diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 02a3c11dde..f8bbb1bc8d 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -48,6 +48,31 @@ jobs:
                 scons -j$(nproc) && \
                 $UNIT_TEST selfdrive/car"
 
+  build_mac:
+    name: build macos
+    runs-on: macos-10.15
+    timeout-minutes: 35
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: |
+          ~/.pyenv
+          ~/Library/Caches/pip
+          ~/Library/Caches/pipenv
+          ~/Library/Caches/Homebrew
+        key: ${{ hashFiles('tools/mac_setup.sh') }}
+    - name: Install dependencies
+      run: ./tools/mac_setup.sh
+    - name: Build openpilot
+      run: eval "$(pyenv init -)" && scons -j$(nproc)
+    - name: Brew cleanup
+      run: brew cleanup # keeps our cache small
+
   docker_push:
     name: docker push
     runs-on: ubuntu-16.04
diff --git a/tools/README.md b/tools/README.md
index 22de4a9b7c..9e0965ff6a 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -24,23 +24,15 @@ Table of Contents
 Requirements
 ============
 
-openpilot tools and the following setup steps are developed and tested on Ubuntu 16.04, MacOS 10.14.2 and Python 3.7.3.
+openpilot tools and the following setup steps are developed and tested on Ubuntu 16.04, MacOS 10.14.2 and Python 3.8.2.
 
 Setup
 ============
-1. Run ubuntu_setup.sh, make sure everything completed correctly
+1. Run `ubuntu_setup.sh` or `mac_setup.sh`, make sure everything completed correctly
 
 2. Compile openpilot by running ```scons``` in the openpilot directory
 
-3. Add some folders to root
-    ```bash
-    sudo mkdir /data
-    sudo mkdir /data/params
-    sudo chown $USER /data/params
-    ```
-
-
-4. Try out some tools!
+3. Try out some tools!
 
 
 Tool examples
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
new file mode 100755
index 0000000000..5097000196
--- /dev/null
+++ b/tools/mac_setup.sh
@@ -0,0 +1,26 @@
+#!/bin/bash -e
+
+# install brew
+/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
+
+brew install capnp \
+             czmq \
+             coreutils \
+             eigen \
+             ffmpeg \
+             glfw \
+             libarchive \
+             libtool \
+             llvm \
+             pyenv \
+             zeromq
+
+# install python
+pyenv install -s 3.8.2
+pyenv global 3.8.2
+pyenv rehash
+eval "$(pyenv init -)"
+
+pip install pipenv==2018.11.26
+pipenv install --system --deploy
+