diff --git a/SConstruct b/SConstruct
index 6a97f4c17..11ff21738 100644
--- a/SConstruct
+++ b/SConstruct
@@ -8,6 +8,10 @@ AddOption('--ubsan',
           action='store_true',
           help='turn on UBSan')
 
+AddOption('--coverage',
+          action='store_true',
+          help='build with test coverage options')
+
 AddOption('--compile_db',
           action='store_true',
           help='build clang compilation database')
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
index 50ff6f713..3ab8827b6 100644
--- a/board/safety/safety_ford.h
+++ b/board/safety/safety_ford.h
@@ -28,10 +28,10 @@ static uint8_t ford_get_counter(const CANPacket_t *to_push) {
   if (addr == FORD_BrakeSysFeatures) {
     // Signal: VehVActlBrk_No_Cnt
     cnt = (GET_BYTE(to_push, 2) >> 2) & 0xFU;
-  }
-  if (addr == FORD_Yaw_Data_FD1) {
+  } else if (addr == FORD_Yaw_Data_FD1) {
     // Signal: VehRollYaw_No_Cnt
     cnt = GET_BYTE(to_push, 5);
+  } else {
   }
   return cnt;
 }
@@ -43,10 +43,10 @@ static uint32_t ford_get_checksum(const CANPacket_t *to_push) {
   if (addr == FORD_BrakeSysFeatures) {
     // Signal: VehVActlBrk_No_Cs
     chksum = GET_BYTE(to_push, 3);
-  }
-  if (addr == FORD_Yaw_Data_FD1) {
+  } else if (addr == FORD_Yaw_Data_FD1) {
     // Signal: VehRollYawW_No_Cs
     chksum = GET_BYTE(to_push, 4);
+  } else {
   }
   return chksum;
 }
@@ -60,14 +60,14 @@ static uint32_t ford_compute_checksum(const CANPacket_t *to_push) {
     chksum += GET_BYTE(to_push, 2) >> 6;                    // VehVActlBrk_D_Qf
     chksum += (GET_BYTE(to_push, 2) >> 2) & 0xFU;           // VehVActlBrk_No_Cnt
     chksum = 0xFFU - chksum;
-  }
-  if (addr == FORD_Yaw_Data_FD1) {
+  } else if (addr == FORD_Yaw_Data_FD1) {
     chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1);  // VehRol_W_Actl
     chksum += GET_BYTE(to_push, 2) + GET_BYTE(to_push, 3);  // VehYaw_W_Actl
     chksum += GET_BYTE(to_push, 5);                         // VehRollYaw_No_Cnt
     chksum += GET_BYTE(to_push, 6) >> 6;                    // VehRolWActl_D_Qf
     chksum += (GET_BYTE(to_push, 6) >> 4) & 0x3U;           // VehYawWActl_D_Qf
     chksum = 0xFFU - chksum;
+  } else {
   }
 
   return chksum;
@@ -79,12 +79,11 @@ static bool ford_get_quality_flag_valid(const CANPacket_t *to_push) {
   bool valid = false;
   if (addr == FORD_BrakeSysFeatures) {
     valid = (GET_BYTE(to_push, 2) >> 6) == 0x3U;           // VehVActlBrk_D_Qf
-  }
-  if (addr == FORD_EngVehicleSpThrottle2) {
+  } else if (addr == FORD_EngVehicleSpThrottle2) {
     valid = ((GET_BYTE(to_push, 4) >> 5) & 0x3U) == 0x3U;  // VehVActlEng_D_Qf
-  }
-  if (addr == FORD_Yaw_Data_FD1) {
+  } else if (addr == FORD_Yaw_Data_FD1) {
     valid = ((GET_BYTE(to_push, 6) >> 4) & 0x3U) == 0x3U;  // VehYawWActl_D_Qf
+  } else {
   }
   return valid;
 }
@@ -317,7 +316,8 @@ static int ford_fwd_hook(int bus_num, int addr) {
       // Forward all traffic from bus 0 onward
       bus_fwd = FORD_CAM_BUS;
       break;
-    } case FORD_CAM_BUS: {
+    }
+    case FORD_CAM_BUS: {
       if (ford_lkas_msg_check(addr)) {
         // Block stock LKAS and UI messages
         bus_fwd = -1;
@@ -329,10 +329,12 @@ static int ford_fwd_hook(int bus_num, int addr) {
         bus_fwd = FORD_MAIN_BUS;
       }
       break;
-    } default: {
+    }
+    default: {
       // No other buses should be in use; fallback to do-not-forward
       bus_fwd = -1;
-      break;}
+      break;
+    }
   }
 
   return bus_fwd;
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
index 10cb21f32..f0902a921 100644
--- a/board/safety/safety_gm.h
+++ b/board/safety/safety_gm.h
@@ -227,11 +227,12 @@ static safety_config gm_init(uint16_t param) {
                                           {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
   gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
+
   if (gm_hw == GM_ASCM) {
     gm_long_limits = &GM_ASCM_LONG_LIMITS;
-  } 
-  if (gm_hw == GM_CAM) {
+  } else if (gm_hw == GM_CAM) {
     gm_long_limits = &GM_CAM_LONG_LIMITS;
+  } else {
   }
 
 #ifdef ALLOW_DEBUG
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
index cc2fd8c6b..3e9d23216 100644
--- a/board/safety/safety_hyundai.h
+++ b/board/safety/safety_hyundai.h
@@ -49,19 +49,16 @@ static uint8_t hyundai_get_counter(const CANPacket_t *to_push) {
   uint8_t cnt = 0;
   if (addr == 0x260) {
     cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U;
-  } 
-  if (addr == 0x386) {
+  } else if (addr == 0x386) {
     cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
-  }
-  if (addr == 0x394) {
+  } else if (addr == 0x394) {
     cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
-  } 
-  if (addr == 0x421) {
+  } else if (addr == 0x421) {
     cnt = GET_BYTE(to_push, 7) & 0xFU;
-  }
-  if (addr == 0x4F1) {
+  } else if (addr == 0x4F1) {
     cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
-  } 
+  } else {
+  }
   return cnt;
 }
 
@@ -71,15 +68,13 @@ static uint32_t hyundai_get_checksum(const CANPacket_t *to_push) {
   uint8_t chksum = 0;
   if (addr == 0x260) {
     chksum = GET_BYTE(to_push, 7) & 0xFU;
-  } 
-  if (addr == 0x386) {
+  } else if (addr == 0x386) {
     chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
-  } 
-  if (addr == 0x394) {
+  } else if (addr == 0x394) {
     chksum = GET_BYTE(to_push, 6) & 0xFU;
-  } 
-  if (addr == 0x421) {
+  } else if (addr == 0x421) {
     chksum = GET_BYTE(to_push, 7) >> 4;
+  } else {
   }
   return chksum;
 }
diff --git a/board/safety/safety_hyundai_common.h b/board/safety/safety_hyundai_common.h
index ee2ee32f2..d83b39640 100644
--- a/board/safety/safety_hyundai_common.h
+++ b/board/safety/safety_hyundai_common.h
@@ -118,9 +118,10 @@ uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) {
 
   if (len == 24) {
     crc ^= 0x819dU;
-  }
-  if (len == 32) {
+  } else if (len == 32) {
     crc ^= 0x9f5bU;
+  } else {
+
   }
 
   return crc;
diff --git a/board/safety/safety_volkswagen_mqb.h b/board/safety/safety_volkswagen_mqb.h
index 1484cd5b0..40f7cbccc 100644
--- a/board/safety/safety_volkswagen_mqb.h
+++ b/board/safety/safety_volkswagen_mqb.h
@@ -45,19 +45,17 @@ static uint32_t volkswagen_mqb_compute_crc(const CANPacket_t *to_push) {
   uint8_t counter = volkswagen_mqb_get_counter(to_push);
   if (addr == MSG_LH_EPS_03) {
     crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
-  } 
-  if (addr == MSG_ESP_05) {
+  } else if (addr == MSG_ESP_05) {
     crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
-  } 
-  if (addr == MSG_TSK_06) {
+  } else if (addr == MSG_TSK_06) {
     crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
-  } 
-  if (addr == MSG_MOTOR_20) {
+  } else if (addr == MSG_MOTOR_20) {
     crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
-  } 
-  if (addr == MSG_GRA_ACC_01) {
+  } else if (addr == MSG_GRA_ACC_01) {
     crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
-  } 
+  } else {
+    // Undefined CAN message, CRC check expected to fail
+  }
   crc = volkswagen_crc8_lut_8h2f[crc];
 
   return (uint8_t)(crc ^ 0xFFU);
diff --git a/board/safety/safety_volkswagen_pq.h b/board/safety/safety_volkswagen_pq.h
index 8fc811eba..75979a514 100644
--- a/board/safety/safety_volkswagen_pq.h
+++ b/board/safety/safety_volkswagen_pq.h
@@ -26,9 +26,9 @@ static uint8_t volkswagen_pq_get_counter(const CANPacket_t *to_push) {
 
   if (addr == MSG_LENKHILFE_3) {
     counter = (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
-  } 
-  if (addr == MSG_GRA_NEU) {
+  } else if (addr == MSG_GRA_NEU) {
     counter = (uint8_t)(GET_BYTE(to_push, 2) & 0xF0U) >> 4;
+  } else {
   }
 
   return counter;
diff --git a/tests/libpanda/SConscript b/tests/libpanda/SConscript
index fc33d85d3..2ad405f5e 100644
--- a/tests/libpanda/SConscript
+++ b/tests/libpanda/SConscript
@@ -1,13 +1,14 @@
-import os
 import platform
 
-COVERAGE_FLAGS = [
-  '-fprofile-instr-generate',
-  '-fcoverage-mapping',
-]
+CC = 'gcc'
+system = platform.system()
+if system == 'Darwin':
+  # gcc installed by homebrew has version suffix (e.g. gcc-12) in order to be
+  # distinguishable from system one - which acts as a symlink to clang
+  CC += '-13'
 
 env = Environment(
-  CC='clang',
+  CC=CC,
   CFLAGS=[
     '-nostdlib',
     '-fno-builtin',
@@ -17,19 +18,14 @@ env = Environment(
   ],
   CPPPATH=[".", "../../board/"],
 )
-if platform.system() == "Darwin":
+if system == "Darwin":
   env.PrependENVPath('PATH', '/opt/homebrew/bin')
 
-TICI = os.path.isfile('/TICI')
-AGNOS = TICI
-if AGNOS:
-  env['CC'] = 'gcc'
-else:
-  env['CFLAGS'] += COVERAGE_FLAGS
-  env['LINKFLAGS'] += COVERAGE_FLAGS
-
 if GetOption('mutation'):
+  env['CC'] = 'clang-17'
   flags = [
+    '-fprofile-instr-generate',
+    '-fcoverage-mapping',
     '-fpass-plugin=/usr/lib/mull-ir-frontend-17',
     '-g',
     '-grecord-command-line',
@@ -47,3 +43,12 @@ if GetOption('ubsan'):
 
 panda = env.SharedObject("panda.os", "panda.c")
 libpanda = env.SharedLibrary("libpanda.so", [panda])
+
+if GetOption('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.sh b/tests/safety/test.sh
index 173c5b5c6..13703b26a 100755
--- a/tests/safety/test.sh
+++ b/tests/safety/test.sh
@@ -4,31 +4,31 @@ set -e
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
-rm -f safety_*.profraw safety.profdata
-scons -j$(nproc) -D
+# reset coverage data and generate gcc note file
+rm -f ../libpanda/*.gcda
+scons -j$(nproc) -D --coverage
 
 # run safety tests and generate coverage data
 HW_TYPES=( 6 9 )
 for hw_type in "${HW_TYPES[@]}"; do
   echo "Testing HW_TYPE: $hw_type"
-  LLVM_PROFILE_FILE="safety_%m.profraw" HW_TYPE=$hw_type pytest test_*.py
+  HW_TYPE=$hw_type pytest test_*.py
 done
 
-# generate coverage report
-llvm-profdata-17 merge -sparse safety_*.profraw -o safety.profdata
-
-# open html report
+# generate and open report
 if [ "$1" == "--report" ]; then
-  llvm-cov-17 show -format=html -show-branches=count -instr-profile=safety.profdata ../libpanda/libpanda.so -sources ../../board/safety/safety_*.h ../../board/safety.h -o coverage_report
-  sensible-browser coverage_report/index.html
+  geninfo ../libpanda/ -o coverage.info
+  genhtml coverage.info -o coverage-out
+  sensible-browser coverage-out/index.html
 fi
 
-# test line coverage
-INCOMPLETE_COVERAGE=$(llvm-cov-17 report -show-region-summary=false -show-branch-summary=false -instr-profile=safety.profdata ../libpanda/libpanda.so -sources ../../board/safety/safety_*.h ../../board/safety.h | awk '$7 != "100.00%"' | head -n -1)
-if [ ! $(echo "$INCOMPLETE_COVERAGE" | wc -l) -eq 2 ]; then
-  echo "FAILED: Some files have less than 100% line coverage:"
+# test coverage
+GCOV_OUTPUT=$(gcov -n ../libpanda/panda.c)
+INCOMPLETE_COVERAGE=$(echo "$GCOV_OUTPUT" | paste -s -d' \n' | grep -E "File.*(safety\/safety_.*)|(safety)\.h" | grep -v "100.00%" || true)
+if [ -n "$INCOMPLETE_COVERAGE" ]; then
+  echo "FAILED: Some files have less than 100% coverage:"
   echo "$INCOMPLETE_COVERAGE"
   exit 1
 else
-  echo "SUCCESS: All checked files have 100% line coverage!"
+  echo "SUCCESS: All checked files have 100% coverage!"
 fi