TDOA implementation

I bought two MDEK1001 kits, and I’m trying to figure out how it works, and want implement a TDOA engine because theoretically increase the positioning update frequency.
I study some works and see that the accuracy has increased.
To implement a TDOA should use the DWM1001 API or the DW1000 API?

I understand that the DWM1001 API only can use the User thread, I’m right?

I can use the FreeRtos and the DW1000 API to create my own TDOA location engine?

Best regards

But this register

MDEK is a Two Way Ranging (TWR) based RTLS system (not TDoA).
The underlying RTOS used is eCOS.

thank you for your reply.
Best Regards