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 (tn for tag, an for anchor, pasv for 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,-1.34,74

• DIST,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 moving
• stat: 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:100

Position data is displayed in millimeters.
qf = Quality factor (typically 100 if stable)

aps – Set Anchor Position

dwm> aps -2500 3600 1200
aps: ok

Anchor 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!