Revision 0:3c24a40c2343, committed 2016-07-22

Comitter:

jksoft

Date:

Fri Jul 22 05:36:02 2016 +0000

Commit message:

??

Changed in this revision

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/ESP8266/CBuffer.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/ESP8266/CBuffer.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,75 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef CIRCBUFFER_H_
+#define CIRCBUFFER_H_
+
+template <class T>
+class CircBuffer {
+public:
+    CircBuffer(int length) {
+        write = 0;
+        read = 0;
+        size = length + 1;
+        buf = (T *)malloc(size * sizeof(T));
+    };
+
+    bool isFull() {
+        return (((write + 1) % size) == read);
+    };
+
+    bool isEmpty() {
+        return (read == write);
+    };
+
+    void queue(T k) {
+        if (isFull()) {
+            read++;
+            read %= size;
+        }
+        buf[write++] = k;
+        write %= size;
+    }
+    
+    void flush() {
+        read = 0;
+        write = 0;
+    }
+    
+
+    uint32_t available() {
+        return (write >= read) ? write - read : size - read + write;
+    };
+
+    bool dequeue(T * c) {
+        bool empty = isEmpty();
+        if (!empty) {
+            *c = buf[read++];
+            read %= size;
+        }
+        return(!empty);
+    };
+
+private:
+    volatile uint32_t write;
+    volatile uint32_t read;
+    uint32_t size;
+    T * buf;
+};
+
+#endif

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/ESP8266/ESP8266.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/ESP8266/ESP8266.cpp	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,544 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "ESP8266.h"
+#include "Endpoint.h"
+
+//#include <string>
+//#include <algorithm>
+#include "SoftSerialSendOnry.h"
+
+extern SoftSerialSendOnry pc;
+//Debug is disabled by default
+#if 0
+#define DBG(x, ...)  pc.printf("[ESP8266 : DBG]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); 
+#define WARN(x, ...) pc.printf("[ESP8266 : WARN]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); 
+#define ERR(x, ...)  pc.printf("[ESP8266 : ERR]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); 
+#else
+#define DBG(x, ...) //wait_us(10);
+#define WARN(x, ...) //wait_us(10);
+#define ERR(x, ...)
+#endif
+
+#if 0
+#define INFO(x, ...) printf("[ESP8266 : INFO]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); 
+#else
+#define INFO(x, ...)
+#endif
+
+#define ESP_MAX_TRY_JOIN 3
+#define ESP_MAXID 4 // the largest possible ID Value (max num of sockets possible)
+
+ESP8266 * ESP8266::inst;
+char* ip = NULL;
+
+ESP8266::ESP8266(PinName tx, PinName rx, PinName reset, const char *ssid, const char *phrase, uint32_t baud) :
+    wifi(tx, rx), reset_pin(reset), buf_ESP8266(ESP_MBUFFE_MAX)
+{
+    INFO("Initializing ESP8266 object");
+    memset(&state, 0, sizeof(state));
+
+
+    strcpy(this->ssid, ssid);
+    strcpy(this->phrase, phrase);
+    inst = this;
+    attach_rx(false);
+
+    wifi.baud(baud); // initial baud rate of the ESP8266
+
+    state.associated = false;
+    state.cmdMode = false;
+}
+
+bool ESP8266::join()
+{
+    char cmd[100];
+    sendCommand( "AT+CWMODE=1", "change", NULL, 1000);
+    //string cmd="AT+CWJAP=\""+(string)this->ssid+"\",\""+(string)this->phrase+"\"";
+    sprintf(cmd,"AT+CWJAP=\"%s\",\"%s\"",this->ssid,this->phrase);
+    if( sendCommand( cmd, "OK", NULL, 10000) ) {
+        // successfully joined the network
+        state.associated = true;
+        INFO("ssid: %s, phrase: %s", this->ssid, this->phrase);
+        return true;
+    }
+    return false;
+}
+
+bool ESP8266::single_ap()
+{
+    char cmd[100];
+    sendCommand( "AT+CWMODE=2", "change", NULL, 1000);
+    //string cmd="AT+CWJAP=\""+(string)this->ssid+"\",\""+(string)this->phrase+"\"";
+    sprintf(cmd,"AT+CWSAP=\"%s\",\"%s\",11,3",this->ssid,this->phrase);
+    if( sendCommand( cmd, "OK", NULL, 10000) ) {
+        // successfully joined the network
+        state.associated = true;
+        INFO("ssid: %s, phrase: %s", this->ssid, this->phrase);
+		wait(1);
+		// Enable DHCP
+	    sendCommand("AT+CWDHCP=0,1","OK",NULL,1000);
+		wait(1);
+        return true;
+    }
+    return false;
+}
+
+bool ESP8266::connect()
+{
+    sendCommand("AT+CWDHCP=1,1","OK",NULL,1000); // DHCP Enabled in Station Mode
+    return ESP8266::join();
+}
+
+bool ESP8266::is_connected()
+{
+    return true;
+}
+
+bool ESP8266::start(bool type,char* ip, int port, int id)
+{
+    char cmd[256];
+    // Error Check
+    if(id > ESP_MAXID) {
+        ERR("startUDPMulti: max id is: %d, id given is %d",ESP_MAXID,id);
+        return false;
+    }
+    // Single Connection Mode
+    if(id < 0) {
+        DBG("Start Single Connection Mode");
+        //char portstr[5];
+        bool check [3] = {0};
+        //sprintf(portstr, "%d", port);
+        switch(type) {
+            case ESP_UDP_TYPE : //UDP
+                sprintf(cmd,"AT+CIPSTART=\"UDP\",\"%s\",%d,%d,0",ip,port,port+1);
+                pc.printf("%s\r\n",cmd);
+                check[0] = sendCommand(cmd, "OK", NULL, 10000);
+                //check[0] = sendCommand(( "AT+CIPSTART=\"UDP\",\"" + (string) ip + "\"," + (string) portstr ).c_str(), "OK", NULL, 10000);
+               break;
+            case ESP_TCP_TYPE : //TCP
+                sprintf(cmd,"AT+CIPSTART=\"TCP\",\"%s\",%d",ip,port);
+                check[0] = sendCommand(cmd, "OK", NULL, 10000);
+                //check[0] = sendCommand(( "AT+CIPSTART=\"TCP\",\"" + (string) ip + "\"," + (string) portstr ).c_str(), "OK", NULL, 10000);
+                break;
+            default:
+                ERR("Default hit for starting connection, this shouldnt be possible!!");
+                break;
+        }
+        check[1] = sendCommand("AT+CIPMODE=1", "OK", NULL, 1000);// go into transparent mode
+        check[2] = sendCommand("AT+CIPSEND", ">", NULL, 1000);// go into transparent mode
+        // check that all commands were sucessful
+        if(check[0] and check[1] and check[2]) {
+            state.cmdMode = false;
+            return true;
+        } else {
+            ERR("startUDPTransparent Failed for ip:%s, port:%d",ip,port);
+            return false;
+        }
+    }
+    // Multi Connection Mode
+    else {
+        //TODO: impliment Multi Connection Mode
+        ERR("Not currently Supported!");
+        return false;
+    }
+}
+
+bool ESP8266::startUDP(char* ip, int port, int id, int length)
+{
+    char cmd[256];
+    char portstr[5];
+    char idstr[1];
+    char lenstr[2];
+    
+    sprintf(portstr, "%d", port);
+    sprintf(idstr, "%d", id);
+    sprintf(lenstr, "%d", length);
+    
+    sendCommand("AT+CIPMUX=1", "OK", NULL, 1000);
+    sprintf(cmd,"AT+CIPSTART=%d,\"UDP\",\"%s\",%d,1112,0",id,ip,port);
+    sendCommand(cmd, "OK", NULL, 10000);
+    //sendCommand(( "AT+CIPSTART=" + string(idstr) + ",\"UDP\",\"" + (string) ip + "\"," + (string) portstr + ",1112,0").c_str(), "OK", NULL, 10000);
+    sprintf(cmd,"AT+CIPSEND=%d,%d",id,length);
+    sendCommand(cmd, ">", NULL, 1000);// go into transparent mode
+    //sendCommand(("AT+CIPSEND=" + (string)idstr + "," +  (string)lenstr).c_str(), ">", NULL, 1000);// go into transparent mode
+    DBG("Data Mode\r\n");
+    state.cmdMode = false;
+
+    return true;
+}
+
+bool ESP8266::startTCPServer(int port)
+{
+    char cmd[100];
+    bool command_results[3];
+    command_results[0]=sendCommand("AT+CWMODE=3", "OK", NULL, 1000);
+    command_results[1]=sendCommand("AT+CIPMUX=1", "OK", NULL, 1000);
+    if(port == 333){
+        command_results[2]=sendCommand("AT+CIPSERVER=1", "OK", NULL, 1000);
+    }
+    else{
+        sprintf(cmd,"AT+CIPSERVER=1,%d",port);
+        command_results[2]=sendCommand(cmd, "OK", NULL, 1000);
+    }
+    //sendCommand("AT+CIFSR", "OK", NULL, 1000);
+    DBG("Data Mode\r\n");
+    state.cmdMode = false;
+    if (command_results[0] and command_results[1] and command_results[2]){
+        return true;
+    }
+    else{
+        return false;
+    }
+}
+
+bool ESP8266::close()
+{
+    wait(0.1f);
+    send("+++",3);
+    wait(1.0f);
+    state.cmdMode = true;
+    sendCommand("AT+CIPCLOSE","OK", NULL, 10000);
+    return true;
+}
+
+bool ESP8266::disconnect()
+{
+    // if already disconnected, return
+    if (!state.associated)
+        return true;
+    // send command to quit AP
+    sendCommand("AT+CWQAP", "OK", NULL, 10000);
+    state.associated = false;
+    return true;
+}
+
+int ESP8266::strfind(const char *str,const char *chkstr,int pos)
+{
+    if( (strlen(str)-pos) < strlen(chkstr) )    return(-1);
+    
+
+    for(int i=pos;i<strlen(str);i++)
+    {
+        if(memcmp(chkstr,&str[i],strlen(chkstr))==0)
+        {
+            return(i);
+        }
+    }
+    return(-1);
+}
+
+char* ESP8266::substr(const char *str , char *outstr , int pos1 , int pos2 )
+{
+    int size = pos2 - pos1;
+    
+    memcpy(outstr , &str[pos1] , size );
+    outstr[size] = '\0';
+    
+    return(outstr);
+}
+
+int ESP8266::strcount(const char *str , char countstr )
+{
+    int ret = 0;
+    
+    for(int i = 0 ; i < strlen(str) ; i++)
+    {
+        if( str[i] == countstr )
+        {
+            ret++;
+        }
+        
+    }
+    
+    return(ret);
+}
+
+/*
+    Assuming Returned data looks like this:
+    +CIFSR:STAIP,"192.168.11.2"
+    +CIFSR:STAMAC,"18:fe:34:9f:3a:f5"
+    grabbing IP from first set of quotation marks
+*/
+char* ESP8266::getIPAddress()
+{
+    char result[80] = {0};
+    char tmp[30] = {0};
+    int check = 0;
+    check = sendCommand("AT+CIFSR", NULL, result, 1000);
+    pc.printf("\r\nReceivedInfo for IP Command is: %s\r\n",result);
+    ip = ipString;
+    if(check) {
+        // Success
+        uint8_t pos1 = 0, pos2 = 0;
+        //uint8_t pos3 = 0, pos4 = 0;
+        //pos1 = strfind(result,"+CIFSR:STAIP",0);
+        pos1 = strfind(result,"+CIFSR:APIP",0);
+        //pos1 = resultString.find("+CIFSR:STAIP");
+        pos1 = strfind(result,"\"",pos1);
+        //pos1 = resultString.find('"',pos1);
+        pos2 = strfind(result,"\"",pos1+1);
+        //pos2 = resultString.find('"',pos1+1);
+        //pos3 = resultString.find('"',pos2+1); //would find mac address
+        //pos4 = resultString.find('"',pos3+1);
+        strncpy(ipString,substr(result,tmp,pos1+1,pos2),sizeof(ipString));
+        ipString[pos2 - pos1 +1] = 0; // null terminate string correctly.
+        INFO("IP: %s",ipString);
+        ip = ipString;
+
+    } else {
+        // Failure
+        ERR("getIPAddress() failed");
+        ip = NULL;
+    }
+    return ip;
+}
+
+bool ESP8266::gethostbyname(const char * host, char * ip)
+{
+    int nb_digits = 0;
+    char tmp[100];
+    
+    strcpy(ip,host);
+    
+    return true;
+#if 0
+    // no dns needed
+    int pos = strfind(host,".",0);
+    if (pos != -1) {
+        nb_digits = atoi(substr(host,tmp,0,pos));
+    }
+    //printf("substrL %s\r\n", sub.c_str());
+    if (strcount(host,'.') == 3 && nb_digits > 0) {
+        strcpy(ip, host);
+        return true;
+    } else {
+        // dns needed, not currently available
+        ERR("gethostbyname(): DNS Not currently available, only use IP Addresses!");
+        return false;
+    }
+#endif
+}
+
+void ESP8266::reset()
+{
+    reset_pin = 0;
+    wait_us(20);
+    reset_pin = 1;
+    //wait(1);
+    //reset_pin = !reset_pin
+    //send("+++",3);
+    wait(1);
+    state.cmdMode = true;
+    sendCommand("AT", "OK", NULL, 1000);
+    sendCommand("AT+RST", "ready", NULL, 10000);
+    state.associated = false;
+
+}
+
+bool ESP8266::reboot()
+{
+    reset();
+    return true;
+}
+
+void ESP8266::handler_rx(void)
+{
+    //read characters
+    char c;
+    while (wifi.readable()) {
+        c=wifi.getc();
+        buf_ESP8266.queue(c);
+        //if (state.cmdMode) pc.printf("%c",c); //debug echo, needs fast serial console to prevent UART overruns
+    }
+}
+
+void ESP8266::attach_rx(bool callback)
+{
+    if (!callback) {
+        wifi.attach(NULL);
+    }
+    else {
+        wifi.attach(this, &ESP8266::handler_rx);
+    }
+}
+
+int ESP8266::readable()
+{
+    return buf_ESP8266.available();
+}
+
+int ESP8266::writeable()
+{
+    return wifi.writeable();
+}
+
+char ESP8266::getc()
+{
+    char c=0;
+    while (!buf_ESP8266.available());
+    buf_ESP8266.dequeue(&c);
+    return c;
+}
+
+int ESP8266::putc(char c)
+{
+    while (!wifi.writeable() || wifi.readable()); //wait for echoed command characters to be read first
+    return wifi.putc(c);
+}
+
+void ESP8266::flush()
+{
+    buf_ESP8266.flush();
+}
+
+int ESP8266::send(const char * buf, int len)
+{
+    //TODO: need to add handler for data > 2048B, this is the max packet size of the ESP8266.
+    if(len >= 2048){
+        WARN("send buffer >= 2048B, need to chunk this up to be less.");    
+    }
+    const char* bufptr=buf;
+    for(int i=0; i<len; i++) {
+        putc((int)*bufptr++);
+    }
+    return len;
+}
+
+bool ESP8266::sendCommand(const char * cmd, const char * ACK, char * res, int timeout)
+{
+    char read;
+    char checking[512] = "";
+    int checking_size = 0;
+    int fond = -1;
+    Timer tmr;
+    int result = 0;
+
+    DBG("sendCmd:\t %s",cmd);
+
+    attach_rx(true);
+
+    //We flush the buffer
+    while (readable())
+        getc();
+
+    if (!ACK || !strcmp(ACK, "NO")) {
+        for (int i = 0; i < strlen(cmd); i++) {
+            result = (putc(cmd[i]) == cmd[i]) ? result + 1 : result;
+            wait(0.005f); // prevents stuck recieve ready (?) need to let echoed character get read first
+        }
+        putc(13); //CR
+        wait(0.005f); // wait for echo
+        putc(10); //LF
+
+    } else {
+        //We flush the buffer
+        while (readable())
+            getc();
+
+        tmr.start();
+        for (int i = 0; i < strlen(cmd); i++) {
+            result = (putc(cmd[i]) == cmd[i]) ? result + 1 : result;
+            wait(.005); // wait for echo
+        }
+        putc(13); //CR
+        wait(0.005f); // wait for echo
+        putc(10); //LF
+
+        while (1) {
+            if (tmr.read_ms() > timeout) {
+                //We flush the buffer
+                while (readable())
+                    getc();
+
+                DBG("check:\t %s", checking);
+
+                attach_rx(true);
+                return -1;
+            } else if (readable()) {
+                read = getc();
+                //pc.printf("%c",read); //debug echo
+                if ( read != '\r' && read != '\n') {
+                    checking[checking_size] = read;
+                    checking_size++;
+                    checking[checking_size] = '\0';
+                    fond = strfind(checking,ACK,0);
+                    if (fond != -1) {
+                        wait(0.01f);
+
+                        //We flush the buffer
+                        while (readable())
+                            read = getc();
+                        //printf("%c",read); //debug echo
+                        break;
+                    }
+                }
+            }
+        }
+        DBG("check: %s", checking);
+
+        attach_rx(true);
+        return result;
+    }
+
+    //the user wants the result from the command (ACK == NULL, res != NULL)
+    if (res != NULL) {
+        int i = 0;
+        Timer timeout;
+        timeout.start();
+        tmr.reset();
+        while (1) {
+            if (timeout.read() > 2) {
+                if (i == 0) {
+                    res = NULL;
+                    break;
+                }
+                res[i] = '\0';
+                DBG("user str 1: %s", res);
+
+                break;
+            } else {
+                if (tmr.read_ms() > 300) {
+                    res[i] = '\0';
+                    DBG("user str: %s", res);
+
+                    break;
+                }
+                if (readable()) {
+                    tmr.start();
+                    read = getc();
+
+                    // we drop \r and \n
+                    if ( read != '\r' && read != '\n') {
+                        res[i++] = read;
+                    }
+                }
+            }
+        }
+        DBG("user str: %s", res);
+    }
+
+    //We flush the buffer
+    while (readable())
+        getc();
+
+    attach_rx(true);
+    DBG("result: %d", result)
+    return result;
+}

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/ESP8266/ESP8266.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/ESP8266/ESP8266.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,237 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * ESP8266 serial wifi module
+ *
+ * Datasheet:
+ *
+ * http://www.electrodragon.com/w/Wi07c
+ */
+
+#ifndef ESP8266_H
+#define ESP8266_H
+
+#include "mbed.h"
+#include "CBuffer.h"
+
+#define DEFAULT_WAIT_RESP_TIMEOUT 500
+#define ESP_TCP_TYPE 1
+#define ESP_UDP_TYPE 0 
+#define ESP_MBUFFE_MAX 256
+
+/**
+ * The ESP8266 class
+ */
+class ESP8266
+{
+
+public:
+    /**
+    * Constructor
+    *
+    * @param tx mbed pin to use for tx line of Serial interface
+    * @param rx mbed pin to use for rx line of Serial interface
+    * @param reset reset pin of the wifi module ()
+    * @param ssid ssid of the network
+    * @param phrase WEP, WPA or WPA2 key
+    * @param baud the baudrate of the serial connection
+    */
+    ESP8266( PinName tx, PinName rx, PinName reset, const char * ssid, const char * phrase, uint32_t baud );
+
+    /**
+    * Connect the wifi module to the ssid contained in the constructor.
+    *
+    * @return true if connected, false otherwise
+    */
+    bool join();
+    
+    bool single_ap();
+
+    /**
+    * Same as Join: connect to the ssid and get DHCP settings
+    * @return true if successful
+    */
+    bool connect();
+    
+    /**
+    * Check connection to the access point
+    * @return true if successful
+    */
+    bool is_connected();
+
+    /**
+    * Disconnect the ESP8266 module from the access point
+    *
+    * @return true if successful
+    */
+    bool disconnect();
+    
+    /*
+    * Start up a UDP or TCP Connection
+    * @param type 0 for UDP, 1 for TCP
+    * @param ip A string that contains the IP, no quotes
+    * @param port Numerical port number to connect to
+    * @param id number between 0-4, if defined it denotes ID to use in multimode (Default to Single connection mode with -1)
+    * @return true if sucessful, 0 if fail
+    */
+    bool start(bool type, char* ip, int port, int id = -1);
+    
+    /*
+    * Legacy Start for UDP only connection in transparent mode
+    * @param ip A string that contains the IP, no quotes
+    * @param id number between 0-4
+    * @param port Numerical port number to connect to
+    * @param length number of characters in the message being sent
+    */
+    bool startUDP(char* ip, int port, int id, int length);
+
+    /*
+    * Legacy Start for UDP only connection in transparent mode
+    * @param ip A string that contains the IP, no quotes
+    * @param id number between 0-4
+    * @param port Numerical port number to connect to
+    * @param length number of characters in the message being sent
+    */
+    //bool startUDP(char* ip, int port, int id, int length);
+
+    /*
+    *Starts the ESP chip as a TCP Server
+    *@param port Numerical port of the server, default is 333
+    */
+    bool startTCPServer(int port = 333);
+
+    /**
+    * Close a connection
+    *
+    * @return true if successful
+    */
+    bool close();
+    
+    /**
+    * Return the IP address 
+    * @return IP address as a string
+    */
+    char* getIPAddress();
+
+    /**
+    * Return the IP address from host name
+    * @return true on success, false on failure
+    */    
+    bool gethostbyname(const char * host, char * ip);
+
+    /**
+    * Reset the wifi module
+    */
+    void reset();
+    
+    /**
+    * Reboot the wifi module
+    */
+    bool reboot();
+
+    /**
+    * Check if characters are available
+    *
+    * @return number of available characters
+    */
+    int readable();
+
+    /**
+    * Check if characters are available
+    *
+    * @return number of available characters
+    */
+    int writeable();
+
+    /**
+    * Read a character
+    *
+    * @return the character read
+    */
+    char getc();
+
+    /**
+    * Write a character
+    *
+    * @param the character which will be written
+    */
+    int putc(char c);
+
+    /**
+    * Flush the buffer
+    */
+    void flush();
+
+    /**
+    * Send a command to the wifi module. Check if the module is in command mode. If not enter in command mode
+    *
+    * @param str string to be sent
+    * @param ACK string which must be acknowledge by the wifi module. If ACK == NULL, no string has to be acknowledged. (default: "NO")
+    * @param res this field will contain the response from the wifi module, result of a command sent. This field is available only if ACK = "NO" AND res != NULL (default: NULL)
+    *
+    * @return true if successful
+    */
+    bool sendCommand(const char * cmd, const char * ack = NULL, char * res = NULL, int timeout = DEFAULT_WAIT_RESP_TIMEOUT);
+
+    /**
+    * Send a string to the wifi module by serial port. This function desactivates the user interrupt handler when a character is received to analyze the response from the wifi module.
+    * Useful to send a command to the module and wait a response.
+    *
+    *
+    * @param str string to be sent
+    * @param len string length
+    * @param ACK string which must be acknowledge by the wifi module. If ACK == NULL, no string has to be acknoledged. (default: "NO")
+    * @param res this field will contain the response from the wifi module, result of a command sent. This field is available only if ACK = "NO" AND res != NULL (default: NULL)
+    *
+    * @return true if ACK has been found in the response from the wifi module. False otherwise or if there is no response in 5s.
+    */
+    int send(const char * buf, int len);
+
+    static ESP8266 * getInstance() {
+        return inst;
+    };
+
+protected:
+    int strfind(const char *str,const char *chkstr,int pos=0);
+    char* substr(const char *str , char *outstr , int pos1 , int pos2 );
+    int strcount(const char *str , char countstr );
+
+
+    RawSerial wifi;
+    DigitalOut reset_pin;
+    char phrase[30];
+    char ssid[30];
+    char ipString[30];
+    CircBuffer<char> buf_ESP8266;
+
+    static ESP8266 * inst;
+
+    void attach_rx(bool null);
+    void handler_rx(void);
+
+
+    typedef struct STATE {
+        bool associated;
+        bool cmdMode;
+    } State;
+
+    State state;
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/ESP8266Interface.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/ESP8266Interface.cpp	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,28 @@
+#include "ESP8266Interface.h"
+
+ESP8266Interface::ESP8266Interface( PinName tx, PinName rx, PinName reset,
+                                const char * ssid, const char * phrase, uint32_t baud ) :
+    ESP8266(tx, rx, reset, ssid, phrase, baud )
+{
+}
+
+int ESP8266Interface::init()
+{
+    ESP8266::reset();
+    return 0;
+}
+
+bool ESP8266Interface::connect()
+{
+    return ESP8266::connect();
+}
+
+int ESP8266Interface::disconnect()
+{
+    return ESP8266::disconnect();
+}
+
+char * ESP8266Interface::getIPAddress()
+{
+    return ESP8266::getIPAddress();
+}
\ No newline at end of file

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/ESP8266Interface.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/ESP8266Interface.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,73 @@
+/* ESP8266Interface.h */
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+ 
+#ifndef ESP8266INTERFACE_H_
+#define ESP8266INTERFACE_H_
+
+#include "ESP8266.h"
+#include "Endpoint.h"
+
+ /**
+ * Interface using ESP8266 to connect to an IP-based network
+ */
+class ESP8266Interface: public ESP8266 {
+public:
+
+    /**
+    * Constructor
+    *
+    * \param tx mbed pin to use for tx line of Serial interface
+    * \param rx mbed pin to use for rx line of Serial interface
+    * \param reset reset pin of the wifi module ()
+    * \param ssid ssid of the network
+    * \param phrase WEP or WPA key
+    * \param baud the baudrate of the serial connection (defaults to 115200, diff revs of the firmware use diff baud rates
+    */
+  ESP8266Interface(PinName tx, PinName rx, PinName reset, const char * ssid, const char * phrase, uint32_t baud = 115200 );
+
+  /** Initialize the interface with DHCP.
+  * Initialize the interface and configure it to use DHCP (no connection at this point).
+  * \return 0 on success, a negative number on failure
+  */
+  int init(); //With DHCP
+
+  /** Connect
+  * Bring the interface up, start DHCP if needed.
+  * \return 0 on success, a negative number on failure
+  */
+  bool connect();
+  
+  /** Disconnect
+  * Bring the interface down
+  * \return 0 on success, a negative number on failure
+  */
+  int disconnect();
+  
+  /** Get IP address
+  *
+  * \return ip address
+  */
+  char* getIPAddress();
+  
+private:
+};
+
+#include "UDPSocket.h"
+
+#endif /* ESP8266INTERFACE_H_ */

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/Helper/def.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/Helper/def.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,28 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+ 
+#ifndef DEF_H
+#define DEF_H
+
+#include "cmsis.h"
+#define htons(x)      __REV16(x)
+#define ntohs(x)      __REV16(x)
+#define htonl(x)      __REV(x)
+#define ntohl(x)      __REV(x)
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/Socket/Endpoint.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/Socket/Endpoint.cpp	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,64 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include "Socket/Socket.h"
+#include "Socket/Endpoint.h"
+#include <cstring>
+
+using std::memset;
+
+Endpoint::Endpoint()
+{
+    ESP8266 = ESP8266::getInstance();
+    if (ESP8266 == NULL)
+        error("Endpoint constructor error: no ESP8266 instance available!\r\n");
+    reset_address();
+}
+Endpoint::~Endpoint() {}
+
+void Endpoint::reset_address(void)
+{
+    _ipAddress[0] = '\0';
+    _port = 0;
+    _id = -1;
+}
+
+int Endpoint::set_address(const char* host, const int port)
+{
+    //Resolve DNS address or populate hard-coded IP address
+    if(ESP8266->gethostbyname(host, _ipAddress)) {
+        _port = port;
+        return 0;
+    } else {
+        return -1;
+    }
+}
+
+char* Endpoint::get_address()
+{
+    return _ipAddress;
+}
+
+int   Endpoint::get_port()
+{
+    return _port;
+}
+
+int Endpoint::get_id()
+{
+    return _id;
+}

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/Socket/Endpoint.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/Socket/Endpoint.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,72 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef ENDPOINT_H
+#define ENDPOINT_H
+
+#include "ESP8266.h"
+
+class UDPSocket;
+
+/**
+IP Endpoint (address, port)
+*/
+class Endpoint {
+    friend class UDPSocket;
+
+public:
+    /** IP Endpoint (address, port)
+     */
+    Endpoint(void);
+    
+    ~Endpoint(void);
+    
+    /** Reset the address of this endpoint
+     */
+    void reset_address(void);
+    
+    /** Set the address of this endpoint
+    \param host The endpoint address (it can either be an IP Address or a hostname that will be resolved with DNS).
+    \param port The endpoint port
+    \return 0 on success, -1 on failure (when an hostname cannot be resolved by DNS).
+     */
+    int  set_address(const char* host, const int port);
+    
+    /** Get the IP address of this endpoint
+    \return The IP address of this endpoint.
+     */
+    char* get_address(void);
+    
+    /** Get the port of this endpoint
+    \return The port of this endpoint
+     */
+    int get_port(void);
+    
+    /** Get the id of this endpoint
+    \return The id of this endpoint
+     */
+    int get_id(void);
+
+protected:
+    char _ipAddress[64];
+    int _port;
+    int _id;
+    
+    ESP8266 * ESP8266;
+};
+
+#endif

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/Socket/Socket.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/Socket/Socket.cpp	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,57 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+ 
+#include "Socket.h"
+#include <cstring>
+
+//Debug is disabled by default
+#if 0
+//Enable debug
+#include <cstdio>
+#define DBG(x, ...) std::printf("[Socket : DBG]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); 
+#define WARN(x, ...) std::printf("[Socket : WARN]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); 
+#define ERR(x, ...) std::printf("[Socket : ERR]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); 
+
+#else
+//Disable debug
+#define DBG(x, ...) 
+#define WARN(x, ...)
+#define ERR(x, ...) 
+
+#endif
+
+Socket::Socket() : _blocking(true), _timeout(1500) {
+    wifi = ESP8266::getInstance();
+    if (wifi == NULL)
+        ERR("Socket constructor error: no ESP8266 instance available!");
+}
+
+void Socket::set_blocking(bool blocking, unsigned int timeout) {
+    DBG("set blocking: %d %d", blocking, timeout);
+    _blocking = blocking;
+    _timeout = timeout;
+}
+
+int Socket::close() {
+    
+    return (wifi->close()) ? 0 : -1;
+}
+
+Socket::~Socket() {
+    close(); //Don't want to leak
+}

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/Socket/Socket.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/Socket/Socket.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,51 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef SOCKET_H_
+#define SOCKET_H_
+
+#include "ESP8266.h"
+
+/** Socket file descriptor and select wrapper
+  */
+class Socket {
+public:
+    /** Socket
+     */
+    Socket();
+    
+    /** Set blocking or non-blocking mode of the socket and a timeout on
+        blocking socket operations
+    \param blocking  true for blocking mode, false for non-blocking mode.
+    \param timeout   timeout in ms [Default: (1500)ms].
+    */
+    void set_blocking(bool blocking, unsigned int timeout=1500);
+    
+    /** Close the socket file descriptor
+     */
+    int close();
+    
+    ~Socket();
+    
+protected:
+    bool _blocking;
+    int _timeout;
+    ESP8266 * wifi;
+};
+
+
+#endif /* SOCKET_H_ */

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/Socket/TCPSocketConnection.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/Socket/TCPSocketConnection.cpp	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,246 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include "TCPSocketConnection.h"
+#include <cstring>
+#include <algorithm>
+
+using std::memset;
+using std::memcpy;
+
+//Debug is disabled by default
+#if 0
+#define DBG(x, ...)  pc.printf("[TCPConnection : DBG]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); 
+#define WARN(x, ...) pc.printf("[TCPConnection: WARN]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); 
+#define ERR(x, ...)  pc.printf("[TCPConnection : ERR]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); 
+#else
+#define DBG(x, ...)
+#define WARN(x, ...)
+#define ERR(x, ...)
+#endif
+
+TCPSocketConnection::TCPSocketConnection() :
+    _is_connected(false)
+{
+}
+
+int TCPSocketConnection::connect(const char* host, const int port)
+{
+//    if (init_socket(SOCK_STREAM) < 0)
+//        return -1;
+//
+    if (set_address(host, port) != 0)
+        return -1;
+//
+//    if (lwip_connect(_sock_fd, (const struct sockaddr *) &_remoteHost, sizeof(_remoteHost)) < 0) {
+//        close();
+//        return -1;
+//    }
+//    _is_connected = true;
+
+    _is_connected = ESP8266->start(ESP_TCP_TYPE,_ipAddress,_port);
+    if(_is_connected) { //success
+        return 0;
+    } else { // fail
+        return -1;
+    }
+}
+
+bool TCPSocketConnection::is_connected(void)
+{
+    return _is_connected;
+}
+
+int TCPSocketConnection::send(char* data, int length)
+{
+    if (!_is_connected) {
+        ERR("TCPSocketConnection::receive() - _is_connected is false : you cant receive data until you connect to a socket!");
+        return -1;
+    }
+    Timer tmr;
+    int idx = 0;
+    tmr.start();
+    while ((tmr.read_ms() < _timeout) || _blocking) {
+
+        idx += wifi->send(data, length);
+
+        if (idx == length)
+            return idx;
+    }
+    return (idx == 0) ? -1 : idx;
+
+    //return wifi->send(data,length);
+//
+//    if (!_blocking) {
+//        TimeInterval timeout(_timeout);
+//        if (wait_writable(timeout) != 0)
+//            return -1;
+//    }
+//
+//    int n = lwip_send(_sock_fd, data, length, 0);
+//    _is_connected = (n != 0);
+//
+//    return n;
+
+}
+
+// -1 if unsuccessful, else number of bytes written
+int TCPSocketConnection::send_all(char* data, int length)
+{
+//   if ((_sock_fd < 0) || !_is_connected)
+//        return -1;
+//
+//    int writtenLen = 0;
+//    TimeInterval timeout(_timeout);
+//    while (writtenLen < length) {
+//        if (!_blocking) {
+//            // Wait for socket to be writeable
+//            if (wait_writable(timeout) != 0)
+//                return writtenLen;
+//        }
+//
+//        int ret = lwip_send(_sock_fd, data + writtenLen, length - writtenLen, 0);
+//        if (ret > 0) {
+//            writtenLen += ret;
+//            continue;
+//        } else if (ret == 0) {
+//            _is_connected = false;
+//            return writtenLen;
+//        } else {
+//            return -1; //Connnection error
+//        }
+//    }
+//    return writtenLen;
+    return send(data,length); // just remap to send
+}
+
+int TCPSocketConnection::receive(char* buffer, int length)
+{
+    if (!_is_connected) {
+        ERR("TCPSocketConnection::receive() - _is_connected is false : you cant receive data until you connect to a socket!");
+        return -1;
+    }
+    Timer tmr;
+    int idx = 0;
+    int nb_available = 0;
+    int time = -1;
+
+    //make this the non-blocking case and return if <= 0
+    // remember to change the config to blocking
+    // if ( ! _blocking) {
+    // if ( wifi.readable <= 0 ) {
+    // return (wifi.readable);
+    // }
+    // }
+    //---
+    tmr.start();
+    if (_blocking) {
+        while (1) {
+            nb_available = wifi->readable();
+            if (nb_available != 0) {
+                break;
+            }
+        }
+    }
+    //---
+    // blocking case
+    else {
+        tmr.reset();
+
+        while (time < _timeout) {
+            nb_available = wifi->readable();
+            if (nb_available < 0) return nb_available;
+            if (nb_available > 0) break ;
+            time = tmr.read_ms();
+        }
+
+        if (nb_available == 0) return nb_available;
+    }
+
+    // change this to < 20 mS timeout per byte to detect end of packet gap
+    // this may not work due to buffering at the UART interface
+    tmr.reset();
+    // while ( tmr.read_ms() < 20 ) {
+    // if ( wifi.readable() && (idx < length) ) {
+    // buffer[idx++] = wifi->getc();
+    // tmr.reset();
+    // }
+    // if ( idx == length ) {
+    // break;
+    // }
+    // }
+    //---
+    while (time < _timeout) {
+
+        nb_available = wifi->readable();
+        //for (int i = 0; i < min(nb_available, length); i++) {
+        for (int i = 0; i < min(nb_available, (length-idx)); i++) {
+            buffer[idx] = wifi->getc();
+            idx++;
+        }
+        if (idx == length) {
+            break;
+        }
+        time = tmr.read_ms();
+    }
+    //---
+    return (idx == 0) ? -1 : idx;
+
+//************************ original code below
+//
+//    if (!_blocking) {
+//        TimeInterval timeout(_timeout);
+//        if (wait_readable(timeout) != 0)
+//            return -1;
+//    }
+//
+//    int n = lwip_recv(_sock_fd, data, length, 0);
+//    _is_connected = (n != 0);
+//
+//    return n;
+
+}
+
+// -1 if unsuccessful, else number of bytes received
+int TCPSocketConnection::receive_all(char* data, int length)
+{
+    //ERR("receive_all() not yet implimented");
+    //  if ((_sock_fd < 0) || !_is_connected)
+//        return -1;
+//
+//    int readLen = 0;
+//    TimeInterval timeout(_timeout);
+//    while (readLen < length) {
+//        if (!_blocking) {
+//            //Wait for socket to be readable
+//            if (wait_readable(timeout) != 0)
+//                return readLen;
+//        }
+//
+//        int ret = lwip_recv(_sock_fd, data + readLen, length - readLen, 0);
+//        if (ret > 0) {
+//            readLen += ret;
+//        } else if (ret == 0) {
+//            _is_connected = false;
+//            return readLen;
+//        } else {
+//            return -1; //Connnection error
+//        }
+//    }
+//    return readLen;
+    receive(data,length);
+}

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/Socket/TCPSocketConnection.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/Socket/TCPSocketConnection.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,82 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+ 
+#ifndef TCPSOCKET_H
+#define TCPSOCKET_H
+ 
+#include "Socket/Socket.h"
+#include "Socket/Endpoint.h"
+ 
+/**
+TCP socket connection
+*/
+class TCPSocketConnection : public Socket, public Endpoint {
+    friend class TCPSocketServer;
+    
+public:
+    /** TCP socket connection
+    */
+    TCPSocketConnection();
+    
+    /** Connects this TCP socket to the server
+    \param host The host to connect to. It can either be an IP Address or a hostname that will be resolved with DNS.
+    \param port The host's port to connect to.
+    \return 0 on success, -1 on failure.
+    */
+    int connect(const char* host, const int port);
+    
+    /** Check if the socket is connected
+    \return true if connected, false otherwise.
+    */
+    bool is_connected(void);
+    
+    /** Send data to the remote host.
+    \param data The buffer to send to the host.
+    \param length The length of the buffer to send.
+    \return the number of written bytes on success (>=0) or -1 on failure
+     */
+    int send(char* data, int length);
+    
+    /** Send all the data to the remote host.
+    \param data The buffer to send to the host.
+    \param length The length of the buffer to send.
+    \return the number of written bytes on success (>=0) or -1 on failure
+    */
+    int send_all(char* data, int length);
+    
+    /** Receive data from the remote host.
+    \param data The buffer in which to store the data received from the host.
+    \param length The maximum length of the buffer.
+    \return the number of received bytes on success (>=0) or -1 on failure
+     */
+    int receive(char* data, int length);
+    
+    /** Receive all the data from the remote host.
+    \param data The buffer in which to store the data received from the host.
+    \param length The maximum length of the buffer.
+    \return the number of received bytes on success (>=0) or -1 on failure
+    */
+    int receive_all(char* data, int length);
+ 
+private:
+    bool _is_connected;
+ 
+};
+ 
+#endif
+ 
\ No newline at end of file

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/Socket/TCPSocketServer.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/Socket/TCPSocketServer.cpp	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,44 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include "TCPSocketServer.h"
+ 
+#include <cstring>
+ 
+using std::memset;
+using std::memcpy;
+ 
+TCPSocketServer::TCPSocketServer() {
+    
+}
+ 
+int TCPSocketServer::bind(int port) {
+  if(!wifi->startTCPServer(port)) {
+            return(-1);
+   }
+    _port = port;
+    return 0;
+}
+ 
+int TCPSocketServer::listen(int max) {
+    
+    return 0;
+}
+ 
+int TCPSocketServer::accept(TCPSocketConnection& connection) {
+    return 0;
+}
\ No newline at end of file

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/Socket/TCPSocketServer.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/Socket/TCPSocketServer.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,55 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef TCPSOCKETSERVER_H
+#define TCPSOCKETSERVER_H
+ 
+#include "Socket/Socket.h"
+#include "TCPSocketConnection.h"
+ 
+/** TCP Server.
+  */
+class TCPSocketServer : public Socket {
+  friend class TCPSocketConnection;
+  public:
+    /** Instantiate a TCP Server.
+    */
+    TCPSocketServer();
+    
+    /** Bind a socket to a specific port.
+    \param port The port to listen for incoming connections on.
+    \return 0 on success, -1 on failure.
+    */
+    int bind(int port);
+    
+    /** Start listening for incoming connections.
+    \param backlog number of pending connections that can be queued up at any
+                   one time [Default: 1].
+    \return 0 on success, -1 on failure.
+    */
+    int listen(int backlog=1);
+    
+    /** Accept a new connection.
+    \param connection A TCPSocketConnection instance that will handle the incoming connection.
+    \return 0 on success, -1 on failure.
+    */
+    int accept(TCPSocketConnection& connection);
+private:
+    int _port;
+};
+ 
+#endif
\ No newline at end of file

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/Socket/UDPSocket.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/Socket/UDPSocket.cpp	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,154 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "UDPSocket.h"
+
+#include <string>
+#include <algorithm>
+
+UDPSocket::UDPSocket()
+{
+    endpoint_configured = false;
+    endpoint_read = false;
+    Endpoint currentEndpoint;
+}
+
+int UDPSocket::init(void)
+{
+    return 0;
+}
+
+// Server initialization
+int UDPSocket::bind(int port)
+{
+    return 0;
+}
+
+// -1 if unsuccessful, else number of bytes written
+int UDPSocket::sendTo(Endpoint &remote, char *packet, int length)
+{
+    Timer tmr;
+    int idx = 0;
+
+
+    confEndpoint(remote);
+    
+    // initialize transparent mode if not already done
+    if(!endpoint_configured) {
+        // initialize UDP (default id of -1 means transparent mode)
+        //!wifi->start(ESP_UDP_TYPE, remote._ipAddress, remote._port, remote._id
+        if(!wifi->startUDP(remote._ipAddress, remote._port, 0,length)) {
+            return(-1);
+        }
+        endpoint_configured = true;
+    }
+    
+    tmr.start();
+
+    while ((tmr.read_ms() < _timeout) || _blocking) {
+
+        idx += wifi->send(packet, length);
+
+        if (idx == length)
+            return idx;
+    }
+    return (idx == 0) ? -1 : idx;
+}
+
+// -1 if unsuccessful, else number of bytes received
+int UDPSocket::receiveFrom(Endpoint &remote, char *buffer, int length)
+{
+    Timer tmr;
+    int idx = 0;
+    int nb_available = 0;
+    int time = -1;
+
+    //make this the non-blocking case and return if <= 0
+    // remember to change the config to blocking
+    // if ( ! _blocking) {
+    // if ( wifi.readable <= 0 ) {
+    // return (wifi.readable);
+    // }
+    // }
+    //---
+    tmr.start();
+    if (_blocking) {
+        while (1) {
+            nb_available = wifi->readable();
+            if (nb_available != 0) {
+                break;
+            }
+        }
+    }
+    //---
+    // blocking case
+    else {
+        tmr.reset();
+
+        while (time < _timeout) {
+            nb_available = wifi->readable();
+            if (nb_available < 0) return nb_available;
+            if (nb_available > 0) break ;
+            time = tmr.read_ms();
+        }
+
+        if (nb_available == 0) return nb_available;
+    }
+
+    // change this to < 20 mS timeout per byte to detect end of packet gap
+    // this may not work due to buffering at the UART interface
+    tmr.reset();
+    // while ( tmr.read_ms() < 20 ) {
+    // if ( wifi.readable() && (idx < length) ) {
+    // buffer[idx++] = wifi->getc();
+    // tmr.reset();
+    // }
+    // if ( idx == length ) {
+    // break;
+    // }
+    // }
+    //---
+    while (time < _timeout) {
+
+        nb_available = wifi->readable();
+        //for (int i = 0; i < min(nb_available, length); i++) {
+        for (int i = 0; i < min(nb_available, (length-idx)); i++) {
+            buffer[idx] = wifi->getc();
+            idx++;
+        }
+        if (idx == length) {
+            break;
+        }
+        time = tmr.read_ms();
+    }
+    //---
+    readEndpoint(remote);
+    return (idx == 0) ? -1 : idx;
+}
+
+bool UDPSocket::confEndpoint(Endpoint & ep)
+{
+    currentEndpoint = ep;
+    return true;
+}
+
+bool UDPSocket::readEndpoint(Endpoint & ep)
+{
+    ep = currentEndpoint;
+    return true;
+}

diff -r 000000000000 -r 3c24a40c2343 ESP8266InterfaceTiny/Socket/UDPSocket.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266InterfaceTiny/Socket/UDPSocket.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,76 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef UDPSOCKET_H
+#define UDPSOCKET_H
+
+#include "Endpoint.h"
+#include "Socket.h"
+
+#include <cstdint>
+
+/**
+UDP Socket
+*/
+class UDPSocket: public Socket {
+
+public:
+    /** Instantiate an UDP Socket.
+    */
+    UDPSocket();
+    
+    /** Init the UDP Client Socket without binding it to any specific port
+    \return 0 on success, -1 on failure.
+    */
+    int init(void);
+    
+    /** Bind a UDP Server Socket to a specific port
+    \param port The port to listen for incoming connections on
+    \return 0 on success, -1 on failure.
+    */
+    int bind(int port = -1);
+    
+    /** Send a packet to a remote endpoint
+    \param remote   The remote endpoint
+    \param packet   The packet to be sent
+    \param length   The length of the packet to be sent
+    \return the number of written bytes on success (>=0) or -1 on failure
+    */
+    int sendTo(Endpoint &remote, char *packet, int length);
+    
+    /** Receive a packet from a remote endpoint
+    \param remote   The remote endpoint
+    \param buffer   The buffer for storing the incoming packet data. If a packet
+           is too long to fit in the supplied buffer, excess bytes are discarded
+    \param length   The length of the buffer
+    \return the number of received bytes on success (>=0) or -1 on failure
+    */
+    int receiveFrom(Endpoint &remote, char *buffer, int length);
+    
+private:
+    bool confEndpoint(Endpoint & ep);
+    bool readEndpoint(Endpoint & ep);
+    bool endpoint_configured;
+    bool endpoint_read;
+    Endpoint currentEndpoint;
+    
+};
+
+#include "def.h"
+
+#endif

diff -r 000000000000 -r 3c24a40c2343 RCWController.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RCWController.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,74 @@
+ 
+ 
+typedef union
+{
+ 
+    struct  {
+/*
+1-2バイト目：ボタン
+　UP: 0x0001
+　DOWN: 0x0002
+　RIGHT: 0x0004
+　LEFT: 0x0008
+　Y button: 0x0010
+　A button: 0x0020
+　B button: 0x0040
+　X button: 0x0100
+　L1: 0x0200
+　L2: 0x0400
+　R1: 0x0800
+　R2: 0x1000
+　START: 0x0003
+　SELECT: 0x000C
+*/
+        unsigned X      : 1;
+        unsigned L1     : 1;
+        unsigned L2     : 1;
+        unsigned R1     : 1;
+        unsigned R2     : 1;
+        unsigned space1 : 3;
+        unsigned UP     : 1;
+        unsigned DOWN   : 1;
+        unsigned RIGHT  : 1;
+        unsigned LEFT   : 1;
+        unsigned Y      : 1;
+        unsigned A      : 1;
+        unsigned B      : 1;
+        unsigned space2 : 1;
+/*
+3-4バイト目：左アナログ
+　左右: 1-255 (Neutral=128) 
+　上下: 1-255 (Neutral=128)
+*/
+        unsigned LeftAnalogLR:8;
+        unsigned LeftAnalogUD:8;
+/*
+5-6バイト目：右アナログ
+　左右: 1-255 (Neutral=128) 
+　上下: 1-255 (Neutral=128)
+*/
+        unsigned RightAnalogLR:8;
+        unsigned RightAnalogUD:8;
+/*
+7-9バイト目：アクセラレータ
+　X軸: 1-255 (Neutral=128) 
+　Y軸: 1-255 (Neutral=128)
+　Z軸: 1-255 (Neutral=128)
+*/
+        unsigned AcceleX:8;
+        unsigned AcceleY:8;
+        unsigned AcceleZ:8;
+/*
+10バイト目：設定（向き、設定）
+　7-6bit目: アクセラレータ設定（0-3）
+　5bit目: 左アナログ（0-1）
+　4bit目: 右アナログ（0-1）
+　3-1bit目: iOSデバイス向き（1-4）
+*/
+        unsigned DEV_DIR:4;
+        unsigned RIGHT_ANALOG:1;
+        unsigned LEFT_ANALOG:1;
+        unsigned ACCELE_SETTING:2;
+    }status;
+    unsigned char data[10];
+}RCWController;
\ No newline at end of file

diff -r 000000000000 -r 3c24a40c2343 SoftSerialSendOnly/SoftSerialSendOnry.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SoftSerialSendOnly/SoftSerialSendOnry.cpp	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,36 @@
+#include "SoftSerialSendOnry.h"
+
+SoftSerialSendOnry::SoftSerialSendOnry(PinName TX, const char* name) {
+    tx_en = false;
+    if (TX != NC) {
+        tx = new DigitalOut(TX);
+        tx_en = true;
+        tx->write(1);
+        tx_bit = -1;
+        txticker.attach(this, &SoftSerialSendOnry::tx_handler);
+    }
+    
+    baud(9600);
+    format();
+}
+
+SoftSerialSendOnry::~SoftSerialSendOnry() {
+    if (tx_en)
+        delete(tx);
+}
+
+void SoftSerialSendOnry::baud(int baudrate) {
+    bit_period = 1000000 / baudrate;
+}
+
+void SoftSerialSendOnry::format(int bits, Parity parity, int stop_bits) {
+    _bits = bits;
+    _parity = parity;
+    _stop_bits = stop_bits;
+    _total_bits = 1 + _bits + _stop_bits + (bool)_parity;
+}
+
+int SoftSerialSendOnry::_getc()
+{
+    return(0);    
+}
\ No newline at end of file

diff -r 000000000000 -r 3c24a40c2343 SoftSerialSendOnly/SoftSerialSendOnry.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SoftSerialSendOnly/SoftSerialSendOnry.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,105 @@
+#ifndef SOFTSERIAL_SEND_ONRY_H
+#define SOFTSERIAL_SEND_ONRY_H
+
+#include "mbed.h"
+#include "SoftSerial_Ticker.h"
+/** A software serial implementation
+ *
+ */
+class SoftSerialSendOnry: public Stream {
+
+public:
+    /**
+    * Constructor
+    *
+    * @param TX Name of the TX pin, NC for not connected
+    * @param name Name of the connection
+    */
+    SoftSerialSendOnry(PinName TX, const char* name = NULL);
+    virtual ~SoftSerialSendOnry();
+    
+    /** Set the baud rate of the serial port
+     *
+     *  @param baudrate The baudrate of the serial port (default = 9600).
+     */
+    void baud(int baudrate);
+
+    enum Parity {
+        None = 0,
+        Odd,
+        Even,
+        Forced1,
+        Forced0
+    };
+
+    enum IrqType {
+        RxIrq = 0,
+        TxIrq
+    };
+
+    /** Set the transmission format used by the serial port
+     *
+     *  @param bits The number of bits in a word (default = 8)
+     *  @param parity The parity used (SerialBase::None, SerialBase::Odd, SerialBase::Even, SerialBase::Forced1, SerialBase::Forced0; default = SerialBase::None)
+     *  @param stop The number of stop bits (default = 1)
+     */
+    void format(int bits=8, Parity parity=SoftSerialSendOnry::None, int stop_bits=1);
+
+    /** Determine if there is space available to write a character
+     *
+     *  @returns
+     *    1 if there is space to write a character,
+     *    0 otherwise
+     */
+    int writeable();
+
+    /** Attach a function to call whenever a serial interrupt is generated
+     *
+     *  @param fptr A pointer to a void function, or 0 to set as none
+     *  @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
+     */
+    void attach(void (*fptr)(void), IrqType type=RxIrq) {
+        fpointer[type].attach(fptr);
+    }
+
+    /** Attach a member function to call whenever a serial interrupt is generated
+     *
+     *  @param tptr pointer to the object to call the member function on
+     *  @param mptr pointer to the member function to be called
+     *  @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
+     */
+    template<typename T>
+    void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
+        fpointer[type].attach(tptr, mptr);
+    }
+
+    /** Generate a break condition on the serial line
+     */
+    void send_break();
+
+protected:
+    DigitalOut *tx;
+    
+    bool tx_en;
+    int bit_period;
+    int _bits, _stop_bits, _total_bits;
+    Parity _parity;
+    
+    FunctionPointer fpointer[2];
+    
+    //tx
+    void tx_handler(void);
+    void prepare_tx(int c);
+    FlexTicker txticker;
+    int _char;
+    volatile int tx_bit;
+    
+    
+    
+    virtual int _getc();
+    virtual int _putc(int c);
+};
+
+
+#endif
+

diff -r 000000000000 -r 3c24a40c2343 SoftSerialSendOnly/SoftSerialSendOnry_tx.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SoftSerialSendOnly/SoftSerialSendOnry_tx.cpp	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,80 @@
+#include "SoftSerialSendOnry.h"
+
+int SoftSerialSendOnry::_putc(int c)
+{
+    while(!writeable());
+    prepare_tx(c);
+    tx_bit = 0;
+    txticker.prime();
+    tx_handler();
+    return 0;
+}
+
+void SoftSerialSendOnry::send_break(void) {
+    while(!writeable());
+    tx_bit = 0;         //Just to make sure it appears as non-writable to other threads/IRQs
+    tx->write(0);
+    wait_us((bit_period * _total_bits * 3) / 2);
+    tx->write(1);
+    tx_bit = -1;
+}
+
+int SoftSerialSendOnry::writeable(void)
+{
+    if (!tx_en)
+        return false;
+    if (tx_bit == -1)
+        return true;
+    return false;
+}
+
+void SoftSerialSendOnry::tx_handler(void)
+{
+    if (tx_bit == _total_bits) {
+        tx_bit = -1;
+        fpointer[TxIrq].call();
+        return;
+    }
+
+    //Flip output
+    int cur_out = tx->read();
+    tx->write(!cur_out);
+
+    //Calculate when to do it again
+    int count = bit_period;
+    tx_bit++;
+    while(((_char >> tx_bit) & 0x01) == !cur_out) {
+        count+=bit_period;
+        tx_bit++;
+    }
+
+    txticker.setNext(count);
+}
+
+void SoftSerialSendOnry::prepare_tx(int c)
+{
+    _char = c << 1;
+
+    bool parity;
+    switch (_parity) {
+        case Forced1:
+            _char |= 1 << (_bits + 1);
+        case Even:
+            parity = false;
+            for (int i = 0; i<_bits; i++) {
+                if (((_char >> i) & 0x01) == 1)
+                    parity = !parity;
+            }
+            _char |= parity << (_bits + 1);
+        case Odd:
+            parity = true;
+            for (int i = 0; i<_bits; i++) {
+                if (((_char >> i) & 0x01) == 1)
+                    parity = !parity;
+            }
+            _char |= parity << (_bits + 1);
+    }
+    
+    _char |= 0xFFFF << (1 + _bits + (bool)_parity);
+    _char &= ~(1<<_total_bits);
+}

diff -r 000000000000 -r 3c24a40c2343 SoftSerialSendOnly/SoftSerial_Ticker.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SoftSerialSendOnly/SoftSerial_Ticker.h	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,38 @@
+//A modified version of the regular ticker/timeout libraries to allow us to do timeout without losing accuracy
+
+#ifndef FLEXTICKER_H
+#define FLEXTICKER_H
+
+#include "mbed.h"
+
+class FlexTicker: public TimerEvent {
+    public:
+    template<typename T>
+    void attach(T* tptr, void (T::*mptr)(void)) {
+        _function.attach(tptr, mptr);
+    }
+ 
+    /** Detach the function
+     */
+    void detach() {
+        remove();
+    }
+    
+    void setNext(int delay) {
+        insert(event.timestamp + delay);
+    }
+    
+    void prime(void) {
+        event.timestamp = us_ticker_read();
+    }
+ 
+protected:
+    virtual void handler() {
+        _function.call();
+    }
+ 
+    unsigned int _delay;
+    FunctionPointer _function;
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 3c24a40c2343 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,171 @@
+#include "mbed.h"
+
+#include "ESP8266Interface.h"
+#include "SoftSerialSendOnry.h"
+#include "RCWController.h"
+
+/************************* WiFi Setting *********************************/
+
+#define WLAN_SSID       "wifi_car"
+#define WLAN_PASS       "wifi_car"
+
+
+/************************* UDP Setting *********************************/
+#define SEND_PORT		10000
+
+/************************* Port Class Setting *********************************/
+SoftSerialSendOnry pc(dp10); // tx
+ESP8266Interface 	wifi(dp16,dp15,dp4,WLAN_SSID,WLAN_PASS);
+PwmOut		motor_pwm_a(dp24);
+DigitalOut	motor_sw_a(dp18);
+PwmOut		motor_pwm_b(dp1);
+DigitalOut	motor_sw_b(dp2);
+
+/************************* Variable Setting *********************************/
+char recv_buf[10];
+int recv_buf_p = 0;
+int read_p = 0;
+int recv_ana_phase = 0;
+
+/************************* Controller value to PWM vlaue *********************************/
+float Controll2Pwm(int value)
+{
+	return(((float)value/128.0f)-1.0f);
+}
+
+/************************* Main func *********************************/
+int main() {
+	char* ip;
+	int recv_p = 0;
+	int timeout_count = 0;
+
+	pc.printf("Start\r\n");
+	
+	motor_pwm_a = 0.0;
+	motor_pwm_b = 0.0;
+	
+	wifi.init();
+	pc.printf("Wifi init OK\r\n");
+	
+	wifi.single_ap();
+	//while(!wifi.connect());
+	pc.printf("Wifi Connect OK\r\n");
+	
+	ip = wifi.getIPAddress();
+	if(ip != NULL)
+	{
+		pc.printf("IP:%s\r\n",ip);
+	}
+	else
+	{
+		pc.printf("IP:ERROR\r\n");
+	}
+	
+	if(wifi.start(ESP_UDP_TYPE,ip, SEND_PORT) != false )
+	{
+		pc.printf("UDP Port open OK\r\n");	
+	}
+	else
+	{
+		pc.printf("UDP Port open NG\r\n");		
+	}
+		
+	pc.printf("init All OK\r\n");
+	
+	while(1)
+	{
+		while(wifi.readable()!=0)
+		{
+			recv_buf[recv_p] = wifi.getc();	
+			//pc.printf("recv[%d]:\r\n",recv_buf[recv_p]);
+			recv_p++;
+			
+			if(recv_p>=10)
+			{
+				float left,right;
+				RCWController *controller;
+#if 0
+				pc.printf("recv[%d]:",recv_p);
+				for(int i=0;i<recv_p;i++)
+				{
+					pc.printf("%02X ",recv_buf[i]);
+				}
+				pc.printf("\r\n");
+#endif
+				// Set Table
+				controller = (RCWController*)&recv_buf[0];
+				
+				// Change Servo Value
+				if( (controller->status.LeftAnalogUD != 128)||(controller->status.RightAnalogUD != 128) )
+				{
+					left = Controll2Pwm(controller->status.LeftAnalogUD);
+					right = Controll2Pwm(controller->status.RightAnalogUD);
+					
+					
+				}
+				else
+				{
+					if( controller->status.UP == 1 )
+					{
+						left = 1.0f;
+						right = 1.0f;
+					}
+					else if( controller->status.DOWN == 1 )
+					{
+						left = -1.0f;
+						right = -1.0f;
+					}
+					else if( controller->status.RIGHT == 1 )
+					{
+						left = 1.0f;
+						right = -1.0f;
+					}
+					else if( controller->status.LEFT == 1 )
+					{
+						left = -1.0f;
+						right = 1.0f;
+					}
+					else
+					{
+						left = 0.0f;
+						right = 0.0f;
+					}
+				}
+				
+				if(left > 0 )
+				{
+					motor_pwm_a = left;
+					motor_sw_a = 1;
+				}
+				else
+				{
+					motor_pwm_a = -left;
+					motor_sw_a = 0;			
+				}
+				if(right > 0 )
+				{
+					motor_pwm_b = right;
+					motor_sw_b = 1;
+				}
+				else
+				{
+					motor_pwm_b = -right;
+					motor_sw_b = 0;			
+				}
+								
+				//pc.printf("left = %f  right = %f\r\n",left,right);
+				
+				recv_p = 0;
+				timeout_count = 0;
+			}
+		}
+		wait(0.005);
+		timeout_count++;
+		if( timeout_count > 1000 )
+		{
+			// Time out Reset
+			timeout_count = 0;
+			recv_p = 0;
+		}
+	}
+}

diff -r 000000000000 -r 3c24a40c2343 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Jul 22 05:36:02 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/4336505e4b1c
\ No newline at end of file