diff --git a/.ci/ci-tools.sh b/.ci/ci-tools.sh
new file mode 100755
index 0000000..419c0dd
--- /dev/null
+++ b/.ci/ci-tools.sh
@@ -0,0 +1,334 @@
+#!/usr/bin/env bash
+# CI tools for collecting, aggregating, and formatting test results.
+#
+# Commands:
+#   collect-data <rtos> <target> <os> <test_output>
+#       Parse raw `make check` output into structured result files.
+#
+#   aggregate <results_dir> <output_file>
+#       Merge per-job result files into a single TOML summary.
+#
+#   format-summary <toml_file>
+#       Render a GitHub-flavored Markdown report for $GITHUB_STEP_SUMMARY.
+#
+#   post-comment <toml_file> <pr_number>
+#       Post the formatted report as a PR comment (requires GITHUB_TOKEN).
+
+set -euo pipefail
+
+# Status symbols
+sym_pass="✅"
+sym_fail="❌"
+sym_skip="⏭️"
+
+get_symbol()
+{
+    case "$1" in
+        passed) echo "$sym_pass" ;;
+        failed) echo "$sym_fail" ;;
+        *) echo "$sym_skip" ;;
+    esac
+}
+
+# Minimal TOML helpers (no external deps).
+# get_value <section> <key> <file>
+get_value()
+{
+    awk -v sec="$1" -v key="$2" '
+        /^\[/ { in_sec = ($0 == "[" sec "]") }
+        in_sec && /=/ {
+            k = $0; sub(/[[:space:]]*=.*/, "", k); gsub(/"/, "", k)
+            nkey = key; gsub(/"/, "", nkey)
+            if (k != nkey) next
+            sub(/^[^=]*=[[:space:]]*"?/, ""); sub(/"?$/, ""); print; exit
+        }
+    ' "$3"
+}
+
+# get_section_keys <section> <file> -- prints key=value lines
+get_section_keys()
+{
+    awk -v sec="$1" '
+        /^\[/ { in_sec = ($0 == "[" sec "]") ; next }
+        in_sec && /=/ { print }
+    ' "$2"
+}
+
+# ── collect-data ─────────────────────────────────────────────────────
+collect_data()
+{
+    local rtos="$1" target="$2" runner_os="$3" raw_output="$4"
+    local outdir="test-results"
+    mkdir -p "$outdir"
+
+    echo "$rtos" > "$outdir/rtos"
+    echo "$target" > "$outdir/target"
+    echo "$runner_os" > "$outdir/runner_os"
+
+    # Parse per-test results from make check output.
+    # Format: "  tm_basic_processing ...                OK" or "FAIL"
+    local test_name status
+    local passed=0 failed=0 total=0
+    while IFS= read -r line; do
+        # Match lines like: "  tm_foo ...    OK" or "  tm_foo ...    FAIL"
+        if echo "$line" | grep -qE '^[[:space:]]+tm_[^[:space:]]+[[:space:]]+\.\.\.'; then
+            test_name=$(echo "$line" | awk '{print $1}')
+            if echo "$line" | grep -q 'OK$'; then
+                status="passed"
+                passed=$((passed + 1))
+            else
+                status="failed"
+                failed=$((failed + 1))
+            fi
+            total=$((total + 1))
+            echo "${test_name}=${status}" >> "$outdir/tests_data"
+        fi
+        # Capture counter values: "Time Period Total: 12345"
+        if echo "$line" | grep -q 'Time Period Total'; then
+            echo "$line" >> "$outdir/counters"
+        fi
+    done <<< "$raw_output"
+
+    echo "$passed" > "$outdir/passed"
+    echo "$failed" > "$outdir/failed"
+    echo "$total" > "$outdir/total"
+
+    # Overall status
+    if [ "$failed" -eq 0 ] && [ "$total" -gt 0 ]; then
+        echo "passed" > "$outdir/status"
+    else
+        echo "failed" > "$outdir/status"
+    fi
+}
+
+# ── aggregate ────────────────────────────────────────────────────────
+aggregate()
+{
+    local results_dir="$1" output_file="$2"
+    local commit_sha="${GITHUB_SHA:-$(git rev-parse HEAD 2> /dev/null || echo unknown)}"
+    local commit_short="${commit_sha:0:7}"
+    local repo="${GITHUB_REPOSITORY:-local}"
+    local timestamp
+    timestamp=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+
+    local overall="passed"
+    local job_count=0
+
+    cat > "$output_file" << EOF
+[summary]
+status = "pending"
+timestamp = "$timestamp"
+commit_sha = "$commit_sha"
+commit_short = "$commit_short"
+repository = "$repo"
+
+EOF
+
+    # Iterate over each downloaded result set.
+    for jobdir in "$results_dir"/*/; do
+        [ -d "$jobdir" ] || continue
+        # Skip directories without collected test data.
+        [ -f "$jobdir/status" ] || continue
+        local rtos target runner_os status passed failed total
+        rtos=$(cat "$jobdir/rtos" 2> /dev/null || echo "unknown")
+        target=$(cat "$jobdir/target" 2> /dev/null || echo "unknown")
+        runner_os=$(cat "$jobdir/runner_os" 2> /dev/null || echo "unknown")
+        status=$(cat "$jobdir/status" 2> /dev/null || echo "failed")
+        passed=$(cat "$jobdir/passed" 2> /dev/null || echo 0)
+        failed=$(cat "$jobdir/failed" 2> /dev/null || echo 0)
+        total=$(cat "$jobdir/total" 2> /dev/null || echo 0)
+
+        # Section name: rtos-target-os (e.g. threadx-posix-ubuntu-24.04)
+        local section="${rtos}-${target}-${runner_os}"
+        section=$(echo "$section" | tr '[:upper:]' '[:lower:]' | tr ' ' '-')
+
+        cat >> "$output_file" << EOF
+[$section]
+rtos = "$rtos"
+target = "$target"
+runner_os = "$runner_os"
+status = "$status"
+passed = $passed
+failed = $failed
+total = $total
+
+EOF
+
+        # Per-test results
+        if [ -f "$jobdir/tests_data" ]; then
+            echo "[$section.tests]" >> "$output_file"
+            while IFS='=' read -r name result; do
+                echo "\"$name\" = \"$result\"" >> "$output_file"
+            done < "$jobdir/tests_data"
+            echo "" >> "$output_file"
+        fi
+
+        [ "$status" = "passed" ] || overall="failed"
+        job_count=$((job_count + 1))
+    done
+
+    # No artifacts at all means something went wrong upstream.
+    if [ "$job_count" -eq 0 ]; then
+        overall="failed"
+        echo "Warning: no test result artifacts found in $results_dir" >&2
+    fi
+
+    # Patch overall status
+    sed -i.bak "s/^status = \"pending\"/status = \"$overall\"/" "$output_file"
+    rm -f "${output_file}.bak"
+}
+
+# ── format-summary ───────────────────────────────────────────────────
+format_summary()
+{
+    local toml="$1"
+    local overall commit_short commit_sha repo timestamp
+    overall=$(get_value summary status "$toml")
+    commit_short=$(get_value summary commit_short "$toml")
+    commit_sha=$(get_value summary commit_sha "$toml")
+    repo=$(get_value summary repository "$toml")
+    timestamp=$(get_value summary timestamp "$toml")
+
+    local badge
+    if [ "$overall" = "passed" ]; then
+        badge="$sym_pass All tests passed"
+    else
+        badge="$sym_fail Some tests failed"
+    fi
+
+    cat << EOF
+## Thread-Metric Benchmark Results
+
+**${badge}** &mdash; [\`${commit_short}\`](https://github.com/${repo}/commit/${commit_sha}) &mdash; ${timestamp}
+
+### Summary
+
+| RTOS | Target | OS | Status | Passed | Failed | Total |
+|------|--------|----|--------|--------|--------|-------|
+EOF
+
+    # Collect section names (skip summary, skip .tests subsections)
+    local sections
+    sections=$(grep -E '^\[[a-z]' "$toml" | grep -v '^\[summary' | grep -v '\.tests\]' | sed 's/\[//;s/\]//')
+
+    for sec in $sections; do
+        local rtos target runner_os status passed failed total sym
+        rtos=$(get_value "$sec" rtos "$toml")
+        target=$(get_value "$sec" target "$toml")
+        runner_os=$(get_value "$sec" runner_os "$toml")
+        status=$(get_value "$sec" status "$toml")
+        passed=$(get_value "$sec" passed "$toml")
+        failed=$(get_value "$sec" failed "$toml")
+        total=$(get_value "$sec" total "$toml")
+        sym=$(get_symbol "$status")
+        echo "| ${rtos} | ${target} | ${runner_os} | ${sym} ${status} | ${passed} | ${failed} | ${total} |"
+    done
+
+    echo ""
+    echo "### Per-Test Results"
+    echo ""
+
+    # Collect all unique test names across all jobs for the header.
+    local all_tests=()
+    for sec in $sections; do
+        if get_section_keys "${sec}.tests" "$toml" > /dev/null 2>&1; then
+            while IFS='=' read -r k _; do
+                k=$(echo "$k" | sed 's/^"//;s/"[[:space:]]*$//')
+                # Add if not already present
+                local found=0
+                for existing in "${all_tests[@]+"${all_tests[@]}"}"; do
+                    [ "$existing" = "$k" ] && found=1 && break
+                done
+                [ "$found" -eq 0 ] && all_tests+=("$k")
+            done < <(get_section_keys "${sec}.tests" "$toml")
+        fi
+    done
+
+    if [ ${#all_tests[@]} -gt 0 ]; then
+        # Build header
+        printf "| Test |"
+        for sec in $sections; do
+            local rtos target
+            rtos=$(get_value "$sec" rtos "$toml")
+            target=$(get_value "$sec" target "$toml")
+            printf " %s/%s |" "$rtos" "$target"
+        done
+        echo ""
+
+        # Separator
+        printf "%s" "|------|"
+        for sec in $sections; do
+            printf "%s" "------|"
+        done
+        echo ""
+
+        # Rows
+        for t in "${all_tests[@]}"; do
+            # Pretty name: strip tm_ prefix
+            local pretty="${t#tm_}"
+            printf "| \`%s\` |" "$pretty"
+            for sec in $sections; do
+                local val
+                val=$(get_value "${sec}.tests" "\"$t\"" "$toml" 2> /dev/null || echo "skipped")
+                [ -z "$val" ] && val="skipped"
+                local sym
+                sym=$(get_symbol "$val")
+                printf " %s |" "$sym"
+            done
+            echo ""
+        done
+    fi
+}
+
+# ── post-comment ─────────────────────────────────────────────────────
+post_comment()
+{
+    local toml="$1" pr_number="$2"
+    local body
+    body=$(format_summary "$toml")
+
+    local tmpfile
+    tmpfile=$(mktemp)
+    trap 'rm -f "$tmpfile"' RETURN
+    echo "$body" > "$tmpfile"
+    gh pr comment "$pr_number" --body-file "$tmpfile"
+}
+
+# ── main dispatch ────────────────────────────────────────────────────
+cmd="${1:-}"
+shift || true
+
+case "$cmd" in
+    collect-data)
+        [ $# -ge 4 ] || {
+            echo "Usage: ci-tools.sh collect-data <rtos> <target> <os> <output>"
+            exit 1
+        }
+        collect_data "$@"
+        ;;
+    aggregate)
+        [ $# -ge 2 ] || {
+            echo "Usage: ci-tools.sh aggregate <results_dir> <output_file>"
+            exit 1
+        }
+        aggregate "$@"
+        ;;
+    format-summary)
+        [ $# -ge 1 ] || {
+            echo "Usage: ci-tools.sh format-summary <toml_file>"
+            exit 1
+        }
+        format_summary "$@"
+        ;;
+    post-comment)
+        [ $# -ge 2 ] || {
+            echo "Usage: ci-tools.sh post-comment <toml_file> <pr_number>"
+            exit 1
+        }
+        post_comment "$@"
+        ;;
+    *)
+        echo "Usage: ci-tools.sh {collect-data|aggregate|format-summary|post-comment} [args...]"
+        exit 1
+        ;;
+esac
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 5ee8957..144a0ff 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -96,15 +96,19 @@ jobs:
         include:
           - os: ubuntu-24.04
             rtos: threadx
+            target: posix
             defconfig: defconfig
           - os: ubuntu-24.04
             rtos: freertos
+            target: posix
             defconfig: freertos_posix_defconfig
           - os: macos-latest
             rtos: threadx
+            target: posix
             defconfig: defconfig
           - os: macos-latest
             rtos: freertos
+            target: posix
             defconfig: freertos_posix_defconfig
     steps:
       - uses: actions/checkout@v6
@@ -115,12 +119,46 @@ jobs:
                 sudo apt-get update -q=2
                 sudo apt-get install -y -q=2 --no-install-recommends python3
             fi
-      - name: Build and test (${{ matrix.rtos }} POSIX)
+      - name: Build (${{ matrix.rtos }} POSIX)
         run: |
             source .ci/common.sh
             make ${{ matrix.defconfig }}
             make $PARALLEL
-            sudo make check
+      - name: Test (${{ matrix.rtos }} POSIX)
+        id: run-tests
+        continue-on-error: true
+        run: |
+            delimiter=$(openssl rand -hex 8)
+            echo "TEST_OUTPUT<<$delimiter" >> $GITHUB_OUTPUT
+            output=$(sudo make check 2>&1) || true
+            echo "$output" >> $GITHUB_OUTPUT
+            echo "$delimiter" >> $GITHUB_OUTPUT
+            echo "$output"
+            if echo "$output" | grep -qE '[^0-9]0 failed$'; then
+                echo "test_status=passed" >> $GITHUB_OUTPUT
+            else
+                echo "test_status=failed" >> $GITHUB_OUTPUT
+            fi
+      - name: Collect results
+        if: always()
+        env:
+          TEST_OUTPUT: ${{ steps.run-tests.outputs.TEST_OUTPUT }}
+        run: |
+            .ci/ci-tools.sh collect-data \
+                "${{ matrix.rtos }}" \
+                "${{ matrix.target }}" \
+                "${{ matrix.os }}" \
+                "$TEST_OUTPUT"
+      - name: Upload test results
+        if: always()
+        uses: actions/upload-artifact@v7
+        with:
+          name: test-results-${{ matrix.rtos }}-${{ matrix.target }}-${{ matrix.os }}
+          path: test-results/
+          retention-days: 7
+      - name: Fail if tests failed
+        if: steps.run-tests.outputs.test_status == 'failed'
+        run: exit 1
 
   cortex-m-tests:
     needs: [detect-code-related-file-changes]
@@ -132,22 +170,58 @@ jobs:
       matrix:
         include:
           - rtos: threadx
+            target: cortex-m
             defconfig: threadx_cortex_m_defconfig
           - rtos: freertos
+            target: cortex-m
             defconfig: freertos_cortex_m_defconfig
     steps:
       - uses: actions/checkout@v6
       - name: Install dependencies
         run: .ci/install-deps.sh cortex-m
-      - name: Build and test (${{ matrix.rtos }} Cortex-M QEMU)
+      - name: Build (${{ matrix.rtos }} Cortex-M QEMU)
         run: |
             source .ci/common.sh
             make ${{ matrix.defconfig }}
             make $PARALLEL
-            make check
+      - name: Test (${{ matrix.rtos }} Cortex-M QEMU)
+        id: run-tests
+        continue-on-error: true
+        run: |
+            delimiter=$(openssl rand -hex 8)
+            echo "TEST_OUTPUT<<$delimiter" >> $GITHUB_OUTPUT
+            output=$(make check 2>&1) || true
+            echo "$output" >> $GITHUB_OUTPUT
+            echo "$delimiter" >> $GITHUB_OUTPUT
+            echo "$output"
+            if echo "$output" | grep -qE '[^0-9]0 failed$'; then
+                echo "test_status=passed" >> $GITHUB_OUTPUT
+            else
+                echo "test_status=failed" >> $GITHUB_OUTPUT
+            fi
+      - name: Collect results
+        if: always()
+        env:
+          TEST_OUTPUT: ${{ steps.run-tests.outputs.TEST_OUTPUT }}
+        run: |
+            .ci/ci-tools.sh collect-data \
+                "${{ matrix.rtos }}" \
+                "${{ matrix.target }}" \
+                "ubuntu-24.04" \
+                "$TEST_OUTPUT"
+      - name: Upload test results
+        if: always()
+        uses: actions/upload-artifact@v7
+        with:
+          name: test-results-${{ matrix.rtos }}-${{ matrix.target }}-ubuntu-24.04
+          path: test-results/
+          retention-days: 7
+      - name: Fail if tests failed
+        if: steps.run-tests.outputs.test_status == 'failed'
+        run: exit 1
 
   sanitizers:
-    needs: [detect-code-related-file-changes, posix-tests]
+    needs: [detect-code-related-file-changes]
     if: needs.detect-code-related-file-changes.outputs.has_code_related_changes == 'true'
     timeout-minutes: 30
     runs-on: ubuntu-24.04
@@ -167,6 +241,54 @@ jobs:
             sudo apt-get install -y -q=2 --no-install-recommends python3
       - name: Build and test with ASan (${{ matrix.rtos }})
         run: |
+            source .ci/common.sh
             make ${{ matrix.defconfig }}
             echo "CONFIG_SANITIZERS=y" >> .config
+            make $PARALLEL
             sudo make check
+
+  test-report:
+    needs: [detect-code-related-file-changes, posix-tests, cortex-m-tests]
+    if: >-
+      always() &&
+      needs.detect-code-related-file-changes.outputs.has_code_related_changes == 'true'
+    timeout-minutes: 10
+    runs-on: ubuntu-24.04
+    permissions:
+      contents: read
+      pull-requests: write
+    steps:
+      - uses: actions/checkout@v6
+      - name: Download all test results
+        uses: actions/download-artifact@v7
+        with:
+          pattern: test-results-*
+          path: all-results/
+      - name: Aggregate results
+        run: .ci/ci-tools.sh aggregate all-results/ test-summary.toml
+      - name: Generate report
+        run: |
+            .ci/ci-tools.sh format-summary test-summary.toml >> $GITHUB_STEP_SUMMARY
+            echo "--- TOML Summary ---"
+            cat test-summary.toml
+      - name: Post PR comment
+        if: >-
+          github.event_name == 'pull_request' &&
+          github.event.pull_request.head.repo.full_name == github.repository
+        continue-on-error: true
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+            .ci/ci-tools.sh post-comment test-summary.toml \
+                ${{ github.event.pull_request.number }}
+      - name: Upload summary artifact
+        uses: actions/upload-artifact@v7
+        with:
+          name: test-summary
+          path: test-summary.toml
+          retention-days: 30
+      - name: Check overall status
+        run: |
+            status=$(awk '/^\[summary\]/{found=1} found && /^status/{print; exit}' test-summary.toml | sed 's/.*"\(.*\)"/\1/')
+            echo "Overall status: $status"
+            [ "$status" = "passed" ]