diff --git a/.gitignore b/.gitignore
index 1f96749b..2dfa0947 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,3 +22,9 @@ nosetests.xml
 
 # CTU info files generated by Cppcheck
 *.*.ctu-info
+
+# safety coverage-related files
+*.gcda
+*.gcno
+tests/safety/coverage-out
+tests/safety/coverage.info
diff --git a/SConstruct b/SConstruct
index 2f25b44e..eb49dd4c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -8,5 +8,9 @@ AddOption('--ubsan',
           action='store_true',
           help='turn on UBSan')
 
+AddOption('--safety-coverage',
+          action='store_true',
+          help='build with safety test coverage options')
+
 # panda fw & test files
 SConscript('SConscript')
diff --git a/tests/libpanda/SConscript b/tests/libpanda/SConscript
index 265fac9d..9408e636 100644
--- a/tests/libpanda/SConscript
+++ b/tests/libpanda/SConscript
@@ -29,4 +29,14 @@ if GetOption('ubsan'):
   env['CFLAGS'] += flags
   env['LINKFLAGS'] += flags
 
-env.SharedLibrary("libpanda.so", ["panda.c",])
+panda = env.SharedObject("panda.os", "panda.c")
+libpanda = env.SharedLibrary("libpanda.so", [panda])
+
+if GetOption('safety_coverage'):
+  env.Append(
+    CFLAGS=["-fprofile-arcs", "-ftest-coverage", "-fprofile-abs-path",],
+    LIBS=["gcov"],
+  )
+  # GCC note file is generated by compiler, ensure we build it, and allow scons to clean it up
+  AlwaysBuild(panda)
+  env.SideEffect("panda.gcno", panda)
diff --git a/tests/safety/test_coverage.sh b/tests/safety/test_coverage.sh
new file mode 100755
index 00000000..f8ab65b4
--- /dev/null
+++ b/tests/safety/test_coverage.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -e
+
+# reset coverage data and generate gcc note file
+scons -j$(nproc) -D --safety-coverage
+
+# run safety tests to generate coverage data
+./test.sh
+
+# generate and open report
+geninfo ../libpanda/ -o coverage.info
+genhtml coverage.info -o coverage-out
+browse coverage-out/index.html