           popd
           export PATH="build/bin:$PATH"
           ./examples/arduino/compile-examples.sh
+      - name: Install ARM dependencies
+        run: |
+          sudo apt update
+          sudo apt install -y cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential
+      - name: Build rp2040 examples
+        run: |
+          cd examples/rp2040
+          git clone --depth=1 https://github.com/raspberrypi/pico-sdk.git
+          export PICO_SDK_PATH=$PWD/pico-sdk
+          cmake -S . -B build -DPICO_SDK_PATH=$PWD/pico-sdk
+          cmake --build build --config Debug
   Test:
     runs-on: ubuntu-latest
     needs: Build  # run after Build job