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Not sure about CppUnit but I can speak to my previous experience using the googletest framework which compiles your tests to an executable, and since it's a very simple framework we were able to cross-compile and run directly on our device. We just had to hook up a device to the server that was running the CI so it could flash it when needed. That basically meant that our process was:
Here you can see an example of my CI/CD (it's very basic and ad-hoc, just some hobby stuff): https://github.com/aeremin/firefly_zephyr/blob/master/.github/workflows/ci.yml