Which unit testing framework do you prefer for embedded systems?

I face a choice of a unit test framework for C on embedded systems. I want to test software modules for embedded systems implemented in C. The framework must have a small footprint due to resource restrictions. It must be also portable to different platforms. I identified CUnit, EmbeddedUnit, and µCUnit as feasible choices. What are your experiences with these and other frameworks? Do you know advantages and disadvantages? Did you take other choices?