diff --git a/.github/workflows/ci-code_analysis-clang_tidy.yml b/.github/workflows/ci-code_analysis-clang_tidy.yml
index 2ddde77868..8fc34bce48 100644
--- a/.github/workflows/ci-code_analysis-clang_tidy.yml
+++ b/.github/workflows/ci-code_analysis-clang_tidy.yml
@@ -73,4 +73,4 @@ jobs:
                | grep -E -v "mocks" \
                | grep -E -v "stubs" \
                | grep -E    "\.h$|\.cpp$" \
-               | xargs --no-run-if-empty clang-tidy-13 -p=_build_cmake_tools --quiet
+               | xargs --no-run-if-empty ruby tools/run-clang-tidy.rb _build_cmake_tools
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 64072c5005..0a0a118f41 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,9 +16,6 @@ endif(CCACHE)
 
 # Compile commands database
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "")
-if(CMAKE_EXPORT_COMPILE_COMMANDS)
-	set(CMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES ${CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES})
-endif()
 
 #
 # MARK: - Compilation flags/options
diff --git a/Makefile b/Makefile
index 69aa024034..30695a406b 100644
--- a/Makefile
+++ b/Makefile
@@ -232,22 +232,11 @@ clang_tidy_diff:
 	@echo "🏃‍♂️ Running clang-tidy on modified files 🧹"
 	@echo ""
 	@git diff --name-status develop \
-		| grep -E -v "_test" | grep -E "^A|^M" | sed "s/^[AM]\t//g" | grep -E "\.h\$$|\.cpp\$$"
+		| grep -E -v "_test" | grep -E "^A|^M" | sed "s/^[AM]\t//g" | grep -E "\.h\$$|\.cpp\$$" || echo "No files added nor modified!"
 	@echo ""
 	@git diff --name-status develop \
 		| grep -E -v "_test" | grep -E "^A|^M" | sed "s/^[AM]\t//g" | grep -E "\.h\$$|\.cpp\$$" \
-		| xargs /usr/local/opt/llvm/bin/clang-tidy -p=. --quiet
-
-clang_tidy_diff_fix:
-	@echo ""
-	@echo "🏃‍♂️ Running clang-tidy on modified files 🧹"
-	@echo ""
-	@git diff --name-status develop \
-		| grep -E -v "_test" | grep -E "^A|^M" | sed "s/^[AM]\t//g" | grep -E "\.h\$$|\.cpp\$$"
-	@echo ""
-	@git diff --name-status develop \
-		| grep -E -v "_test" | grep -E "^A|^M" | sed "s/^[AM]\t//g" | grep -E "\.h\$$|\.cpp\$$" \
-		| xargs /usr/local/opt/llvm/bin/clang-tidy -p=. --quiet --fix --fix-errors
+		| xargs --no-run-if-empty ruby tools/run-clang-tidy.rb $(CMAKE_TOOLS_BUILD_DIR)
 
 #
 # MARK: - Mbed targets
diff --git a/cmake/ToolchainGCCArmBuild.cmake b/cmake/ToolchainGCCArmBuild.cmake
index e94684fd36..3bc9ef4d1c 100644
--- a/cmake/ToolchainGCCArmBuild.cmake
+++ b/cmake/ToolchainGCCArmBuild.cmake
@@ -66,3 +66,10 @@ target_link_libraries(mbed-os INTERFACE
 	-T\"${PREPROCESSED_LINKER_SCRIPT}\"
 	${MBED_LINK_OPTIONS}
 )
+
+# Export cross-compilation include for clang-tidy
+if(CMAKE_EXPORT_COMPILE_COMMANDS)
+	set(CMAKE_ASM_STANDARD_INCLUDE_DIRECTORIES ${CMAKE_ASM_IMPLICIT_INCLUDE_DIRECTORIES})
+	set(CMAKE_C_STANDARD_INCLUDE_DIRECTORIES ${CMAKE_C_IMPLICIT_INCLUDE_DIRECTORIES})
+	set(CMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES ${CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES})
+endif()
diff --git a/tools/run-clang-tidy.rb b/tools/run-clang-tidy.rb
new file mode 100644
index 0000000000..0494c6878b
--- /dev/null
+++ b/tools/run-clang-tidy.rb
@@ -0,0 +1,97 @@
+#!/usr/bin/env ruby
+
+# Leka - LekaOS
+# Copyright 2022 APF France handicap
+# SPDX-License-Identifier: Apache-2.0
+
+SIS="#include <...> search starts here:"
+SIE="End of search list."
+
+$DEBUG = false
+
+def log_debug(message)
+	if $DEBUG
+		puts message
+	end
+end
+
+$tmp_search_dirs = []
+
+# Previous trials, for posterity
+# search_dirs_cmds = ["arm-none-eabi-g++ -E -Wp,-v -xc++ /dev/null 2>&1", "arm-none-eabi-gcc -E -Wp,-v -xc /dev/null 2>&1"]
+search_dirs_cmds = ["arm-none-eabi-g++ -E -Wp,-v -xc++ /dev/null 2>&1"]
+
+search_dirs_cmds.each do |cmd|
+	log_debug "Find search dirs for #{cmd}"
+	raw_search_dirs = `#{cmd}`
+	search_dirs = raw_search_dirs.match(/#{SIS}(.*?)#{SIE}/m)[1]
+
+	log_debug "Remove starting empty space"
+	search_dirs = search_dirs.gsub(/^\s*/, '')
+
+	log_debug "Appending -extra-arg"
+	search_dirs = search_dirs.gsub!(/^/, '-extra-arg=-isystem\&')
+
+	$tmp_search_dirs += search_dirs.split("\n")
+end
+
+# At the moment this is not needed but might in the future, so we keep it here
+#
+# print_search_dirs_cmds = ["arm-none-eabi-gcc -print-search-dirs", "arm-none-eabi-g++ -print-search-dirs"]
+# print_search_dirs_cmds.each do |cmd|
+# 	log_debug "Find search dirs for #{cmd}"
+# 	raw_search_dirs = `#{cmd}`
+
+# 	log_debug "Remove prefixes"
+# 	search_dirs = raw_search_dirs.gsub('install: ', '').gsub('programs: =', '').gsub('libraries: =', '')
+
+# 	log_debug "Split lines"
+# 	search_dirs = search_dirs.gsub('/:/', "/\n/")
+
+# 	log_debug "Appending -extra-arg"
+# 	search_dirs = search_dirs.gsub!(/^/, '-extra-arg=-isystem\&')
+
+# 	$tmp_search_dirs += search_dirs.split("\n")
+# end
+
+log_debug "Remove duplicates"
+$tmp_search_dirs = $tmp_search_dirs.uniq
+
+log_debug "Find clang-tidy"
+$CLANG_TIDY_EXEC = ""
+
+if system("which clang-tidy > /dev/null")
+	$CLANG_TIDY_EXEC = "clang-tidy"
+elsif system("which clang-tidy-13 > /dev/null")
+	$CLANG_TIDY_EXEC = "clang-tidy-13"
+elsif system("which /opt/homebrew/opt/llvm/bin/clang-tidy > /dev/null")
+	$CLANG_TIDY_EXEC = "/opt/homebrew/opt/llvm/bin/clang-tidy"
+elsif system("which /usr/local/opt/llvm/bin/clang-tidy > /dev/null")
+	$CLANG_TIDY_EXEC = "/usr/local/opt/llvm/bin/clang-tidy"
+end
+
+puts "Clang-tidy found at: #{$CLANG_TIDY_EXEC}"
+
+puts "Standard headers search dirs:"
+puts $tmp_search_dirs.map { |d| "    #{d}" }.join("\n")
+puts ""
+
+$BUILD_DIR = ARGV.shift
+$SEARCH_DIRS = $tmp_search_dirs.join("\s")
+$FILES = ARGV.join(" ")
+$FILES_ARR = ARGV
+
+puts "Running clang-tidy on:"
+puts $FILES_ARR.map { |f| "    #{f}" }.join("\n")
+
+RUN_CLANG_TIDY_CMD = <<EOL
+#{$CLANG_TIDY_EXEC} -p=#{$BUILD_DIR} #{$SEARCH_DIRS} --quiet #{$FILES}
+EOL
+
+puts ""
+puts RUN_CLANG_TIDY_CMD
+puts ""
+
+if !system(RUN_CLANG_TIDY_CMD)
+	exit 1
+end