diff --git a/quad/src/virt_quad/hw_impl_unix.c b/quad/src/virt_quad/hw_impl_unix.c
index ab1704ca719e1358a46bc099d5cc7c2e06b7e495..11ffd49ad33d07c85e46519cc19efef2e32927eb 100644
--- a/quad/src/virt_quad/hw_impl_unix.c
+++ b/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;
diff --git a/quad/src/virt_quad/hw_impl_unix.h b/quad/src/virt_quad/hw_impl_unix.h
index 3ec22683d223584cb4865bc8f58051c733d7e4b5..0877a4e9d37754c95fbd8492a2c6b3e4beebc1c9 100644
--- a/quad/src/virt_quad/hw_impl_unix.h
+++ b/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);
diff --git a/quad/src/virt_quad/hw_impl_unix_axi_timer.c b/quad/src/virt_quad/hw_impl_unix_axi_timer.c
deleted file mode 100644
index 73e9acc281110e6453bfba625976af852eeac351..0000000000000000000000000000000000000000
--- a/quad/src/virt_quad/hw_impl_unix_axi_timer.c
+++ /dev/null
@@ -1,24 +0,0 @@
-#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;
-}
diff --git a/quad/src/virt_quad/main.c b/quad/src/virt_quad/main.c
index 7ed5ed278c21823d67384604390199ed230954e6..95bf36c5c9e7fddb082a3db17b56fdcb9c0cdde6 100644
--- a/quad/src/virt_quad/main.c
+++ b/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);
diff --git a/quad/vivado_workspace/quad_hw/src/constrs/Zybo-Z7-Master.xdc b/quad/vivado_workspace/quad_hw/src/constrs/Zybo-Z7-Master.xdc
index 704ec5a4da3b55e3c91be191ff119dff07ad8a9c..07a207269b59319a4e3001dbb8e8cf9c1e1b064a 100644
--- a/quad/vivado_workspace/quad_hw/src/constrs/Zybo-Z7-Master.xdc
+++ b/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]
diff --git a/quad/xsdk_workspace_vivado/real_quad/src/main.c b/quad/xsdk_workspace_vivado/real_quad/src/main.c
index a71c754a72e8bcb3f30c2d35e2e8dbf7f93c510f..30d3132df9de189d396ebf25470f2f0aeeeb4648 100644
--- a/quad/xsdk_workspace_vivado/real_quad/src/main.c
+++ b/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();
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