In the previous guide, we introduced how to connect GrowSpace UWB devices to a PC using Tera Term and configure basic settings.
In this second part, we will go over how to:
- Enter and send commands to the connected UWB device
- Receive and interpret real-time data
- Adjust common settings for tags and anchors
Each command will be explained with examples and detailed output interpretations.
Command Categories and Functions
Basic System Commands
These commands are used to check system status, reset the device, or configure default parameters.
| Command | Function |
|---|---|
si | Display system information |
nmg | Check current UWB operating mode |
reset | Reboot the device |
frst | Factory reset |
la | List connected anchors |
nis | Set PAN ID |
Position Tracking Commands (for Tags only)
These commands retrieve real-time position or distance data.
| Command | Function | Note |
|---|---|---|
lec | Output location and anchor distances (CSV) | Tag only |
lep | Output location only (CSV) | Quick check |
Tag Configuration Commands
Used to configure the tag’s update rate depending on movement state.
| Command | Function |
|---|---|
aurs | Set location update interval |
aurg | Get current update intervals |
Anchor Configuration Commands
Commands to read or manually set the anchor’s position.
| Command | Function |
|---|---|
apg | Get current position |
aps | Set manual position |
Command Examples and Output Explanation
si – System Information
dwm> si
[000937.110 INF] sys: fw2 fw_ver=x01030001 cfg_ver=x00010700
[000937.110 INF] uwb0: panid=x0001 addr=xDECAE13A6BB01C52
[000937.120 INF] mode: tn (act,twr,np,le)
[000937.120 INF] uwbmac: connected
[000937.120 INF] uwbmac: bh disconnected
[000937.130 INF] cfg: sync=0 fwup=0 ble=1 leds=0 le=1 lp=0 stat_det=0 mode=0 upd_rate_norm=1 upd_rate_stat=1 label=GR1C52
[000937.140 INF] enc: off
[000937.140 INF] ble: addr=C2:62:1A:EF:42:9C
dwm>The si command displays the current system configuration and status.
Key elements:
panid: Network group ID (must match across all devices)mode: Device mode (tnfor tag,anfor anchor,pasvfor listener)upd_rate_norm/stat: Update rates (in 100ms units)label: Device identifier
nmg – Check Device Mode
dwm> nmg
mode: tn (act,twr,np,le)현재 장치가 어떤 역할인지 표시.
태그는 tn, 앵커는 an, 리스너는 an (pasv)로 구분됩니다.
reset, frst – Reboot and Factory Reset
dwm> reset
DWM1001 TWR Real Time Location System
Copyright : 2016-2019 LEAPS and Decawave
License : Please visit https://decawave.com/dwm1001_license
Compiled : Mar 27 2019 03:37:38
Help : ? or help
dwm>Both commands reset the device.
Factory reset (frst) will reset settings, but core identity parameters remain unchanged.
la – List Connected Anchors
dwm> frst
UWBLabelDismatching..Now Set Label Data
DWM1001 TWR Real Time Location System
Copyright : 2016-2019 LEAPS and Decawave
License : Please visit https://decawave.com/dwm1001_license
Compiled : Mar 27 2019 03:37:38
Help : ? or help
dwm> OK
Returns the ID and coordinates (x, y, z) of nearby connected anchors.
nis – Set PAN ID
dwm> nis 0x0000
nis: ok
dwm>The PAN ID is a 4-digit hexadecimal code and must be the same across all devices to enable communication.
Verify with the si command.
Position Tracking Commands (For Tags Only) lec – Location and Distance (CSV format)
dwm> lec
dwm> DIST,4,AN0,365D,-2.92,0.35,0.00,9.22,AN1,3833,-5.20,15.04,0.00,6.00,AN2,2FCC,-5.45,2.
DIST,4,AN0,365D,-2.92,0.35,0.00,9.21,AN1,3833,-5.20,15.04,0.00,6.03,AN2,2FCC,-5.45,2.58,0.
00,8.86,AN3,1027,-1.00,11.48,0.00,3.36,POS,-3.34,9.48,-1.33,74
DIST,4,AN0,365D,-2.92,0.35,0.00,9.25,AN1,3833,-5.20,15.04,0.00,5.98,AN2,2FCC,-5.45,2.58,0.
00,8.90,AN3,1027,-1.00,11.48,0.00,3.32,POS,-3.34,9.49,-1.32,74
DIST,4,AN0,365D,-2.92,0.35,0.00,9.23,AN1,3833,-5.20,15.04,0.00,6.05,AN2,2FCC,-5.45,2.58,0.
00,8.92,AN3,1027,-1.00,11.48,0.00,3.43,POS,-3.35,9.48,-1.35,73
DIST,4,AN0,365D,-2.92,0.35,0.00,9.19,AN1,3833,-5.20,15.04,0.00,6.05,AN2,2FCC,-5.45,2.58,0.
00,9.08,AN3,1027,-1.00,11.48,0.00,3.39,POS,-3.35,9.47,-1.34,74DIST,4: 4 anchors are being used- Each
ANn: Anchor ID, x, y, z (in meters), distance to tag POS: Estimated tag position (x, y, z)- Final number (e.g.,
74): Location quality score (higher = more accurate)
⚠️lec is one of the most commonly used commands for testing positioning quality and logging data for analysis.
lep – Location Only
dwm> lep
POS,-3.41,9.54,-1.53,74
POS,-3.42,9.53,-1.53,73
- Quickly outputs current tag position without anchor details.
- Useful for simplified monitoring or fast updates.
Tag Update Rate Configuration aurs – Set Update Interval
dwm> aurs 2 2
aurs: ok- Format:
aurs [norm] [stat] norm: Update rate when movingstat: Update rate when stationary- Value × 100 = milliseconds
- Example:
2 2= 200ms interval for both
2. aurg – Get Current Update Settings
dwm> aurg
aurg: nom=1 stat=1
Indicates a 100ms interval for both movement and stationary states.
Anchor Position Configuration
apg – Get Anchor Position
dwm> apg
apg: x:-2500 y:3600 z:1200 qf:100Position data is displayed in millimeters.qf = Quality factor (typically 100 if stable)
aps – Set Anchor Position
dwm> aps -2500 3600 1200
aps: okAnchor positions must be input in integer millimeters.
Example: -2.5m = -2500
Conclusion
In this guide, we explored how to communicate directly with GrowSpace UWB devices using Tera Term:
- Sending system and positioning commands
- Receiving real-time tag coordinates
- Adjusting settings for both tags and anchors
This goes beyond simple connection—it empowers developers to diagnose, configure, and log real-world positioning data with precision.
In the next guide, we’ll demonstrate how to connect a GrowSpace UWB tag to an Arduino Mega 2560, send/receive serial data, and parse location values using real example code.
Stay tuned for a hands-on integration tutorial!