修复：超时使用固定节点 消息过滤设置问题，重启节点判断

.gitignore

@@ -64,3 +64,4 @@ MDK-ARM/DebugConfig/proximity_uavcan_converter_STM32F103T8_1.0.0.dbgconf
 .vscode/.BROWSE.C_CPP.DB
 .vscode/.BROWSE.C_CPP.DB-shm
 .vscode/.BROWSE.C_CPP.DB-wal
+MDK-ARM/proximity_uavcan_converter/priximity.bin

UAVCAN/uavcan.c

@@ -474,11 +474,13 @@ void request_node_restart(void)
 void check_need_to_jump_boot(void)
 {
     if ((last_invocation + 1000) < HAL_GetTick())
+    {
         // process1HzTasks(getMonotonicTimestamp());
         last_invocation = HAL_GetTick(); /* Intentionally exclude processing time */
-    if (node_restart_at && (HAL_GetTick() > node_restart_at))
-    {
-        NVIC_SystemReset();
+        if (node_restart_at && (HAL_GetTick() > node_restart_at))
+        {
+            NVIC_SystemReset();
+        }
     }
 }
 
@@ -616,10 +618,12 @@ void allocation_update(void)
         bootloader_interface.node_id)
     {
       canardSetLocalNodeID(&g_canard, bootloader_interface.node_id);
+      init_uavcan_fifo(get_node_id());
     }
     else
     {
       canardSetLocalNodeID(&g_canard, DEFAULT_NODE_ID);
+      init_uavcan_fifo(get_node_id());
     }
   }
 }
@@ -743,19 +747,19 @@ static float uavcan_get_radom_float(void)
 
 void uavcan_init_by_allocation(void)
 {
-  can_filter_none();
-  can_init_irq();
-  canardInit(&g_canard,                    // Uninitialized library instance
-             g_canard_memory_pool,         // Raw memory chunk used for dynamic allocation
-             sizeof(g_canard_memory_pool), // Size of the above, in bytes
-             onTransferReceived,         // Callback, see CanardOnTransferReception
-             shouldAcceptTransfer,       // Callback, see CanardShouldAcceptTransfer
-             NULL);
-   can_init_irq();
-  read_unique_id(&node_unique_id[0]);
-  allocation_init();
-  // canard_initialized = true;
-  allocation_init_tick = HAL_GetTick();
+    can_filter_none();
+    can_init_irq();
+    canardInit(&g_canard,                    // Uninitialized library instance
+               g_canard_memory_pool,         // Raw memory chunk used for dynamic allocation
+               sizeof(g_canard_memory_pool), // Size of the above, in bytes
+               onTransferReceived,           // Callback, see CanardOnTransferReception
+               shouldAcceptTransfer,         // Callback, see CanardShouldAcceptTransfer
+               NULL);
+    can_init_irq();
+    read_unique_id(&node_unique_id[0]);
+    allocation_init();
+    // canard_initialized = true;
+    allocation_init_tick = HAL_GetTick();
 }
 
 uint64_t micros(void)