diff --git a/Tools/clang-tool.sh b/Tools/clang-tool.sh
new file mode 100755
index 0000000000..498b351772
--- /dev/null
+++ b/Tools/clang-tool.sh
@@ -0,0 +1,54 @@
+#!/bin/bash
+
+while getopts "b:t:" opt; do
+  case "${opt}" in
+    b)
+      builddir=$OPTARG
+      ;;
+    t)
+      tool=$OPTARG
+      ;;
+  esac
+done
+
+echo "builddir = ${builddir}, tool = ${tool}"
+
+case "${builddir}" in
+  "build_posix_rpi_cross")
+    CXX_INC=$(cd ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/arm-linux-gnueabihf/include/c++/*; pwd)
+    EXTRA_ARG1=-I${CXX_INC}
+    EXTRA_ARG2=-I${CXX_INC}/arm-linux-gnueabihf
+    EXTRA_ARG3=-I${CXX_INC}/backward
+    extra_args="--extra-arg=-I${CXX_INC} --extra-arg=-I${CXX_INC}/arm-linux-gnueabihf --extra-arg=-I${CXX_INC}/backward"
+    ;;
+  "build_posix_sitl_default")
+    ;;
+  *)
+    echo "unknown build dir: ${builddir}"
+    ;;
+esac
+
+COMPILE_DB=$(/bin/pwd)/${builddir}
+if [[ ! -f ${COMPILE_DB}/compile_commands.json ]]; then
+  echo "compile_commands.json not found in ${COMPILE_DB}"
+  exit 1
+fi
+
+case "${tool}" in
+  "clang-check")
+    command=clang-check;
+    option=-analyze;
+    ;;
+  "clang-tidy")
+    command=clang-tidy
+    ;;
+esac
+
+grep file ${COMPILE_DB}/compile_commands.json |
+awk '{ print $2; }' |
+sed 's/\"//g' |
+while read FILE; do
+    (cd $(dirname ${FILE});
+    ${command} ${option} -p ${COMPILE_DB} ${extra_args} $(basename ${FILE})
+    );
+  done
diff --git a/Tools/rpi/clang-check.sh b/Tools/rpi/clang-check.sh
deleted file mode 100755
index 6efb476ca1..0000000000
--- a/Tools/rpi/clang-check.sh
+++ /dev/null
@@ -1,19 +0,0 @@
-#!/bin/bash
-# This script is specific for Raspberry Pi
-COMPILE_DB=$(/bin/pwd)/build_posix_rpi_cross;
-BIN=${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
-
-CXX_INC=$(cd ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/arm-linux-gnueabihf/include/c++/*; pwd)
-
-EXTRA_ARG1=-I${CXX_INC}
-EXTRA_ARG2=-I${CXX_INC}/arm-linux-gnueabihf
-EXTRA_ARG3=-I${CXX_INC}/backward
-
-grep file ${COMPILE_DB}/compile_commands.json |
-awk '{ print $2; }' |
-sed 's/\"//g' |
-while read FILE; do
-    (cd $(dirname ${FILE});
-    ${BIN}/clang-check -analyze -p ${COMPILE_DB} --extra-arg=${EXTRA_ARG1} --extra-arg=${EXTRA_ARG2} --extra-arg=${EXTRA_ARG3} $(basename ${FILE})
-    );
-  done