diff --git a/.github/workflows/check_code_formating.yml b/.github/workflows/check_code_formating.yml
new file mode 100644
index 00000000..e398db98
--- /dev/null
+++ b/.github/workflows/check_code_formating.yml
@@ -0,0 +1,41 @@
+name: Clang-Format 21 Check
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+  clang-format:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+      with:
+        submodules: recursive
+
+    - name: Install clang-format 21 via LLVM APT repo
+      run: |
+        # Import LLVM GPG key properly
+        wget -qO - https://apt.llvm.org/llvm-snapshot.gpg.key | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/llvm-snapshot.gpg > /dev/null
+
+        # Add LLVM repo for clang-format 21 (Debian bullseye repo works on Ubuntu 22.04)
+        echo "deb http://apt.llvm.org/bullseye/ llvm-toolchain-bullseye-21 main" | sudo tee /etc/apt/sources.list.d/llvm-21.list
+
+        # Update package lists
+        sudo apt-get update --allow-releaseinfo-change
+
+        # Install clang-format 21
+        sudo apt-get install -y clang-format-21
+
+        # Set clang-format 21 as default
+        sudo update-alternatives --install /usr/bin/clang-format clang-format /usr/bin/clang-format-21 210
+        sudo update-alternatives --set clang-format /usr/bin/clang-format-21
+
+        # Verify
+        clang-format --version
+
+    - name: Run clang-format check
+      run: python3 check_clang_format.py
\ No newline at end of file
diff --git a/check_clang_format.py b/check_clang_format.py
new file mode 100644
index 00000000..f8b99a43
--- /dev/null
+++ b/check_clang_format.py
@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+
+import os
+import subprocess
+import sys
+
+PROJECT_DIRECTORY = os.path.abspath(os.path.dirname(__file__))
+
+FILE_LOCATIONS = [
+    os.path.join(PROJECT_DIRECTORY, "core"),
+    os.path.join(PROJECT_DIRECTORY, "core_hd_mapping"),
+    os.path.join(PROJECT_DIRECTORY, "apps"),
+    os.path.join(PROJECT_DIRECTORY, "pybind"),
+    os.path.join(PROJECT_DIRECTORY, "shared"),
+]
+
+FILE_EXTENSIONS = [
+    ".cpp",
+    ".hpp",
+    ".c",
+    ".h",
+]
+
+
+def get_files(input_paths: list[str], extensions: list[str]):
+    files = []
+    for input_path in input_paths:
+        for dirpath, _, filenames in os.walk(input_path):
+            for filename in filenames:
+                if filename.endswith(tuple(extensions)):
+                    files.append(os.path.normpath(os.path.join(dirpath, filename)))
+    return files
+
+
+def run(cmd):
+    return subprocess.run(
+        cmd,
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+        text=True,
+    )
+
+
+def main():
+    formatted_files = set(get_files(FILE_LOCATIONS, FILE_EXTENSIONS))
+
+    formatted_files = {
+        os.path.relpath(path, PROJECT_DIRECTORY)
+        for path in formatted_files
+    }
+
+    result = run([sys.executable, "run_clang_format.py"])
+    if result.returncode != 0:
+        print("ERROR: run_clang_format.py failed")
+        print(result.stderr)
+        sys.exit(result.returncode)
+
+    status = run(["git", "status", "--porcelain"])
+    if status.returncode != 0:
+        print("ERROR: git status failed")
+        print(status.stderr)
+        sys.exit(status.returncode)
+
+    changed_files = set()
+
+    for line in status.stdout.splitlines():
+        path = line[3:]
+        changed_files.add(os.path.normpath(path))
+
+    offending_files = sorted(formatted_files & changed_files)
+
+    if offending_files:
+        print("ERROR: clang-format produced changes in the following files:")
+        for f in offending_files:
+            print(f"  {f}")
+        sys.exit(1)
+
+    print("clang-format check passed")
+
+
+if __name__ == "__main__":
+    main()