Embedded Unit is unit testing framework for Embedded C System. It's design was copied from JUnit and CUnit and more, and then adapted somewhat for Embedded C System. Embedded Unit does not require std C libs. All objects are allocated to const area.
Embedded Unit is delivered as two part static library. First part delivers the basic unit test framework. The second part adds functionality with additional test result outputters, like XML outputter.
http://www.xprogramming.com/software.htm ( Ron Jeffries's list of tools )
Papers about TDD in C and for embedded software:
Other strongly related stuff: