Ask HN: Rust embedded testing frameworks

Hey HN, I've been developing hardware products with stm32's using Rust. I'm starting to look at tests to prevent regression issues and stabilize firmware releases but integration testing with embedded seems quite difficult.

What is currently available for embedded testing, both in the C/++ and Rust worlds? What are current industry standards surrounding this?

In the past I've seen proprietary simulators built (obviously with their own shortcomings), this would allow integration tests on simulated hardware. Are there any initiatives happening to standardize this in the Rust world?

Thanks