diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
index ff6288b..5558edc 100644
--- a/.github/workflows/codeql.yml
+++ b/.github/workflows/codeql.yml
@@ -35,6 +35,7 @@ jobs:
         language: [ 'cpp', 'python' ]
         # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python', 'ruby' ]
         # Learn more about CodeQL language support at https://aka.ms/codeql-docs/language-support
+        mode: [ 'pico', 'esp32', 'local' ]
 
     steps:
     - name: Checkout repository
@@ -66,7 +67,7 @@ jobs:
 
     - run: |
        echo "Run, Build Application using script"
-       ./workflows/autobuild.sh
+       ./workflows/autobuild.sh ${{ matrix.mode }}
 
     - name: Perform CodeQL Analysis
       uses: github/codeql-action/analyze@v2
diff --git a/workflows/autobuild.sh b/workflows/autobuild.sh
index 09ef1c7..8f830c3 100755
--- a/workflows/autobuild.sh
+++ b/workflows/autobuild.sh
@@ -2,12 +2,38 @@
 
 git submodule update --init --recursive
 sudo apt update
+
+if [[ $1 == "pico" ]]; then
 sudo apt install -y cmake gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib
 git clone https://github.com/raspberrypi/pico-sdk
 cd pico-sdk
 git submodule update --init
 cd ..
+git clone https://github.com/raspberrypi/picotool
+cd picotool
+git submodule update --init
 mkdir build
 cd build
+cmake -DPICO_SDK_PATH=../../pico-sdk ..
+make -j`nproc`
+sudo make install
+cd ../..
+mkdir build_pico
+cd build_pico
 cmake -DPICO_SDK_PATH=../pico-sdk ..
 make
+elif [[ $1 == "esp32" ]]; then
+sudo apt install -y git wget flex bison gperf python3 python3-pip python3-venv cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
+git clone --recursive https://github.com/espressif/esp-idf.git
+cd esp-idf
+./install.sh esp32s3
+. ./export.sh
+cd ..
+idf.py set-target esp32s3
+idf.py all
+else
+mkdir build
+cd build
+cmake -DENABLE_EMULATION=1 ..
+make
+fi
\ No newline at end of file