diff --git a/.gitignore b/.gitignore
index 5de33077e..1b4e08ba3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,6 +15,10 @@
 src/jtag/minidriver_imp.h
 src/jtag/jtag_minidriver.h
 
+# coverage files (gcov)
+*.gcda
+*.gcno
+
 # OpenULINK driver files generated by SDCC
 src/jtag/drivers/OpenULINK/*.rel
 src/jtag/drivers/OpenULINK/*.asm
diff --git a/HACKING b/HACKING
index 9e8cd357f..8988b1617 100644
--- a/HACKING
+++ b/HACKING
@@ -92,6 +92,22 @@ patch:
   make
   @endcode
 
+- Code coverage analysis
+
+  By inspecting the code coverage, you can identify potential gaps in your testing
+  and use that information to improve your test scenarios.
+
+  Example usage:
+  @code
+  mkdir build-gcov; cd build-gcov
+  ../configure --enable-gcov [...]
+  make
+  # ... Now execute your test scenarios to collect OpenOCD code coverage ...
+  lcov --capture --directory ./src --output-file openocd-coverage.info
+  genhtml openocd-coverage.info --output-directory coverage_report
+  # ... Open coverage_report/index.html in a web browser ...
+  @endcode
+
 Please consider performing these additional checks where appropriate
 (especially Clang Static Analyzer for big portions of new code) and
 mention the results (e.g. "Valgrind-clean, no new Clang analyzer
diff --git a/Makefile.am b/Makefile.am
index 2230e628f..ab0a2373d 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -38,6 +38,7 @@ endif
 
 # common flags used in openocd build
 AM_CFLAGS = $(GCC_WARNINGS)
+AM_LDFLAGS =
 
 AM_CPPFLAGS = $(HOST_CPPFLAGS)\
 			  -I$(top_srcdir)/src \
@@ -51,6 +52,12 @@ AM_CPPFLAGS += -I$(top_srcdir)/jimtcl \
 else
 AM_CPPFLAGS += $(JIMTCL_CFLAGS)
 endif
+
+if USE_GCOV
+AM_CFLAGS += --coverage
+AM_LDFLAGS += --coverage
+endif
+
 EXTRA_DIST += \
 	BUGS \
 	HACKING \
diff --git a/configure.ac b/configure.ac
index 9355ffb93..291e854a4 100644
--- a/configure.ac
+++ b/configure.ac
@@ -171,6 +171,9 @@ m4_define([DUMMY_ADAPTER],
 m4_define([OPTIONAL_LIBRARIES],
 	[[[capstone], [Use Capstone disassembly framework], []]])
 
+m4_define([COVERAGE],
+	[[[gcov], [Collect coverage using gcov], []]])
+
 AC_ARG_ENABLE([doxygen-html],
   AS_HELP_STRING([--disable-doxygen-html],
     [Disable building Doxygen manual as HTML.]),
@@ -199,6 +202,19 @@ AC_ARG_ENABLE([werror],
   AS_HELP_STRING([--disable-werror], [Do not treat warnings as errors]),
   [gcc_werror=$enableval], [gcc_werror=$gcc_warnings])
 
+AC_ARG_ENABLE([gcov],
+  AS_HELP_STRING([--enable-gcov], [Enable runtime coverage collection via gcov]),
+  [enable_gcov=$enableval], [enable_gcov=no])
+
+AS_IF([test "x$enable_gcov" = "xyes"], [
+  AC_DEFINE([USE_GCOV], [1], [1 to enable coverage collection using gcov.])
+  dnl When collecting coverage, disable optimizations.
+  dnl This overrides the "-O2" that autoconf uses by default:
+  CFLAGS+=" -O0"
+], [
+  AC_DEFINE([USE_GCOV], [0], [0 to leave coverage collection disabled.])
+])
+
 # set default verbose options, overridden by following options
 debug_usb_io=no
 debug_usb_comms=no
@@ -787,6 +803,8 @@ AM_CONDITIONAL([INTERNAL_JIMTCL], [test "x$use_internal_jimtcl" = "xyes"])
 AM_CONDITIONAL([HAVE_JIMTCL_PKG_CONFIG], [test "x$have_jimtcl_pkg_config" = "xyes"])
 AM_CONDITIONAL([INTERNAL_LIBJAYLINK], [test "x$use_internal_libjaylink" = "xyes"])
 
+AM_CONDITIONAL([USE_GCOV], [test "x$enable_gcov" = "xyes"])
+
 # Look for environ alternatives.  Possibility #1: is environ in unistd.h or stdlib.h?
 AC_MSG_CHECKING([for environ in unistd.h and stdlib.h])
 AC_COMPILE_IFELSE([AC_LANG_PROGRAM([[
@@ -862,7 +880,8 @@ m4_foreach([adapter], [USB1_ADAPTERS,
 	LIBGPIOD_ADAPTERS,
 	LIBJAYLINK_ADAPTERS, PCIE_ADAPTERS, SERIAL_PORT_ADAPTERS,
 	DUMMY_ADAPTER,
-	OPTIONAL_LIBRARIES],
+	OPTIONAL_LIBRARIES,
+	COVERAGE],
 	[s=m4_format(["%-40s"], ADAPTER_DESC([adapter]))
 	AS_CASE([$ADAPTER_VAR([adapter])],
 		[auto], [
diff --git a/src/openocd.c b/src/openocd.c
index 7a5147050..9fd709e32 100644
--- a/src/openocd.c
+++ b/src/openocd.c
@@ -375,6 +375,13 @@ int openocd_main(int argc, char *argv[])
 
 	log_exit();
 
+#if USE_GCOV
+	/* Always explicitly dump coverage data before terminating.
+	 * Otherwise coverage would not be dumped when exit_on_signal occurs. */
+	void __gcov_dump(void);
+	__gcov_dump();
+#endif
+
 	if (ret == ERROR_FAIL)
 		return EXIT_FAILURE;
 	else if (ret != ERROR_OK)