When you’ve got legacy code that depends on the Real-time Operating System, you have a challenge to get your code off the target for unit testing. If you want to test with the concurrency provided by the RTOS, these are not really unit tests, and you won’t be able to write thorough tests, and you need unit tests to be through.
You’re going to need to make a test-double so you can get your code off the RTOS and into your development system for unit testing. In this article we’ll go through the steps to get started.