diff --git a/.github/workflows/greentea_cmake.yml b/.github/workflows/greentea_cmake.yml
new file mode 100644
index 00000000000..f98921a196c
--- /dev/null
+++ b/.github/workflows/greentea_cmake.yml
@@ -0,0 +1,30 @@
+name: test building greentea tests with cmake
+
+on: [pull_request]
+
+jobs:
+  build-greentea-cmake:
+    runs-on: ubuntu-latest
+    container: ghcr.io/armmbed/mbed-os-env:master-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Install the latest mbed-tools
+        run: |
+            pip3 install --upgrade mbed-tools
+            mbedtools --version
+
+      - name: Build NUCLEO_G031K8 with baremetal profile
+        run: |
+            rm -rf __build
+            mbedtools configure -t GCC_ARM -m NUCLEO_G031K8 --mbed-os-path . --output-dir __build --app-config TESTS/configs/baremetal.json
+            cmake -S . -B __build -GNinja -DCMAKE_CTEST_ARGUMENTS="--output-on-failure;-V" -DBUILD_GREENTEA_TESTS=ON -DMBED_GREENTEA_TEST_BAREMETAL=ON
+            cmake --build __build
+
+      - name: Build ARM_MUSCA_S1 with full profile
+        run: |
+            rm -rf __build
+            mbedtools configure -t GCC_ARM -m ARM_MUSCA_S1 --mbed-os-path . --output-dir __build
+            cmake -S . -B __build -GNinja -DCMAKE_CTEST_ARGUMENTS="--output-on-failure;-V" -DBUILD_GREENTEA_TESTS=ON
+            cmake --build __build
diff --git a/.github/workflows/test_building_multiple_executables.yml b/.github/workflows/test_building_multiple_executables.yml
index 7e3f64595d9..09d3a5abd81 100644
--- a/.github/workflows/test_building_multiple_executables.yml
+++ b/.github/workflows/test_building_multiple_executables.yml
@@ -5,7 +5,7 @@ on: [pull_request]
 jobs:
   multiple-executables-example:
     runs-on: ubuntu-latest
-    container: mbedos/mbed-os-env:latest
+    container: ghcr.io/armmbed/mbed-os-env:master-latest
     steps:
       - name: Checkout
         uses: actions/checkout@v2
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e91ccf6388b..18a926ccb57 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,6 +5,17 @@
 
 cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
 
+option(BUILD_GREENTEA_TESTS "Build greentea tests only." OFF)
+
+if(BUILD_GREENTEA_TESTS)
+    # Usually we rely on the application to set MBED_CONFIG_PATH and include
+    # app.cmake. They are both required if we're building an application to run
+    # on an mbed-target.
+    set(MBED_CONFIG_PATH ${CMAKE_CURRENT_BINARY_DIR} CACHE STRING "")
+    # TODO: Remove when https://github.com/ARMmbed/mbed-os/issues/14518 is fixed
+    include(${CMAKE_CURRENT_LIST_DIR}/tools/cmake/app.cmake)
+endif()
+
 if(${CMAKE_CROSSCOMPILING})
     include(${MBED_CONFIG_PATH}/mbed_config.cmake)
     include(mbed_set_linker_script)
@@ -14,17 +25,19 @@ project(mbed-os)
 
 # Add all paths to the list files within Mbed OS
 list(APPEND CMAKE_MODULE_PATH
-    "${mbed-os_SOURCE_DIR}/platform/FEATURE_EXPERIMENTAL_API/FEATURE_PSA/TARGET_TFM/TARGET_TFM_LATEST/scripts;${mbed-os_SOURCE_DIR}/targets/TARGET_Cypress/scripts;${mbed-os_SOURCE_DIR}/targets/TARGET_NXP/scripts"
+    "${mbed-os_SOURCE_DIR}/platform/FEATURE_EXPERIMENTAL_API/FEATURE_PSA/TARGET_TFM/TARGET_TFM_LATEST/scripts;${mbed-os_SOURCE_DIR}/targets/TARGET_Cypress/scripts;${mbed-os_SOURCE_DIR}/targets/TARGET_NXP/scripts;${mbed-os_SOURCE_DIR}/targets/TARGET_NUVOTON/scripts/"
 )
 
 add_subdirectory(extern)
 
-option(BUILD_TESTING "Run unit tests only." OFF)
-
-if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
+if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
     include(CTest)
-    add_definitions(-DUNITTEST)
-    add_subdirectory(UNITTESTS)
+
+    if((NOT BUILD_GREENTEA_TESTS) AND BUILD_TESTING)
+        # Building unit tests only.
+        add_definitions(-DUNITTEST)
+        add_subdirectory(UNITTESTS)
+    endif()
 endif()
 
 add_library(mbed-core INTERFACE)
@@ -94,10 +107,12 @@ if(${CMAKE_CROSSCOMPILING})
 
     # Add MBED_TEST_MODE for backward compatibility with Greentea tests written for use with Mbed CLI 1
     if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-        target_compile_definitions(${PROJECT_NAME}
-            INTERFACE
-                MBED_TEST_MODE
-        )
+        if(NOT BUILD_GREENTEA_TESTS)
+            target_compile_definitions(${PROJECT_NAME}
+                INTERFACE
+                    MBED_TEST_MODE
+            )
+        endif()
     endif()
 
     # We need to generate a "response file" to pass to the C preprocessor when we preprocess the linker
diff --git a/connectivity/cellular/CMakeLists.txt b/connectivity/cellular/CMakeLists.txt
index d7ce11f90d4..1c87aedf697 100644
--- a/connectivity/cellular/CMakeLists.txt
+++ b/connectivity/cellular/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 add_subdirectory(source/framework)
diff --git a/connectivity/lorawan/CMakeLists.txt b/connectivity/lorawan/CMakeLists.txt
index 941b01e04e5..d30bdacfbce 100644
--- a/connectivity/lorawan/CMakeLists.txt
+++ b/connectivity/lorawan/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 add_subdirectory(lorastack)
diff --git a/connectivity/netsocket/CMakeLists.txt b/connectivity/netsocket/CMakeLists.txt
index 62bea8cc636..9760c60316d 100644
--- a/connectivity/netsocket/CMakeLists.txt
+++ b/connectivity/netsocket/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 # TODO CMake: Perhaps move this/these file(s) into connectivity/drivers/cellular
diff --git a/drivers/CMakeLists.txt b/drivers/CMakeLists.txt
index 9079d3d75ac..256ff5b5584 100644
--- a/drivers/CMakeLists.txt
+++ b/drivers/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        add_subdirectory(tests/TESTS)
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 target_include_directories(mbed-core
diff --git a/drivers/tests/TESTS/CMakeLists.txt b/drivers/tests/TESTS/CMakeLists.txt
new file mode 100644
index 00000000000..ec9280fee98
--- /dev/null
+++ b/drivers/tests/TESTS/CMakeLists.txt
@@ -0,0 +1,4 @@
+# Copyright (c) 2021 ARM Limited. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+add_subdirectory(mbed_drivers/ticker)
diff --git a/drivers/tests/TESTS/mbed_drivers/ticker/CMakeLists.txt b/drivers/tests/TESTS/mbed_drivers/ticker/CMakeLists.txt
index 6aed7b9a70b..cdc28e4ca19 100644
--- a/drivers/tests/TESTS/mbed_drivers/ticker/CMakeLists.txt
+++ b/drivers/tests/TESTS/mbed_drivers/ticker/CMakeLists.txt
@@ -1,18 +1,13 @@
 # Copyright (c) 2020 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
-
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-drivers-ticker)
-
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+include(mbed_greentea)
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-drivers-ticker
     TEST_SOURCES
         main.cpp
+    HOST_TESTS_DIR
+        "${CMAKE_CURRENT_LIST_DIR}/../../host_tests"
 )
diff --git a/events/CMakeLists.txt b/events/CMakeLists.txt
index da4d6935112..6e7a6c6bda9 100644
--- a/events/CMakeLists.txt
+++ b/events/CMakeLists.txt
@@ -2,8 +2,12 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
-else()
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
+endif()
 
 add_library(mbed-events INTERFACE)
 
@@ -28,4 +32,3 @@ target_compile_definitions(mbed-events
     INTERFACE
         MBED_CONF_EVENTS_PRESENT=1
 )
-endif()
diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt
index 87f88bef6f7..3af169e0f16 100644
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 add_subdirectory(TARGET_FLASH_CMSIS_ALGO EXCLUDE_FROM_ALL)
diff --git a/platform/CMakeLists.txt b/platform/CMakeLists.txt
index df83719fc69..4be54141b6e 100644
--- a/platform/CMakeLists.txt
+++ b/platform/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 # List of all optional platform libraries available.
diff --git a/rtos/CMakeLists.txt b/rtos/CMakeLists.txt
index ab9d3082ea9..8af23d87054 100644
--- a/rtos/CMakeLists.txt
+++ b/rtos/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 target_include_directories(mbed-core
diff --git a/storage/blockdevice/CMakeLists.txt b/storage/blockdevice/CMakeLists.txt
index 9f847d43604..6b03244aebd 100644
--- a/storage/blockdevice/CMakeLists.txt
+++ b/storage/blockdevice/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 if("DATAFLASH" IN_LIST MBED_TARGET_LABELS)
diff --git a/storage/filesystem/CMakeLists.txt b/storage/filesystem/CMakeLists.txt
index cacd4232086..5d6fca3ec57 100644
--- a/storage/filesystem/CMakeLists.txt
+++ b/storage/filesystem/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 add_subdirectory(fat)
diff --git a/storage/kvstore/CMakeLists.txt b/storage/kvstore/CMakeLists.txt
index 3f9f137edb4..1d0feeef628 100644
--- a/storage/kvstore/CMakeLists.txt
+++ b/storage/kvstore/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 add_subdirectory(tdbstore)
diff --git a/storage/kvstore/filesystemstore/CMakeLists.txt b/storage/kvstore/filesystemstore/CMakeLists.txt
index 7289fe8b8df..49b2d344d7f 100644
--- a/storage/kvstore/filesystemstore/CMakeLists.txt
+++ b/storage/kvstore/filesystemstore/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 target_include_directories(mbed-storage-filesystemstore
diff --git a/storage/kvstore/tdbstore/CMakeLists.txt b/storage/kvstore/tdbstore/CMakeLists.txt
index d4f8d92ed59..82cd283761b 100644
--- a/storage/kvstore/tdbstore/CMakeLists.txt
+++ b/storage/kvstore/tdbstore/CMakeLists.txt
@@ -2,7 +2,11 @@
 # SPDX-License-Identifier: Apache-2.0
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
-    add_subdirectory(tests/UNITTESTS)
+    if(BUILD_GREENTEA_TESTS)
+        # add greentea test
+    else()
+        add_subdirectory(tests/UNITTESTS)
+    endif()
 endif()
 
 target_include_directories(mbed-storage-tdbstore
diff --git a/targets/TARGET_NUVOTON/TARGET_M2354/TARGET_TFM/TARGET_NU_M2354/COMPONENT_TFM_S_FW/CMakeLists.txt b/targets/TARGET_NUVOTON/TARGET_M2354/TARGET_TFM/TARGET_NU_M2354/COMPONENT_TFM_S_FW/CMakeLists.txt
index 03127cc5a5d..01ead3cced7 100644
--- a/targets/TARGET_NUVOTON/TARGET_M2354/TARGET_TFM/TARGET_NU_M2354/COMPONENT_TFM_S_FW/CMakeLists.txt
+++ b/targets/TARGET_NUVOTON/TARGET_M2354/TARGET_TFM/TARGET_NU_M2354/COMPONENT_TFM_S_FW/CMakeLists.txt
@@ -1,7 +1,7 @@
 # Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-include(${MBED_PATH}/targets/TARGET_NUVOTON/scripts/mbed_set_post_build_nuvoton.cmake)
+include(mbed_set_post_build_nuvoton)
 
 target_link_libraries(mbed-m2354-tfm
     INTERFACE
diff --git a/targets/TARGET_NUVOTON/scripts/mbed_set_post_build_nuvoton.cmake b/targets/TARGET_NUVOTON/scripts/mbed_set_post_build_nuvoton.cmake
index 9f7a3cb9c9c..d0340a53b03 100644
--- a/targets/TARGET_NUVOTON/scripts/mbed_set_post_build_nuvoton.cmake
+++ b/targets/TARGET_NUVOTON/scripts/mbed_set_post_build_nuvoton.cmake
@@ -1,7 +1,7 @@
 # Copyright (c) 2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-include(${MBED_PATH}/tools/cmake/mbed_set_post_build.cmake)
+include(mbed_set_post_build)
 
 #
 # Sign TF-M secure and non-secure images and combine them with the bootloader
diff --git a/targets/targets.json b/targets/targets.json
index 55d9c35a592..a54bdc64da0 100644
--- a/targets/targets.json
+++ b/targets/targets.json
@@ -993,6 +993,10 @@
             "GCC_ARM",
             "IAR"
         ],
+        "supported_application_profiles": [
+            "full",
+            "bare-metal"
+        ],
         "macros": [
             "CPU_MK64FN1M0VMD12",
             "FSL_RTOS_MBED",
@@ -4417,6 +4421,10 @@
             "GCC_ARM",
             "IAR"
         ],
+        "supported_application_profiles": [
+            "full",
+            "bare-metal"
+        ],
         "extra_labels": [
             "NXP",
             "MCUXpresso_MCUS",
diff --git a/tools/cmake/README.md b/tools/cmake/README.md
index 50ef9531d35..7ae8223dc59 100644
--- a/tools/cmake/README.md
+++ b/tools/cmake/README.md
@@ -97,7 +97,7 @@ Install prerequisites suggested in the previous section and follow the below ste
   ```
   Or build the test binary with the baremetal profile
   ```
-  cd cmake_build/<MBED_TARGET>/<PROFILE>/<TOOLCHAIN>/ && cmake ../../../.. -G Ninja -DMBED_TEST_BAREMETAL=ON && cmake --build .
+  cd cmake_build/<MBED_TARGET>/<PROFILE>/<TOOLCHAIN>/ && cmake ../../../.. -G Ninja -DMBED_GREENTEA_TEST_BAREMETAL=ON && cmake --build .
   ```
 
 Notes:
diff --git a/tools/cmake/mbed_greentea.cmake b/tools/cmake/mbed_greentea.cmake
index ffe73ed0f11..1541447db4f 100644
--- a/tools/cmake/mbed_greentea.cmake
+++ b/tools/cmake/mbed_greentea.cmake
@@ -1,12 +1,17 @@
 # Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-option(MBED_TEST_BAREMETAL OFF)
+option(MBED_GREENTEA_TEST_BAREMETAL "Select baremetal greentea tests" OFF)
 
-set(MBED_CONFIG_PATH ${CMAKE_CURRENT_BINARY_DIR} CACHE INTERNAL "")
+set(MBED_HTRUN_ARGUMENTS "" CACHE STRING "Argument list to forward to htrun.")
 
-include(${CMAKE_CURRENT_LIST_DIR}/app.cmake)
-set(MBED_ROOT ${CMAKE_CURRENT_LIST_DIR}/../.. CACHE INTERNAL "")
+# TODO: After we convert all greentea tests to use CTest, remove this code. We
+# define these parameters in mbed-os/CMakeLists.txt for greentea tests.
+if(NOT BUILD_GREENTEA_TESTS)
+    set(MBED_CONFIG_PATH ${CMAKE_CURRENT_BINARY_DIR} CACHE INTERNAL "")
+    include(${CMAKE_CURRENT_LIST_DIR}/app.cmake)
+    set(MBED_ROOT ${CMAKE_CURRENT_LIST_DIR}/../.. CACHE INTERNAL "")
+endif()
 
 # CMake Macro for generalizing CMake configuration across the greentea test suite with configurable parameters
 # Macro args:
@@ -14,6 +19,7 @@ set(MBED_ROOT ${CMAKE_CURRENT_LIST_DIR}/../.. CACHE INTERNAL "")
 # TEST_INCLUDE_DIRS - Test suite include directories for the test
 # TEST_SOURCES - Test suite sources
 # TEST_REQUIRED_LIBS - Test suite required libraries
+# HOST_TESTS_DIR - Path to the "host_tests" directory
 #
 # calling the macro:
 # mbed_greentea_add_test(
@@ -21,6 +27,7 @@ set(MBED_ROOT ${CMAKE_CURRENT_LIST_DIR}/../.. CACHE INTERNAL "")
 #    TEST_INCLUDE_DIRS mbed_store
 #    TEST_SOURCES foo.cpp bar.cpp
 #    TEST_REQUIRED_LIBS mbed-kvstore mbed-xyz
+#    HOST_TESTS_DIR ${CMAKE_CURRENT_LIST_DIR}/host_tests
 # )
 
 macro(mbed_greentea_add_test)
@@ -30,6 +37,7 @@ macro(mbed_greentea_add_test)
         TEST_INCLUDE_DIRS
         TEST_SOURCES
         TEST_REQUIRED_LIBS
+        HOST_TESTS_DIR
     )
     cmake_parse_arguments(MBED_GREENTEA
         "${options}"
@@ -37,12 +45,15 @@ macro(mbed_greentea_add_test)
         "${multipleValueArgs}"
         ${ARGN}
     )
-    add_subdirectory(${MBED_ROOT} build)
 
-    add_executable(${MBED_GREENTEA_TEST_NAME})
+    # TODO: After we convert all greentea tests to use CTest, remove this
+    # add_subdirectory call. We will attach the tests to the mbed-os project,
+    # rather than creating a new project for each test that depends on mbed-os.
+    if(NOT BUILD_GREENTEA_TESTS)
+        add_subdirectory(${MBED_ROOT} build)
+    endif()
 
-    # Explicitly enable BUILD_TESTING until CTest is added to the Greentea client
-    set(BUILD_TESTING ON)
+    add_executable(${MBED_GREENTEA_TEST_NAME})
 
     target_include_directories(${MBED_GREENTEA_TEST_NAME}
         PRIVATE
@@ -55,7 +66,7 @@ macro(mbed_greentea_add_test)
             ${MBED_GREENTEA_TEST_SOURCES}
     )
 
-    if(MBED_TEST_BAREMETAL)
+    if(MBED_GREENTEA_TEST_BAREMETAL)
         list(APPEND MBED_GREENTEA_TEST_REQUIRED_LIBS mbed-baremetal)
     else()
         list(APPEND MBED_GREENTEA_TEST_REQUIRED_LIBS mbed-os)
@@ -70,6 +81,39 @@ macro(mbed_greentea_add_test)
 
     mbed_set_post_build(${MBED_GREENTEA_TEST_NAME})
 
+    if(NOT ${MBED_OUTPUT_EXT} STREQUAL "")
+        set(MBED_GREENTEA_TEST_IMAGE_NAME "${MBED_GREENTEA_TEST_NAME}.${MBED_OUTPUT_EXT}")
+    else()
+        set(MBED_GREENTEA_TEST_IMAGE_NAME "${MBED_GREENTEA_TEST_NAME}.bin")
+    endif()
+
+    if(DEFINED MBED_GREENTEA_HOST_TESTS_DIR)
+        list(APPEND MBED_HTRUN_ARGUMENTS "-e;${MBED_GREENTEA_HOST_TESTS_DIR}")
+    endif()
+
+    if(DEFINED MBED_TARGET)
+        list(APPEND MBED_HTRUN_ARGUMENTS "-m;${MBED_TARGET}")
+    endif()
+
+    if(NOT "${MBED_GREENTEA_TEST_RESET_TIMEOUT}" STREQUAL "")
+        list(APPEND MBED_HTRUN_ARGUMENTS "-R;${MBED_GREENTEA_TEST_RESET_TIMEOUT}")
+    endif()
+
+    list(APPEND CONFIG_DEFS_COPY ${MBED_CONFIG_DEFINITIONS})
+    list(FILTER CONFIG_DEFS_COPY INCLUDE REGEX "MBED_CONF_PLATFORM_STDIO_BAUD_RATE")
+    if(NOT ${CONFIG_DEFS_COPY} STREQUAL "")
+        string(REGEX MATCH "[0-9]*$" BAUD_RATE ${CONFIG_DEFS_COPY})
+        list(APPEND MBED_HTRUN_ARGUMENTS "--baud-rate=${BAUD_RATE}")
+    endif()
+
+    add_test(
+        NAME ${MBED_GREENTEA_TEST_NAME}
+        COMMAND mbedhtrun
+            -f ${MBED_GREENTEA_TEST_IMAGE_NAME}
+            ${MBED_HTRUN_ARGUMENTS}
+        COMMAND_EXPAND_LISTS
+    )
+
     option(VERBOSE_BUILD "Have a verbose build process")
     if(VERBOSE_BUILD)
         set(CMAKE_VERBOSE_MAKEFILE ON)