The invention relates to an embedded system testing method. Hardware and assistance software are adopted; firstly, pile pitching is carried out on a source code, a sentence is inserted in a specific place, then a pile pitching document is compiled and downloaded; when a target board operates to a pile pitching point, a bus presents specific signals, the auxiliary hardware of a data acquisition unit acquires the signals of the pile pitching points; subsequently, the acquisition point information is packed and sent to a testing result analyzing software for result analysis, thus the embedded system testing is realized. The testing includes coverage analysis, performance analysis, memory leak analysis, array out-of-range, variable control, trace following, Task monitoring, ISR monitoring, TaskISR switching monitoring, etc.