--Started on IMU data passing testing.  Can get port open and set up fine, and sending request for data seems to work.  However, the reading of that data does not seem to work--should be reading up to 256 bytes, but instead stops after reading between 1 and 5 bytes.  Need to look at this more.  Changing VTIME value in razor-imu.cpp did not seem to have an effect.
--Found that previous work on using SIGALRM in libbeagle/rotary for testing had gotten reverted in the 27 May debacle.  Manually downloaded 21 May versions and replaced them.