diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index 00a4375a3..d0127bc07 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -78,6 +78,33 @@ jobs:
           cmake -S c/test_package -B c/test_package/build -DCMAKE_PREFIX_PATH="$PWD/install"
           cmake --build c/test_package/build
 
+  codecov:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout source
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+          submodules: recursive
+          ssh-key: ${{ secrets.SSH_KEY }}
+      - name: Install llvm-cov
+        run: |
+          sudo apt-get update && sudo apt-get install llvm gcovr -y
+      - name: Run build
+        env:
+          CC: clang
+          CXX: clang++
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+          SONAR_ORGANIZATION: swift-nav
+          SONAR_PROJECT_KEY: swift-nav_libsbp-c
+          SONAR_PROJECT_NAME: libsbp-c
+          SONAR_HOST_URL: https://sonarcloud.io
+          SONAR_SCANNER_VERSION: 5.0.1.3006
+        run: |
+          bash ./scripts/ci_c_codecov.sh
+          
+        
   macos:
     name: macOS
     runs-on: macos-11
diff --git a/.github/workflows/sonarcloud.yml b/.github/workflows/sonarcloud.yml
index 7c3d57174..83e8cd32d 100644
--- a/.github/workflows/sonarcloud.yml
+++ b/.github/workflows/sonarcloud.yml
@@ -38,5 +38,4 @@ jobs:
             -Dsonar.sources=.
             -Dsonar.exclusions=java/**
             -Dsonar.verbose=true
-            -Dsonar.c.file.suffixes=- -Dsonar.cpp.file.suffixes=-
             -Dsonar.coverageReportPaths=build/code_coverage.xml
diff --git a/bw-output/build-wrapper-dump.json b/bw-output/build-wrapper-dump.json
new file mode 100644
index 000000000..bba03f858
--- /dev/null
+++ b/bw-output/build-wrapper-dump.json
@@ -0,0 +1,76770 @@
+# (C) SonarSource SA, 2014-2023, info@sonarsource.com
+# All SONARSOURCE programs and content are copyright protected.
+# SONARSOURCE and SONARQUBE are trademarks of SonarSource SA. All rights are expressly reserved.
+#
+# This file is designed exclusively for use with the SONARSOURCE C / C++ / Objective-C Plugin.
+# It may not be used in connection with any other software.
+# Any other use is prohibited by law and may be grounds for immediate termination of your License.
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diff --git a/scripts/ci_c_codecov.sh b/scripts/ci_c_codecov.sh
new file mode 100755
index 000000000..a8ea6ad26
--- /dev/null
+++ b/scripts/ci_c_codecov.sh
@@ -0,0 +1,64 @@
+#!/bin/bash
+
+# Run CI setup
+
+set -e
+set -x
+set -o errexit
+set -o pipefail
+
+mkdir "${HOME}/.sonar"
+
+# download build-wrapper
+curl -sSLo "${HOME}/.sonar/build-wrapper-linux-x86.zip" https://sonarcloud.io/static/cpp/build-wrapper-linux-x86.zip
+unzip -o "${HOME}/.sonar/build-wrapper-linux-x86.zip" -d "${HOME}/.sonar/"
+export PATH=${HOME}/.sonar/build-wrapper-linux-x86:${PATH}
+
+# configure
+cmake --version
+cmake \
+	"-DCODE_COVERAGE=ON" \
+	"-DCMAKE_BUILD_TYPE=Debug" \
+	-S ./c -B ./build
+
+# build with wrapper
+build-wrapper-linux-x86-64 --out-dir ./bw-output cmake --build ./build --target ccov-all-export -j8
+
+if [[ -z "${SONAR_SCANNER_VERSION}" ]]; then
+	echo "Error: SONAR_SCANNER_VERSION must be configured" >&2
+	exit 1
+fi
+
+export SONAR_SCANNER_HOME="${HOME}/.sonar/sonar-scanner-${SONAR_SCANNER_VERSION}-linux"
+
+# download sonar-scanner
+curl -sSLo "${HOME}/.sonar/sonar-scanner.zip" \
+	"https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-${SONAR_SCANNER_VERSION}-linux.zip"
+unzip -o "${HOME}/.sonar/sonar-scanner.zip" -d "${HOME}/.sonar/"
+export PATH=${SONAR_SCANNER_HOME}/bin:${PATH}
+export SONAR_SCANNER_OPTS="-server"
+
+# Run sonar scanner
+[[ -n "${SONAR_TOKEN:-}" ]] && SONAR_TOKEN_CMD_ARG="-Dsonar.login=${SONAR_TOKEN}"
+[[ -n "${SONAR_ORGANIZATION:-}" ]] && SONAR_ORGANIZATION_CMD_ARG="-Dsonar.organization=${SONAR_ORGANIZATION}"
+[[ -n "${SONAR_PROJECT_NAME:-}" ]] && SONAR_PROJECT_NAME_CMD_ARG="-Dsonar.projectName=${SONAR_PROJECT_NAME}"
+
+# TODO: setup sonar.projectVersion so that it actually does something useful
+#  see https://swift-nav.atlassian.net/browse/DEVINFRA-504
+SONAR_OTHER_ARGS="\
+	-Dsonar.projectVersion=1.0 \
+	-Dsonar.sources=. \
+	-Dsonar.cfamily.build-wrapper-output=./bw-output \
+	-Dsonar.cfamily.threads=1 \
+	-Dsonar.cfamily.cache.enabled=false \
+	-Dsonar.sourceEncoding=UTF-8"
+
+# shellcheck disable=SC2086
+sonar-scanner \
+	"-Dsonar.cfamily.llvm-cov.reportPath=./build/ccov/coverage.txt" \
+	"-Dsonar.host.url=${SONAR_HOST_URL}" \
+	"-Dsonar.projectKey=${SONAR_PROJECT_KEY}" \
+	${SONAR_OTHER_ARGS} \
+	"${SONAR_PROJECT_NAME_CMD_ARG}" \
+	"${SONAR_TOKEN_CMD_ARG}" \
+	"${SONAR_ORGANIZATION_CMD_ARG}"