Confirmed that the IMU works on the new HW platform.

quad/src/virt_quad/hw_impl_unix.c

@@ -49,15 +49,6 @@ struct TimerDriver create_unix_global_timer() {
   return global_timer;
 }
 
-struct TimerDriver create_unix_axi_timer() {
-  struct TimerDriver axi_timer;
-  axi_timer.state = NULL;
-  axi_timer.reset = unix_axi_timer_reset;
-  axi_timer.restart = unix_axi_timer_restart;
-  axi_timer.read = unix_axi_timer_read;
-  return axi_timer;
-}
-
 struct LEDDriver create_unix_mio7_led() {
   struct LEDDriver mio7_led;
   mio7_led.state = NULL;

quad/src/virt_quad/hw_impl_unix.h

@@ -57,10 +57,6 @@ int unix_global_timer_reset(struct TimerDriver *self);
 int unix_global_timer_restart(struct TimerDriver *self);
 int unix_global_timer_read(struct TimerDriver *self, u64 *us);
 
-int unix_axi_timer_reset(struct TimerDriver *self);
-int unix_axi_timer_restart(struct TimerDriver *self);
-int unix_axi_timer_read(struct TimerDriver *self, u64 *us);
-
 int unix_mio7_led_reset(struct LEDDriver *self);
 int unix_mio7_led_turn_on(struct LEDDriver *self);
 int unix_mio7_led_turn_off(struct LEDDriver *self);
@@ -83,7 +79,6 @@ struct MotorDriver create_unix_motors();
 struct RCReceiverDriver create_unix_rc_receiver();
 struct I2CDriver create_unix_i2c();
 struct TimerDriver create_unix_global_timer();
-struct TimerDriver create_unix_axi_timer();
 struct LEDDriver create_unix_mio7_led();
 struct SystemDriver create_unix_system();
 struct IMUDriver create_unix_imu(struct I2CDriver *i2c);

quad/src/virt_quad/hw_impl_unix_axi_timer.c

-#include "hw_impl_unix.h"
-
-int unix_axi_timer_reset(struct TimerDriver *self) {
-  if (self->state == NULL) {
-    self->state = malloc(sizeof(struct timeval));
-  }
-  return 0;
-}
-
-int unix_axi_timer_restart(struct TimerDriver *self) {
-  struct timeval *start = self->state;
-  struct timezone tz;
-  gettimeofday(start, &tz);
-  return 0;
-}
-
-int unix_axi_timer_read(struct TimerDriver *self, u64 *us) {
-  struct timeval *start = self->state;
-  struct timeval end;
-  struct timezone tz;
-  gettimeofday(&end, &tz);
-  *us = end.tv_usec - start->tv_usec;
-  return 0;
-}

quad/src/virt_quad/main.c

@@ -38,7 +38,6 @@ int setup_hardware(hardware_t *hardware) {
   hardware->uart_0 = create_unix_uart();
   hardware->comm = create_unix_comm(&hardware->uart_0);
   hardware->global_timer = create_unix_global_timer();
-  hardware->axi_timer = create_unix_axi_timer();
   hardware->mio7_led = create_unix_mio7_led();
   hardware->sys = create_unix_system();
   hardware->imu = create_unix_imu(&hardware->i2c_0);

quad/vivado_workspace/quad_hw/src/constrs/Zybo-Z7-Master.xdc

@@ -124,8 +124,8 @@
                                                                                                                                  
 ##Pmod Header JC                                                                                                                  
 #set_property -dict { PACKAGE_PIN V15   IOSTANDARD LVCMOS33     } [get_ports { jc[0] }]; #IO_L10P_T1_34 Sch=jc_p[1]   			 
-#set_property -dict { PACKAGE_PIN W15   IOSTANDARD LVCMOS33     } [get_ports { jc[1] }]; #IO_L10N_T1_34 Sch=jc_n[1]		     
-#set_property -dict { PACKAGE_PIN T11   IOSTANDARD LVCMOS33     } [get_ports { jc[2] }]; #IO_L1P_T0_34 Sch=jc_p[2]              
+set_property -dict { PACKAGE_PIN W15   IOSTANDARD LVCMOS33     } [get_ports { UART0_TX_0 }]; #IO_L10N_T1_34 Sch=jc_n[1]		     
+set_property -dict { PACKAGE_PIN T11   IOSTANDARD LVCMOS33     } [get_ports { UART0_RX_0 }]; #IO_L1P_T0_34 Sch=jc_p[2]              
 #set_property -dict { PACKAGE_PIN T10   IOSTANDARD LVCMOS33     } [get_ports { jc[3] }]; #IO_L1N_T0_34 Sch=jc_n[2]              
 #set_property -dict { PACKAGE_PIN W14   IOSTANDARD LVCMOS33     } [get_ports { jc[4] }]; #IO_L8P_T1_34 Sch=jc_p[3]              
 #set_property -dict { PACKAGE_PIN Y14   IOSTANDARD LVCMOS33     } [get_ports { jc[5] }]; #IO_L8N_T1_34 Sch=jc_n[3]              

quad/xsdk_workspace_vivado/real_quad/src/main.c

@@ -4,7 +4,7 @@
 #include "type_def.h"
 #include "platform.h"
 
-//#define RUN_TESTS
+#define RUN_TESTS
 
 /**
  * Create the hardware drivers, and place them on the hardware struct.
@@ -47,8 +47,8 @@ int main()
 #ifdef RUN_TESTS
   //test_zybo_mio7_led_and_system();
   //test_zybo_i2c();
-  //test_zybo_i2c_imu();
-  test_zybo_i2c_px4flow();
+  test_zybo_i2c_imu();
+  //test_zybo_i2c_px4flow();
   //test_zybo_i2c_lidar();
   //test_zybo_i2c_all();
   //test_zybo_rc_receiver();