DWM1001_TDoA_Tag_Ex Project

hi, i want to know about the posibilities to do a TDoA with DWM1001,
Here: https://www.decawave.com/product/dwm1001-module/
we have a project to the tag, called DWM1001_TDoA_Tag_Ex.
But i can’t identify how to do the syncronization between Anchors ( functions in the code) with UWB, or maybe use a Raspberry in every Anchor.
Someone work with this code or implement TDoA in DWM1001 ?