diff --git a/.gitignore b/.gitignore
index b4225c0..96a3694 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,5 @@
 .DS_Store
 *~
 *.bin
+*.gcno
+build
diff --git a/Makefile b/Makefile
index 5d75784..f44f8cd 100644
--- a/Makefile
+++ b/Makefile
@@ -1,10 +1,11 @@
 CC = gcc
 INCLUDES = -Isrc -Ideps/bitfield-c/src
-CFLAGS = $(INCLUDES) -c -w -Wall -Werror -g -ggdb -std=c99
-LDFLAGS =
+CFLAGS = $(INCLUDES) -c -w -Wall -Werror -g -ggdb -std=gnu++0x -coverage
+LDFLAGS = -coverage -lm
 LDLIBS = -lcheck
 
 TEST_DIR = tests
+TEST_OBJDIR = build
 
 # Guard against \r\n line endings only in Cygwin
 OSTYPE := $(shell uname)
@@ -15,24 +16,41 @@ ifneq ($(OSTYPE),Darwin)
 	endif
 endif
 
+LIBS_PATH = deps
 SRC = $(wildcard src/**/*.c)
 SRC += $(wildcard deps/bitfield-c/src/**/*.c)
-OBJS = $(SRC:.c=.o)
+OBJS = $(patsubst %,$(TEST_OBJDIR)/%,$(SRC:.c=.o))
 TEST_SRC = $(wildcard $(TEST_DIR)/test_*.c)
-TESTS=$(patsubst %.c,%.bin,$(TEST_SRC))
+TESTS=$(patsubst %.c,$(TEST_OBJDIR)/%.bin,$(TEST_SRC))
 TEST_SUPPORT_SRC = $(TEST_DIR)/common.c
-TEST_SUPPORT_OBJS = $(TEST_SUPPORT_SRC:.c=.o)
+TEST_SUPPORT_OBJS = $(patsubst %,$(TEST_OBJDIR)/%,$(TEST_SUPPORT_SRC:.c=.o))
 
 all: $(OBJS)
 
 test: $(TESTS)
 	@set -o $(TEST_SET_OPTS) >/dev/null 2>&1
 	@export SHELLOPTS
-	@sh runtests.sh $(TEST_DIR)
+	@sh runtests.sh $(TEST_OBJDIR)/$(TEST_DIR)
 
-$(TEST_DIR)/%.bin: $(TEST_DIR)/%.o $(OBJS) $(TEST_SUPPORT_OBJS)
+COVERAGE_INFO_FILENAME = coverage.info
+COVERAGE_INFO_PATH = $(TEST_OBJDIR)/$(COVERAGE_INFO_FILENAME)
+coverage:
+	@lcov --base-directory . --directory src --zerocounters -q
+	@make clean
+	@make test
+	@lcov --base-directory . --directory $(TEST_OBJDIR) -c -o $(TEST_OBJDIR)/coverage.info
+	@lcov --remove $(COVERAGE_INFO_PATH) "$(LIBS_PATH)/bitfield-c/*" -o $(COVERAGE_INFO_PATH)
+	@genhtml -o $(TEST_OBJDIR)/coverage -t "isotp-c test coverage" --num-spaces 4 $(COVERAGE_INFO_PATH)
+	@$(BROWSER) $(TEST_OBJDIR)/coverage/index.html
+	@echo "$(GREEN)Coverage information generated in $(TEST_OBJDIR)/coverage/index.html.$(COLOR_RESET)"
+
+$(TEST_OBJDIR)/%.o: %.c
+	@mkdir -p $(dir $@)
+	$(CC) $(CFLAGS) $(CC_SYMBOLS) $(INCLUDES) -o $@ $<
+
+$(TEST_OBJDIR)/%.bin: $(TEST_OBJDIR)/%.o $(OBJS) $(TEST_SUPPORT_OBJS)
 	@mkdir -p $(dir $@)
 	$(CC) $(LDFLAGS) $(CC_SYMBOLS) $(INCLUDES) -o $@ $^ $(LDLIBS)
 
 clean:
-	rm -rf **/*.o $(TEST_DIR)/*.bin
+	rm -rf $(TEST_OBJDIR)