版本v2.5，把防撞基站测距出来的距离，加到定位的报文里发到定位基站上传服务器。

WXK

2023-10-30 3c8c53f51592e0e3723083288bf80e4705973e74

 Src/application/dw_app.c

@@ -847,6 +847,10 @@
    
    }
}
extern uint16_t tagid_list[TAG_NUM_IN_SYS];
extern uint16_t taglist_num;
extern int32_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t nearbase_taglist_num;
void NearPoll(void)
{
   
@@ -882,24 +886,29 @@
   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
    nearbase_taglist_num=nearbase_num+taglist_num;
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_taglist_num;
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&tagid_list,taglist_num*2);
    
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2],&nearbase_distlist,nearbase_num*4+4);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2+nearbase_num*4+4],&tagdist_list,taglist_num*4);
    
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_taglist_num*12+4],&rec_anc_signalpower,nearbase_taglist_num*2+2);

    
    if(intheight!=0)
    intheight+=g_com_map[HEIGHTOFFEST_INDEX];
    
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
//    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;   
   
   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;   
   tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;   

   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(29+8*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(29+8*nearbase_num, 0);//设置超宽带发送数据长度
   dwt_writetxdata(29+8*nearbase_taglist_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(29+8*nearbase_taglist_num, 0);//设置超宽带发送数据长度
            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
      
      while(current_count<poll_startcount||current_count>poll_startcount+16384)