AP_IOMCU: use compressed interface for IO fw upload

libraries/AP_IOMCU/AP_IOMCU.cpp

@@ -643,9 +643,8 @@ bool AP_IOMCU::check_crc(void)
 {
     // flash size minus 4k bootloader
 	const uint32_t flash_size = 0x10000 - 0x1000;
-    uint32_t fw_size;
     
-    fw = AP_ROMFS::find_file(fw_name, fw_size);
+    fw = AP_ROMFS::find_decompress(fw_name, fw_size);
     if (!fw) {
         hal.console->printf("failed to find %s\n", fw_name);
         return false;
@@ -664,16 +663,22 @@ bool AP_IOMCU::check_crc(void)
         io_crc == crc) {
         hal.console->printf("IOMCU: CRC ok\n");
         crc_is_ok = true;
+        free(fw);
+        fw = nullptr;
         return true;
     }
 
     const uint16_t magic = REBOOT_BL_MAGIC;
     write_registers(PAGE_SETUP, PAGE_REG_SETUP_REBOOT_BL, 1, &magic);
 
-    if (!upload_fw(fw_name)) {
+    if (!upload_fw()) {
+        free(fw);
+        fw = nullptr;
         AP_BoardConfig::sensor_config_error("Failed to update IO firmware");
     }
     
+    free(fw);
+    fw = nullptr;
     return false;
 }
 

libraries/AP_IOMCU/AP_IOMCU.h

@@ -211,9 +211,10 @@ private:
 
     // firmware upload
     const char *fw_name = "io_firmware.bin";
-    const uint8_t *fw;
+    uint8_t *fw;
+    uint32_t fw_size;
 
-    bool upload_fw(const char *filename);
+    bool upload_fw(void);
     bool recv_byte_with_timeout(uint8_t *c, uint32_t timeout_ms);
     bool recv_bytes(uint8_t *p, uint32_t count);
     void drain(void);

libraries/AP_IOMCU/fw_uploader.cpp

@@ -63,11 +63,8 @@ extern const AP_HAL::HAL &hal;
 /*
   upload a firmware to the IOMCU
  */
-bool AP_IOMCU::upload_fw(const char *filename)
+bool AP_IOMCU::upload_fw(void)
 {
-    uint32_t fw_size;
-    fw = AP_ROMFS::find_file(filename, fw_size);
-
     // set baudrate for bootloader
     uart.begin(115200, 256, 256);