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Nutrient – The #1 PDF SDK Library, trusted by 10K+ developers
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Check out Espressif's ESP-IDF and their approach to unit testing with the Unity unit test framework. It's a complete system based on FreeRTOS with support for their hardware, common protocols, and libraries.
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There are plenty of frameworks for writing unittests but currently I prefer Unity and fff for creating fakes/stubs.
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An example of unit testing FreeRTOS in ESP-IDF
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