1. I'm surprised that TDOA based multilateration works in software when the wave speed is the speed of light! EM moves fast! 2. This module (dw1000) looks ex

1. I'm surprised that TDOA based multilateration works in software when the wave speed is the speed of light! EM moves fast! 2. This module (dw1000) looks expensive! But maybe there's a use that justifies the cost? 3. I don't know anything about this sort of hardware, but any chance you can access the raw waveform and do the delay measurement yourself? This opens new and exciting possibilities... 4. I'm curious what's different between this and every other p2p IoT comm layer that I hear about (LoRa, zigbee, thread...). A compare and contrast would be enlightening. 5. Compliments to OP on the amount, and quality, of text in the code. I (sometimes) write firmware for a living, and the driver in common/dw1000.c (based on only skimming for a few moments) appears Quite Correct. Good firmware drivers should be a C or C++ representation of the datasheet, with no embellishment.