diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 584ee1d7..0174b9cb 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -27,7 +27,7 @@ jobs:
       fail-fast: false
       matrix:
         example: ['board_test', 'cdc_dual_ports', 'cdc_msc', 'cdc_msc_freertos', 'dfu_rt', 
-                  'hid_composite', 'hid_generic_inout', 'midi_test', 'msc_dual_lun', 'net_lwip_webserver', 
+                  'hid_composite', 'hid_composite_freertos', 'hid_generic_inout', 'midi_test', 'msc_dual_lun', 'net_lwip_webserver',
                   'usbtmc', 'webusb_serial']
     steps:
     - name: Setup Python
@@ -97,5 +97,4 @@ jobs:
     - name: Build
       run: |
         . $HOME/esp-idf/export.sh
-        cd examples/device/cdc_msc_freertos
-        idf.py build
+        python3 tools/build_esp32s.py
diff --git a/tools/build_esp32s.py b/tools/build_esp32s.py
new file mode 100644
index 00000000..33b122ea
--- /dev/null
+++ b/tools/build_esp32s.py
@@ -0,0 +1,100 @@
+import os
+import glob
+import sys
+import subprocess
+import time
+
+success_count = 0
+fail_count = 0
+skip_count = 0
+exit_status = 0
+
+total_time = time.monotonic()
+
+build_format = '| {:23} | {:30} | {:9} | {:7} | {:6} | {:6} |'
+build_separator = '-' * 100
+
+# 1st Argument is Example, build all examples if not existed
+all_examples = []
+if len(sys.argv) > 1:
+    all_examples.append(sys.argv[1])
+else:
+    for entry in os.scandir("examples/device"):
+        # Only includes example with CMakeLists.txt for esp32s
+        if entry.is_dir() and os.path.exists(entry.path + "/CMakeLists.txt"):
+            all_examples.append(entry.name)
+all_examples.sort()
+
+# 2nd Argument is Board, build all boards if not existed
+all_boards = []
+if len(sys.argv) > 2:
+    all_boards.append(sys.argv[2])
+else:
+    for entry in os.scandir("hw/bsp"):
+        if entry.is_dir():
+            with open(entry.path + '/board.mk') as mk:
+                # Only includes ESP32-S2 board
+                if 'CROSS_COMPILE = xtensa-esp32s2-elf-' in mk.read():
+                    all_boards.append(entry.name)
+                                
+all_boards.sort()
+
+def build_example(example, board):
+    subprocess.run("make -C examples/device/{} BOARD={} clean".format(example, board), shell=True,
+                   stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
+    return subprocess.run("make -j 4 -C examples/device/{} BOARD={} all".format(example, board), shell=True,
+                          stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
+
+def build_size(example, board):
+    #elf_file = 'examples/device/{}/_build/build-{}/{}-firmware.elf'.format(example, board, board)
+    elf_file = 'examples/device/{}/_build/build-{}/*.elf'.format(example, board)
+    size_output = subprocess.run('size {}'.format(elf_file), shell=True, stdout=subprocess.PIPE).stdout.decode("utf-8")
+    size_list = size_output.split('\n')[1].split('\t')
+    flash_size = int(size_list[0])
+    sram_size = int(size_list[1]) + int(size_list[2])
+    return (flash_size, sram_size)
+
+def skip_example(example, board):
+    return 0
+
+print(build_separator)
+print(build_format.format('Example', 'Board', 'Result', 'Time', 'Flash', 'SRAM'))
+
+for example in all_examples:
+    for board in all_boards:
+        start_time = time.monotonic()
+
+        flash_size = "-"
+        sram_size = "-"
+
+        # Check if board is skipped
+        if skip_example(example, board):
+            success = "\033[33mskipped\033[0m  "
+            skip_count += 1
+            print(build_format.format(example, board, success, '-', flash_size, sram_size))
+        else:
+            build_result = build_example(example, board)
+
+            if build_result.returncode == 0:
+                success = "\033[32msucceeded\033[0m"
+                success_count += 1
+                (flash_size, sram_size) = build_size(example, board)
+            else:
+                exit_status = build_result.returncode
+                success = "\033[31mfailed\033[0m   "
+                fail_count += 1
+
+            build_duration = time.monotonic() - start_time
+            print(build_format.format(example, board, success, "{:.2f}s".format(build_duration), flash_size, sram_size))
+
+            if build_result.returncode != 0:
+                print(build_result.stdout.decode("utf-8"))
+
+
+
+total_time = time.monotonic() - total_time
+print(build_separator)
+print("Build Sumamary: {} \033[32msucceeded\033[0m, {} \033[31mfailed\033[0m, {} \033[33mskipped\033[0m and took {:.2f}s".format(success_count, fail_count, skip_count, total_time))
+print(build_separator)
+
+sys.exit(exit_status)