A while ago, during the "Help a STEM Educator Out" thread, the topic of TDD was discussed briefly. I noted that I was a proponent, but I felt the challenges to developing the tools and frameworks for embedded development would be daunting.
I was not aware at the time, but someone has addressed this.
https://www.renaissancesoftware.net/blog/
This is the blog of James Grenning, who had written a book on the topic in 2011.
The Pragmatic Bookshelf | Test Driven Development for Embedded C
There exist on the web links to free versions of an ebook, but I'm not sure whether they are legitimate copies, so I won't link them here.
I have skimmed the book and it appears to be very well written. With a forward by Bob Martin, who is one of the chief proponents of TDD and agile.
I was fortunate enough to have been taught TDD by "Uncle Bob", as he is called, and another person mentioned in the book, Michael Feathers.
So to me, his endorsement carried a lot of weight.
One of the things I like about the book is that it emphasizes software development as a craft, and developers as craftsman.
I plan to investigate adding these methods to my embedded development.
Mike