diff --git a/ADIS_ESP32_Eclipse/main/.gitignore b/ADIS_ESP32_Eclipse/main/.gitignore
new file mode 100644
index 0000000..7427950
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/.gitignore
@@ -0,0 +1,3 @@
+/build/
+# do NOT put the password on git
+/pwd.h
diff --git a/ADIS_ESP32_Eclipse/main/CMakeLists.txt b/ADIS_ESP32_Eclipse/main/CMakeLists.txt
index 8a3ab69..fb42854 100644
--- a/ADIS_ESP32_Eclipse/main/CMakeLists.txt
+++ b/ADIS_ESP32_Eclipse/main/CMakeLists.txt
@@ -1,2 +1,21 @@
-idf_component_register(SRCS "main.c"
-                    INCLUDE_DIRS "")
+idf_component_register(
+	SRCS 
+		"main.c"
+		"platform.c"
+        "led.c"
+        "wifi.c"
+        "udp_client.c"
+        "udp_server.c"
+        "udp_server_shell.c"
+        "Shell.c"
+        "esp32_mac.c"
+        "rs485.c"
+        "ping.c"
+        "ping_shell.c"
+        "timer.c"
+        "sntp_time.c"
+        "robot.c"
+        
+        INCLUDE_DIRS 
+        "."
+)
diff --git a/ADIS_ESP32_Eclipse/main/Identify.h b/ADIS_ESP32_Eclipse/main/Identify.h
new file mode 100644
index 0000000..e9932f0
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/Identify.h
@@ -0,0 +1,93 @@
+/**
+ * \file
+ * \brief Module to identify different devices based on their unique ID.
+ * \author Erich Styger, erich.styger@hslu.ch
+ * \license SPDX-License-Identifier: BSD-3-Clause
+ * With this module individual devices are identified based on their unique ID.
+ */
+
+#ifndef __IDENTIFY_H_
+#define __IDENTIFY_H_
+
+#include "platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if PL_CONFIG_USE_IDENTIFY
+  #if PL_CONFIG_USE_SHELL
+    #include "McuShell.h"
+
+    /*!
+     * \brief Parses a command
+     * \param cmd Command string to be parsed
+     * \param handled Sets this variable to TRUE if command was handled
+     * \param io I/O stream to be used for input/output
+     * \return Error code, ERR_OK if everything was fine
+     */
+    uint8_t ID_ParseCommand(const unsigned char *cmd, bool *handled, const McuShell_StdIOType *io);
+  #endif /* PL_CONFIG_USE_SHELL */
+
+  typedef enum { /*! \todo ADIS: Verify and update information */
+    ID_ROBOT_E0,
+    ID_ROBOT_E1,
+    ID_ROBOT_E2,
+    ID_ROBOT_E3,
+    ID_ROBOT_E4,
+    ID_ROBOT_E5,
+    ID_ROBOT_E6,
+    ID_ROBOT_E7,
+    ID_ROBOT_E8,
+    ID_ROBOT_E9,
+    ID_ROBOT_E10,
+    ID_ROBOT_E11,
+    ID_ROBOT_E12,
+    ID_ROBOT_E13,
+    ID_ROBOT_E14,
+//    ID_ROBOT_E15,
+//    ID_ROBOT_E16,
+    ID_ROBOT_E17,
+    ID_ROBOT_E18,
+    ID_ROBOT_E27,
+    ID_ROBOT_E34, /* no robot? */
+
+    ID_ROBOT_L0, /* USB port ripped off */
+    ID_ROBOT_L1,
+    ID_ROBOT_L3,
+    ID_ROBOT_L17,
+    ID_ROBOT_L20,
+
+    ID_ROBOT_R0, /* USB port ripped off */
+    ID_ROBOT_R8,
+    ID_ROBOT_R9,
+    ID_ROBOT_R23,
+    ID_ROBOT_R27,
+    ID_ROBOT_R28,
+    ID_ROBOT_R29,
+    ID_ROBOT_R32,
+    ID_ROBOT_R33,
+    ID_ROBOT_R34,
+    ID_ROBOT_R36,
+    ID_ROBOT_R37,
+    ID_ROBOT_R44,
+    ID_ROBOT_R45,
+
+    ID_ROBOT_UNKNOWN, /* unknown robot, unknown ID */
+    ID_ROBOT_NONE /* initialization value, used internally */
+  } ID_Robot_e;
+
+  ID_Robot_e ID_WhichDevice(void);
+
+  /*! \brief Module de-initialization */
+  void ID_Deinit(void);
+
+  /*! \brief Module initialization */
+  void ID_Init(void);
+#endif /* PL_CONFIG_USE_IDENTIFY */
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* __IDENTIFY_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/Shell.c b/ADIS_ESP32_Eclipse/main/Shell.c
new file mode 100644
index 0000000..18642e9
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/Shell.c
@@ -0,0 +1,319 @@
+/*
+ * Copyright (c) 2019-2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "platform.h"
+#if PL_CONFIG_USE_SHELL
+#include "Shell.h"
+#include <stdio.h>
+#include <string.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#if PL_CONFIG_USE_BLINKY
+  #include "led.h"
+#endif
+#if PL_CONFIG_USE_WIFI
+  #include "WiFi.h"
+#endif
+#if PL_CONFIG_USE_PING
+  #include "ping_shell.h"
+#endif
+#if PL_CONFIG_USE_UDP_SERVER
+  #include "udp_server_shell.h"
+#endif
+#if PL_CONFIG_USE_UDP_CLIENT
+  #include "udp_client.h"
+#endif
+#if PL_CONFIG_USE_RS485
+  #include "rs485.h"
+  #include "McuUart485.h"
+#endif
+#if PL_CONFIG_USE_ROBO_REMOTE
+  #include "robot.h"
+#endif
+#include "McuShell.h"
+#include "McuUtility.h"
+#include "McuRTOS.h"
+#include "McuTimeDate.h"
+#include "McuLog.h"
+#include "driver/uart.h"
+#include "driver/gpio.h"
+
+#define SHELL_ESP32_UART_DEVICE   (UART_NUM_0) /* Uart for bootloader and connection to robot */
+
+static TaskHandle_t SHELL_taskHandle;
+static SemaphoreHandle_t SHELL_stdioMutex; /* mutex to protect access to ESP32 standard I/O */
+
+static const McuShell_ParseCommandCallback CmdParserTable[] =
+{
+  McuShell_ParseCommand,
+  McuRTOS_ParseCommand,
+#if PL_CONFIG_USE_WIFI
+  WiFi_ParseCommand,
+#endif
+#if PL_CONFIG_USE_UDP_CLIENT
+  UDP_Client_ParseCommand,
+#endif
+#if PL_CONFIG_USE_PING
+  PING_ParseCommand,
+#endif
+#if PL_CONFIG_USE_UDP_SERVER
+  UDP_Server_ParseCommand,
+#endif
+#if PL_CONFIG_USE_RS485
+  RS485_ParseCommand,
+  McuUart485_ParseCommand,
+#endif
+#if PL_CONFIG_USE_ROBO_REMOTE
+  ROBOT_ParseCommand,
+#endif
+  McuLog_ParseCommand,
+  McuTimeDate_ParseCommand,
+#if PL_CONFIG_USE_BLINKY
+  LED_ParseCommand,
+#endif
+  NULL /* Sentinel */
+};
+
+typedef struct {
+  McuShell_ConstStdIOType *stdio;
+  unsigned char *buf;
+  size_t bufSize;
+} SHELL_IODesc;
+
+static void Uart_SendString(const unsigned char *str) {
+  size_t len;
+  int written;
+
+  len = strlen((const char*)str);
+  written = uart_write_bytes(SHELL_ESP32_UART_DEVICE, (const char*)str, len);
+  if (written!=len) {
+    McuLog_error("failed sending uart bytes");
+  }
+}
+
+static void Uart_SendChar(unsigned char ch) {
+  uart_write_bytes(SHELL_ESP32_UART_DEVICE, &ch, 1);
+}
+
+static void Uart_ReadChar(uint8_t *c) {
+  unsigned char ch = '\0';
+  int len = 0;
+
+  if (xSemaphoreTakeRecursive(SHELL_stdioMutex, portMAX_DELAY)==pdPASS) { /* take mutex */
+    len = uart_read_bytes(SHELL_ESP32_UART_DEVICE, &ch, 1, 0);
+    (void)xSemaphoreGiveRecursive(SHELL_stdioMutex); /* give back mutex */
+  }
+  if (len==0) {
+    *c = '\0';
+  } else {
+    *c = ch;
+  }
+}
+
+static bool Uart_CharPresent(void) {
+  size_t size=0;
+
+  if (xSemaphoreTakeRecursive(SHELL_stdioMutex, portMAX_DELAY)==pdPASS) { /* take mutex */
+    uart_get_buffered_data_len(SHELL_ESP32_UART_DEVICE, &size);
+    (void)xSemaphoreGiveRecursive(SHELL_stdioMutex); /* give back mutex */
+  }
+  return size!=0;
+}
+
+static McuShell_ConstStdIOType Uart_stdio = {
+    .stdIn = (McuShell_StdIO_In_FctType)Uart_ReadChar,
+    .stdOut = (McuShell_StdIO_OutErr_FctType)Uart_SendChar,
+    .stdErr = (McuShell_StdIO_OutErr_FctType)Uart_SendChar,
+    .keyPressed = Uart_CharPresent, /* if input is not empty */
+  #if McuShell_CONFIG_ECHO_ENABLED
+   .echoEnabled = true,
+  #endif
+  };
+
+static uint8_t Uart_DefaultShellBuffer[McuShell_DEFAULT_SHELL_BUFFER_SIZE]; /* default buffer which can be used by the application */
+
+static const SHELL_IODesc ios[] =
+{
+  {&Uart_stdio,  Uart_DefaultShellBuffer,  sizeof(Uart_DefaultShellBuffer)},
+};
+
+void SHELL_SendChar(unsigned char ch) {
+  for(int i=0;i<sizeof(ios)/sizeof(ios[0]);i++) {
+    McuShell_SendCh(ch, ios[i].stdio->stdOut);
+  }
+}
+
+uint8_t SHELL_ParseCommand(unsigned char *cmd) {
+  return McuShell_ParseWithCommandTable(cmd, McuShell_GetStdio(), CmdParserTable);
+}
+
+uint8_t SHELL_ParseCommandIO(const unsigned char *command, McuShell_ConstStdIOType *io, bool silent) {
+  if (io==NULL) { /* use a default */
+    io = McuShell_GetStdio();
+  }
+  return McuShell_ParseWithCommandTableExt(command, io, CmdParserTable, silent);
+}
+
+void SHELL_SendString(const unsigned char *str) {
+#if 0
+  for(int i=0;i<sizeof(ios)/sizeof(ios[0]);i++) {
+    McuShell_SendStr(str, ios[i].stdio->stdOut);
+  }
+#else /* need to improve write speed, as writing character by character is too slow */
+  Uart_SendString(str);
+#endif
+}
+
+void SHELL_SendStringToIO(const unsigned char *str, McuShell_ConstStdIOType *io) {
+  if (io->stdOut == Uart_SendChar) { /* ESP32 UART? */
+    /* if out channel is ESP32 UART: speed it up by sending whole buffer */
+    Uart_SendString(str);
+  } else { /* send it char by char */
+    McuShell_SendStr(str, io->stdOut);
+  }
+}
+
+/* ----------------- buffer handling for shell messages sent to ESP32 */
+static unsigned char *esp_io_buf; /* pointer to buffer */
+static size_t esp_io_buf_size; /* size of buffer */
+
+static void esp_io_buf_SendChar(unsigned char ch) {
+  McuUtility_chcat(esp_io_buf, esp_io_buf_size, ch);
+}
+
+static void esp_io_buf_ReadChar(uint8_t *c) {
+  *c = '\0';
+}
+
+static bool esp_io_buf_CharPresent(void) {
+  return false;
+}
+
+static McuShell_ConstStdIOType esp_stdio = {
+    .stdIn = (McuShell_StdIO_In_FctType)esp_io_buf_ReadChar,
+    .stdOut = (McuShell_StdIO_OutErr_FctType)esp_io_buf_SendChar,
+    .stdErr = (McuShell_StdIO_OutErr_FctType)esp_io_buf_SendChar,
+    .keyPressed = esp_io_buf_CharPresent, /* if input is not empty */
+  #if McuShell_CONFIG_ECHO_ENABLED
+    .echoEnabled = false, /* echo enabled for idf.py monitor */
+  #endif
+  };
+
+void SHELL_SendToESPAndGetResponse(const unsigned char *msg, unsigned char *response, size_t responseSize) {
+  esp_io_buf = response;
+  esp_io_buf_size = responseSize;
+  esp_io_buf[0] = '\0'; /* initialize buffer */
+  McuLog_info("Sending to ESP Shell: %s", msg);
+  McuShell_ParseWithCommandTableExt(msg, &esp_stdio, CmdParserTable, true); /* send to ESP32 shell */
+}
+/* ----------------------------------------------------------------------*/
+void SHELL_SendToRobotAndGetResponse(const unsigned char *send, unsigned char *response, size_t responseSize) {
+  unsigned char buffer[128]; /* buffer for sending command to robot */
+
+  /* build a frame around the message: that way the robot is able to recognize it */
+  McuUtility_strcpy(buffer, sizeof(buffer), (unsigned char*)"@robot:cmd ");
+  McuUtility_strcat(buffer, sizeof(buffer), send);
+  McuUtility_strcat(buffer, sizeof(buffer), (unsigned char*)"!\r\n");
+  SHELL_SendString(buffer); /* send to UART, which is read by the robot */
+  /* get response */
+#if 1
+  /* Important: this consumes directly all characters coming from the robot. That way the ESP32 shell does not get it.
+   * A mutex is used to block the shell from getting the UART stream.
+   */
+  #define TIMEOUT_MS  (500) /* stop if we don't get new input after this timeout */
+  int timeoutMs = TIMEOUT_MS;
+
+  *response = '\0';
+  if (xSemaphoreTakeRecursive(SHELL_stdioMutex, portMAX_DELAY)==pdPASS) { /* take mutex */
+    while (true) { /* breaks after timeout */
+      if (!Uart_stdio.keyPressed()) { /* no input: wait for timeout */
+        timeoutMs -= 50;
+        if (timeoutMs<=0) {
+          break; /* timeout */
+        }
+        vTaskDelay(pdMS_TO_TICKS(50));
+      } else { /* character available */
+        unsigned char ch;
+        Uart_stdio.stdIn(&ch);
+        if (ch!='\r') { /* filter out '\r' in "\r\n" */
+          McuUtility_chcat(response, responseSize, ch);
+        }
+        timeoutMs = TIMEOUT_MS; /* reset timeout */
+      } /* if */
+    } /* while */
+    (void)xSemaphoreGiveRecursive(SHELL_stdioMutex); /* give back mutex */
+  }
+  if (*response=='\0') { /* if response is empty, send back at least an acknowledgment */
+    McuUtility_strcpy(response, responseSize, (unsigned char*)"OK"); /* default response */
+  }
+#else
+  McuUtility_strcpy(response, responseSize, (unsigned char*)"OK"); /* default response */
+#endif
+}
+/* ----------------------------------------------------------------------*/
+static void ShellTask(void *pv) {
+  int i;
+
+  McuLog_info("Shell task started");
+  for(i=0;i<sizeof(ios)/sizeof(ios[0]);i++) {
+    ios[i].buf[0] = '\0'; /* initialize I/O buffers */
+  }
+  for(;;) {
+    /* process all I/Os */
+    for(i=0;i<sizeof(ios)/sizeof(ios[0]);i++) {
+      (void)McuShell_ReadAndParseWithCommandTable(ios[i].buf, ios[i].bufSize, ios[i].stdio, CmdParserTable);
+    }
+    vTaskDelay(pdMS_TO_TICKS(20));
+  }
+}
+
+static void InitUart(void) {
+#define ESP32_UART_BUF_SIZE  512
+  uart_config_t uart_config = {
+      .baud_rate = 115200,
+      .data_bits = UART_DATA_8_BITS,
+      .parity = UART_PARITY_DISABLE,
+      .stop_bits = UART_STOP_BITS_1,
+      .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+      .rx_flow_ctrl_thresh = 0,
+  };
+
+  /* Configure UART parameters */
+  uart_param_config(SHELL_ESP32_UART_DEVICE, &uart_config);
+  uart_set_pin(SHELL_ESP32_UART_DEVICE, GPIO_NUM_1, GPIO_NUM_3, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
+
+  /* Install UART driver (we don't need an event queue here) */
+  uart_driver_install(SHELL_ESP32_UART_DEVICE, ESP32_UART_BUF_SIZE*2, ESP32_UART_BUF_SIZE*2, 0, NULL, 0);
+  uart_set_mode(SHELL_ESP32_UART_DEVICE, UART_MODE_UART);
+}
+
+void SHELL_Init(void) {
+  BaseType_t res;
+
+  InitUart();
+  McuLog_set_console(&Uart_stdio, 0);
+  McuShell_SetStdio(&Uart_stdio);
+
+  SHELL_stdioMutex = xSemaphoreCreateRecursiveMutex();
+  if (SHELL_stdioMutex==NULL) { /* creation failed? */
+    McuLog_fatal("Failed creating mutex");
+    for(;;);
+  }
+  vQueueAddToRegistry(SHELL_stdioMutex, "ShellStdIoMutex");
+
+  McuLog_info("Creating Shell task");
+  res = xTaskCreate(ShellTask, "ShellTask", 4*1024/sizeof(StackType_t), NULL, tskIDLE_PRIORITY+4, &SHELL_taskHandle);
+  if (res!=pdPASS) {
+    McuLog_fatal("creating ShellTask task failed!");
+  }
+}
+
+void SHELL_Deinit(void) {
+  /* nothing needed */
+}
+
+#endif /* PL_CONFIG_USE_SHELL */
diff --git a/ADIS_ESP32_Eclipse/main/Shell.h b/ADIS_ESP32_Eclipse/main/Shell.h
new file mode 100644
index 0000000..e65e148
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/Shell.h
@@ -0,0 +1,74 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef SHELL_H_
+#define SHELL_H_
+
+#include "McuShell.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*!
+ * \brief Send a string to all supported I/Os
+ * \param str String to send
+ */
+void SHELL_SendString(const unsigned char *str);
+
+/*!
+ * \brief Send a string to a given IO. It tries to accelerate it by sending a buffer instead char by char.
+ * \param str String to be sent.
+ * \param io I/O to be used.
+ */
+void SHELL_SendStringToIO(const unsigned char *str, McuShell_ConstStdIOType *io);
+
+/*!
+ * \brief Send a character to all supported I/Os
+ * \param ch Character to send
+ */
+void SHELL_SendChar(unsigned char ch);
+
+/*!
+ * \brief Parses a command with a given standard I/O channel
+ * \param command Command to be parsed
+ * \param io I/O to be used. If NULL, the standard default I/O will be used
+ * \param silent If parsing shall be silent or not
+ * \return Error code, ERR_OK for no error
+ */
+uint8_t SHELL_ParseCommandIO(const unsigned char *command, McuShell_ConstStdIOType *io, bool silent);
+
+/*!
+ * \brief Send a string to the ESP shell get a response back
+ * \param send Message to send
+ * \param response Where to store the response
+ * \param responseSize Size of the response buffer
+ */
+void SHELL_SendToESPAndGetResponse(const unsigned char *send, unsigned char *response, size_t responseSize);
+
+/*!
+ * \brief Send a string to the robot get a response back
+ * \param send Message to send
+ * \param response Where to store the response
+ * \param responseSize Size of the response buffer
+ */
+void SHELL_SendToRobotAndGetResponse(const unsigned char *send, unsigned char *response, size_t responseSize);
+
+/*!
+ * \brief Module de-initialization
+ */
+void SHELL_Deinit(void);
+
+/*!
+ * \brief Module Initialization
+ */
+void SHELL_Init(void);
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* SHELL_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/esp32_mac.c b/ADIS_ESP32_Eclipse/main/esp32_mac.c
new file mode 100644
index 0000000..2862350
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/esp32_mac.c
@@ -0,0 +1,110 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "platform.h"
+#if PL_CONFIG_USE_IDENTIFY
+#include "esp32_mac.h"
+#include "esp_system.h"
+#include "Identify.h"
+#include "McuUtility.h"
+#include "McuXFormat.h"
+#include <stdint.h>
+#include <stddef.h>
+#include <stdbool.h>
+
+static const ESP32_Device_t ESP32_devices[] =
+{  /* registered at https://eeeportal.hslu.ch */
+    {.hostName="UnknownRobot", .robotID=ID_ROBOT_UNKNOWN,  .macStr="00:00:00:00:00:00", .eee_id="eee-0000", .eee_pwd="deadbeef"}, /* fallback entry */
+    {.hostName="ADISRobotE0",  .robotID=ID_ROBOT_E0,  .macStr="d8:a0:1d:42:e2:08", .eee_id="eee-01367", .eee_pwd="xq4vZdu3eWLWcSGDuYwU"},
+    {.hostName="ADISRobotE1",  .robotID=ID_ROBOT_E1,  .macStr="d8:a0:1d:42:ec:a4", .eee_id="eee-01023", .eee_pwd="i24Z3W5VtDFSkdNtk93f"},
+    {.hostName="ADISRobotE2",  .robotID=ID_ROBOT_E2,  .macStr="d8:a0:1d:42:eb:c4", .eee_id="eee-01381", .eee_pwd="DcUYXx0saffo5ST8TihG"},
+    {.hostName="ADISRobotE3",  .robotID=ID_ROBOT_E3,  .macStr="d8:a0:1d:42:e6:98", .eee_id="eee-01407", .eee_pwd="OjhpZJrXUPWAC3mR0odX"},
+    {.hostName="ADISRobotE4",  .robotID=ID_ROBOT_E4,  .macStr="d8:a0:1d:42:e4:48", .eee_id="eee-01369", .eee_pwd="vDk13U6MzxkwGO879TUy"},
+    {.hostName="ADISRobotE5",  .robotID=ID_ROBOT_E5,  .macStr="d8:a0:1d:42:de:9c", .eee_id="eee-01370", .eee_pwd="jCGeKTeWVrcncJO8u73M"},
+    {.hostName="ADISRobotE6",  .robotID=ID_ROBOT_E6,  .macStr="d8:a0:1d:42:ec:40", .eee_id="eee-01382", .eee_pwd="fJjX12cWv4U0XfaJ46N0"},
+    {.hostName="ADISRobotE7",  .robotID=ID_ROBOT_E7,  .macStr="d8:a0:1d:42:df:14", .eee_id="eee-01387", .eee_pwd="TEkK2FL5Yc8A4dcsf7sk"},
+    {.hostName="ADISRobotE8",  .robotID=ID_ROBOT_E8,  .macStr="d8:a0:1d:42:ec:74", .eee_id="eee-01371", .eee_pwd="aaxQfxvPnCMVLvCZ3ays"},
+    {.hostName="ADISRobotE9",  .robotID=ID_ROBOT_E9,  .macStr="d8:a0:1d:42:e4:64", .eee_id="eee-01446", .eee_pwd="4dZNLrMCZqsQbsNKTQSL"},
+    {.hostName="ADISRobotE10", .robotID=ID_ROBOT_E10, .macStr="d8:a0:1d:42:e6:f8", .eee_id="eee-01383", .eee_pwd="KEsv8fendMWx1nHkdQUj"},
+    {.hostName="ADISRobotE11", .robotID=ID_ROBOT_E11, .macStr="d8:a0:1d:42:e0:24", .eee_id="eee-01609", .eee_pwd="WeWLiT7eH01Jqrt4DAfi"}, // issue with EEE!
+    {.hostName="ADISRobotE12", .robotID=ID_ROBOT_E12, .macStr="d8:a0:1d:42:df:d4", .eee_id="eee-01393", .eee_pwd="HtcKHGmaMUwwJgqh7Hao"},
+    {.hostName="ADISRobotE13", .robotID=ID_ROBOT_E13, .macStr="d8:a0:1d:42:e5:88", .eee_id="eee-01384", .eee_pwd="q320iZDcc6bFPvXYzRxF"},
+    {.hostName="ADISRobotE14", .robotID=ID_ROBOT_E14, .macStr="50:02:91:9c:0d:ac", .eee_id="eee-01635", .eee_pwd="V4V6LdNW7WJUnv4zbRKm"},
+    {.hostName="ADISRobotE17", .robotID=ID_ROBOT_E17, .macStr="d8:a0:1d:42:e5:98", .eee_id="eee-00535", .eee_pwd="fXB5kVK6qS1khJ7qybYD"},
+    {.hostName="ADISRobotE18", .robotID=ID_ROBOT_E18, .macStr="d8:a0:1d:42:e3:b8", .eee_id="eee-01390", .eee_pwd="W4KuRQERUMwHquUHwVot"},
+
+    {.hostName="ADISRobotE27", .robotID=ID_ROBOT_E27, .macStr="d8:a0:1d:42:df:e0", .eee_id="eee-01591", .eee_pwd="28o6wxyGLXmQ9DnUHw1P"},
+
+    {.hostName="ADISRobotL1",  .robotID=ID_ROBOT_L1,  .macStr="d8:a0:1d:42:e5:d0", .eee_id="eee-01372", .eee_pwd="zwtshA1tnqXxYqrt1mgo"},
+    {.hostName="ADISRobotL3",  .robotID=ID_ROBOT_L1,  .macStr="50:02:91:a0:f8:ac", .eee_id="eee-01388", .eee_pwd="jhw1KSG1piDP7zthNUDt"},
+    {.hostName="ADISRobotL17", .robotID=ID_ROBOT_L17, .macStr="d8:a0:1d:42:ed:24", .eee_id="eee-01373", .eee_pwd="XPiSwZ6Vr6Y5Y3ukvq5a"},
+    {.hostName="ADISRobotL20", .robotID=ID_ROBOT_L20, .macStr="d8:a0:1d:42:df:94", .eee_id="eee-01374", .eee_pwd="88kY6j6nurJZpqt2gMMF"},
+
+    {.hostName="ADISRobotR8",  .robotID=ID_ROBOT_R8,  .macStr="d8:a0:1d:42:ed:50", .eee_id="eee-01368", .eee_pwd="xaA8qck6edMS3h2tsHun"},
+    {.hostName="ADISRobotR9",  .robotID=ID_ROBOT_R9,  .macStr="d8:a0:1d:42:e3:d8", .eee_id="eee-01392", .eee_pwd="NxJZeTDUpGGXC0L1QxX9"},
+    {.hostName="ADISRobotR23", .robotID=ID_ROBOT_R23, .macStr="d8:a0:1d:42:e2:b8", .eee_id="eee-01385", .eee_pwd="deOkgVLPBoh6BQXH3Awf"},
+    {.hostName="ADISRobotR27", .robotID=ID_ROBOT_R27, .macStr="50:02:91:a1:0f:78", .eee_id="eee-01375", .eee_pwd="7O4HCSqbWVW0zCvfhyA2"},
+    {.hostName="ADISRobotR28", .robotID=ID_ROBOT_R28, .macStr="d8:a0:1d:42:e0:44", .eee_id="eee-01386", .eee_pwd="mzyEvEfx0BvgYTOgF4F2"},
+    {.hostName="ADISRobotR29", .robotID=ID_ROBOT_R29, .macStr="d8:a0:1d:42:ec:a8", .eee_id="eee-01410", .eee_pwd="c1nbzEkaEmXz9rEeBEfC"},
+    {.hostName="ADISRobotR32", .robotID=ID_ROBOT_R32, .macStr="d8:a0:1d:42:e0:24", .eee_id="eee-01376", .eee_pwd="LWWEBe2Au4Hy472W0pbA"},
+    {.hostName="ADISRobotR33", .robotID=ID_ROBOT_R33, .macStr="50:02:91:9f:8e:28", .eee_id="eee-01405", .eee_pwd="iWv6FaKso2ARMsPWpdkv"},
+    {.hostName="ADISRobotR34", .robotID=ID_ROBOT_R34, .macStr="50:02:91:9f:8d:dc", .eee_id="eee-01592", .eee_pwd="kmCgbmQjuxubnOAKu5Jo"},
+    {.hostName="ADISRobotR36", .robotID=ID_ROBOT_R36, .macStr="d8:a0:1d:42:e3:ac", .eee_id="eee-01406", .eee_pwd="gq3rkAs5VOuSgnFOJ3f5"},
+    {.hostName="ADISRobotR37", .robotID=ID_ROBOT_R37, .macStr="d8:a0:1d:42:ec:2c", .eee_id="eee-01377", .eee_pwd="d2GVw71vruR9baZA4EdE"},
+    {.hostName="ADISRobotR44", .robotID=ID_ROBOT_R44, .macStr="d8:a0:1d:42:e9:98", .eee_id="eee-01394", .eee_pwd="3gG3dQTyjjsteuv18EY9"},
+
+    {.hostName="ADISRobotR45", .robotID=ID_ROBOT_R45, .macStr="d8:a0:1d:42:e3:bc", .eee_id="eee-01417", .eee_pwd="zD5zCmXSo18qSMq55Lvs"},
+
+    /* ESP32 modules with no robot! */
+    {.hostName="ADISRobotE34", .robotID=ID_ROBOT_NONE, .macStr="50:02:91:a0:f8:18", .eee_id="eee-01389", .eee_pwd="yehFaZWK9kKSULwLyPyR"},
+
+	/* ESP32 breakout modules */
+    {.hostName="ESP32BRKOUT01", .robotID=ID_ROBOT_NONE, .macStr="d8:a0:1d:62:93:40", .eee_id="eee-01408", .eee_pwd="Gu03RtUCsrE99PafZCTo"},
+    {.hostName="ESP32DEVKIT02", .robotID=ID_ROBOT_NONE, .macStr="24:0a:c4:13:8e:30", .eee_id="eee-01411", .eee_pwd="6kagmMLOR3tDiRx6GfXm"},
+};
+
+void ESP32_MacToString(uint8_t mac[6], uint8_t *buf, size_t bufSize) {
+  McuXFormat_xsnprintf((char*)buf, bufSize, "%02x:%02x:%02x:%02x:%02x:%02x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
+}
+
+void ESP32_MacRead(uint8_t mac[6]) {
+  ESP_ERROR_CHECK(esp_read_mac(&mac[0], ESP_MAC_WIFI_STA));
+}
+
+bool ESP32_MacAreSame(const uint8_t macA[6], const uint8_t macB[6]) {
+  for(int j=0; j<6; j++) {
+    if(macA[j] != macB[j]) {
+      return false; /* no match */
+    }
+  }
+  return true; /* match! */
+}
+
+const ESP32_Device_t *ESP32_MacStrGetDevice(const char *macStr) {
+  int i;
+
+  for(i=0; i<sizeof(ESP32_devices)/sizeof(ESP32_devices[0]); i++) {
+    if (McuUtility_strcmp(macStr, ESP32_devices[i].macStr)==0) {
+      return &ESP32_devices[i];
+    }
+  }
+  return &ESP32_devices[0]; /* unknown robot entry */
+}
+
+const ESP32_Device_t *ESP32_GetDeviceConfig(void) {
+  uint8_t mac[6];
+  uint8_t macStr[sizeof("aa:bb:cc:dd:ee:ff")];
+
+  ESP32_MacRead(mac);
+  ESP32_MacToString(mac, macStr, sizeof(macStr));
+  return ESP32_MacStrGetDevice((char*)macStr);
+}
+
+void ESP32_MacInit(void) {
+  /* nothing needed */
+}
+
+#endif /* PL_CONFIG_USE_IDENTIFY */
diff --git a/ADIS_ESP32_Eclipse/main/esp32_mac.h b/ADIS_ESP32_Eclipse/main/esp32_mac.h
new file mode 100644
index 0000000..175d690
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/esp32_mac.h
@@ -0,0 +1,64 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef ESP32_MAC_H_
+#define ESP32_MAC_H_
+
+#include "platform.h"
+#if PL_CONFIG_USE_IDENTIFY
+#include "Identify.h"
+#include <stdint.h>
+#include <stddef.h> /* for size_t */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+  const char *hostName; /* name for module, usually matching robot, e.g. "AdisRobotR8" */
+  ID_Robot_e robotID;   /* ID of the robot */
+  const char *macStr;   /* ESP32 MAC, e.g. "d8:a0:1d:42:ed:50" */
+  const char *eee_id;   /* eee network id/name */
+  const char *eee_pwd;  /* eee network password */
+} ESP32_Device_t;
+
+/*!
+ * \brief transforms a binary MAC into a string, e.g. "d8:a0:1d:42:ed:50"
+ * \param mac binary MAC
+ * \param buf buffer where to store the string
+ * \param bufSize size of buffer
+ */
+void ESP32_MacToString(uint8_t mac[6], uint8_t *buf, size_t bufSize);
+
+/*!
+ * \brief return for a given MAC address string (e.g. "d8:a0:1d:42:e2:08") the device or NULL if not found.
+ */
+const ESP32_Device_t *ESP32_MacStrGetDevice(const char *macStr);
+
+/*!
+ * \brief Read the MAC address into buffer
+ * \param mac buffer where to store the MAC address
+ */
+void ESP32_MacRead(uint8_t mac[6]);
+
+/*!
+ * \brief return a device configuration based on MAC address
+ * \return pointer to device configuration. Pointing to a dummy configuration if MAC is not found in list.
+ */
+const ESP32_Device_t *ESP32_GetDeviceConfig(void);
+
+/*!
+ * \brief Module initialization
+ */
+void ESP32_MacInit(void);
+
+#endif /* PL_CONFIG_USE_IDENTIFY */
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* ESP32_MAC_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/led.c b/ADIS_ESP32_Eclipse/main/led.c
new file mode 100644
index 0000000..099d8ad
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/led.c
@@ -0,0 +1,147 @@
+/*
+ * Copyright (c) 2020, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "platform.h"
+
+#include <stdio.h>
+#include "driver/gpio.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "led.h"
+#include "McuUtility.h"
+#include "McuLED.h"
+#include "McuLog.h"
+
+#define TAG "Blinky"
+
+static McuLED_Handle_t ledHandle;
+
+static TaskHandle_t taskHandle;
+static bool blinkyIsRunning = false;
+#define LED_OFF_TIME_MS    1000
+static uint32_t onTimeMs = 10; /* default on time of LED */
+
+/* red led on the shield is on IO10, LOW active */
+#define BLINK_GPIO    (GPIO_NUM_10) /* IO10 */
+#define LED_LOW_ACTIVE  (1)
+
+void LED_SetOnTime(uint32_t ms) {
+  onTimeMs = ms;
+}
+
+void LED_On(void) {
+  McuLED_On(ledHandle);
+}
+void LED_Off(void) {
+  McuLED_Off(ledHandle);
+}
+
+void LED_Suspend(void) {
+  if (taskHandle!=NULL) {
+    vTaskSuspend(taskHandle);
+    blinkyIsRunning = false;
+    LED_Off();
+  }
+}
+
+void LED_Resume(void) {
+  if (taskHandle!=NULL) {
+    vTaskResume(taskHandle);
+    blinkyIsRunning = true;
+  }
+}
+
+void LED_GetStatus(unsigned char *buf, size_t bufSize) {
+  buf[0] = '\0';
+  if (taskHandle!=NULL) {
+    eTaskState state;
+
+    state = eTaskGetState(taskHandle);
+    switch(state) {
+    case eSuspended:
+      McuUtility_strcpy(buf, bufSize, (unsigned char*)"suspended");
+      break;
+    case eRunning:
+    case eBlocked:
+      McuUtility_strcpy(buf, bufSize, (unsigned char*)"running");
+      break;
+    default:
+    case eDeleted:
+      McuUtility_strcpy(buf, bufSize, (unsigned char*)"ERROR!");
+      break;
+    }
+  } else {
+    McuUtility_strcpy(buf, bufSize, (unsigned char*)"ERROR: no task!");
+  }
+}
+
+static void blinkyTask(void *pv) {
+  (void)pv;
+  blinkyIsRunning = true;
+  ESP_LOGI(TAG, "running my blinky task");
+  McuLog_info("started blinky task");
+  for(;;) {
+    LED_On();
+    vTaskDelay(pdMS_TO_TICKS(onTimeMs));
+    LED_Off();
+    vTaskDelay(pdMS_TO_TICKS(LED_OFF_TIME_MS));
+  }
+}
+
+#if PL_CONFIG_USE_SHELL
+static uint8_t PrintStatus(const McuShell_StdIOType *io) {
+  McuShell_SendStatusStr((unsigned char*)"led", (unsigned char*)"ESP32 LED status\r\n", io->stdOut);
+  McuShell_SendStatusStr((unsigned char*)"  status", blinkyIsRunning?(unsigned char*)"resumed\r\n":(unsigned char*)"suspended\r\n", io->stdOut);
+  return ERR_OK;
+}
+
+static uint8_t PrintHelp(const McuShell_StdIOType *io) {
+  McuShell_SendHelpStr((unsigned char*)"led", (unsigned char*)"Group of ESP32 LED commands\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  help|status", (unsigned char*)"Shows LED help or status\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  suspend", (unsigned char*)"Suspend the LED task\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  resume", (unsigned char*)"Resume the LED task\r\n", io->stdOut);
+  return ERR_OK;
+}
+
+uint8_t LED_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io) {
+  if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_HELP)==0 || McuUtility_strcmp((char*)cmd, (char*)"led help")==0) {
+    *handled = TRUE;
+    return PrintHelp(io);
+  } else if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_STATUS)==0 || McuUtility_strcmp((char*)cmd, (char*)"led status")==0) {
+    *handled = TRUE;
+    return PrintStatus(io);
+  } else if (McuUtility_strcmp((char*)cmd, (char*)"led suspend")==0) {
+    *handled = TRUE;
+    LED_Suspend();
+  } else if (McuUtility_strcmp((char*)cmd, (char*)"led resume")==0) {
+    *handled = TRUE;
+    LED_Resume();
+  }
+  return ERR_OK;
+}
+#endif /* PL_CONFIG_USE_SHELL */
+
+void LED_Init(void) {
+  BaseType_t res;
+  McuLED_Config_t config;
+
+  McuLED_GetDefaultConfig(&config);
+  config.hw.pin = BLINK_GPIO;
+  config.isLowActive = LED_LOW_ACTIVE;
+  config.isOnInit = false;
+  ledHandle = McuLED_InitLed(&config);
+  if (ledHandle==NULL) {
+    ESP_LOGE(TAG, "failed creating led handle!");
+    return;
+  }
+  res = xTaskCreate(blinkyTask, "blinkyTask", 4*1024/sizeof(StackType_t), NULL, tskIDLE_PRIORITY, &taskHandle);
+  if (res==pdPASS) {
+    ESP_LOGI(TAG, "created blinky task");
+  } else {
+    ESP_LOGE(TAG, "failed creating blinky!");
+  }
+}
diff --git a/ADIS_ESP32_Eclipse/main/led.h b/ADIS_ESP32_Eclipse/main/led.h
new file mode 100644
index 0000000..3a28c63
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/led.h
@@ -0,0 +1,42 @@
+/*
+ * Copyright (c) 2020, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef LED_H_
+#define LED_H_
+
+#include "platform.h"
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void LED_SetOnTime(uint32_t ms);
+void LED_Suspend(void);
+void LED_Resume(void);
+void LED_GetStatus(unsigned char *buf, size_t bufSize);
+
+#if PL_CONFIG_USE_SHELL
+  #include "McuShell.h"
+
+  /*!
+   * \brief Command line and shell handler
+   * \param cmd The command to be parsed
+   * \param handled If command has been recognized and handled
+   * \param io I/O handler to be used
+   * \return error code, otherwise ERR_OK
+   */
+  uint8_t LED_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io);
+#endif
+
+/*! \brief Module initialization */
+void LED_Init(void);
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* LED_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/main.c b/ADIS_ESP32_Eclipse/main/main.c
index d867234..32892ed 100644
--- a/ADIS_ESP32_Eclipse/main/main.c
+++ b/ADIS_ESP32_Eclipse/main/main.c
@@ -12,11 +12,12 @@
 #include "freertos/task.h"
 #include "esp_system.h"
 #include "esp_spi_flash.h"
+#include "platform.h"
 
 void app_main(void)
 {
     printf("Hello world!\n");
-
+    PL_Init();
     /* Print chip information */
     esp_chip_info_t chip_info;
     esp_chip_info(&chip_info);
diff --git a/ADIS_ESP32_Eclipse/main/ping.c b/ADIS_ESP32_Eclipse/main/ping.c
new file mode 100644
index 0000000..219b366
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/ping.c
@@ -0,0 +1,114 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "platform.h"
+#if PL_CONFIG_USE_PING
+#include "ping.h"
+#include "sdkconfig.h"
+#include "lwip/inet.h"
+#include "lwip/netdb.h"
+#include "lwip/sockets.h"
+#include "esp_console.h"
+#include "esp_event.h"
+#include "nvs_flash.h"
+#include "argtable3/argtable3.h"
+#include "ping/ping_sock.h"
+
+static void cmd_ping_on_ping_success(esp_ping_handle_t hdl, void *args) {
+  // optionally, get callback arguments
+  // const char* str = (const char*) args;
+  // printf("%s\r\n", str); // "foo"
+  uint8_t ttl;
+  uint16_t seqno;
+  uint32_t elapsed_time, recv_len;
+  ip_addr_t target_addr;
+  esp_ping_get_profile(hdl, ESP_PING_PROF_SEQNO, &seqno, sizeof(seqno));
+  esp_ping_get_profile(hdl, ESP_PING_PROF_TTL, &ttl, sizeof(ttl));
+  esp_ping_get_profile(hdl, ESP_PING_PROF_IPADDR, &target_addr, sizeof(target_addr));
+  esp_ping_get_profile(hdl, ESP_PING_PROF_SIZE, &recv_len, sizeof(recv_len));
+  esp_ping_get_profile(hdl, ESP_PING_PROF_TIMEGAP, &elapsed_time, sizeof(elapsed_time));
+  printf("%d bytes from %s icmp_seq=%d ttl=%d time=%d ms\n",
+         recv_len, inet_ntoa(target_addr.u_addr.ip4), seqno, ttl, elapsed_time);
+}
+
+static void cmd_ping_on_ping_timeout(esp_ping_handle_t hdl, void *args) {
+  uint16_t seqno;
+  ip_addr_t target_addr;
+  esp_ping_get_profile(hdl, ESP_PING_PROF_SEQNO, &seqno, sizeof(seqno));
+  esp_ping_get_profile(hdl, ESP_PING_PROF_IPADDR, &target_addr, sizeof(target_addr));
+  printf("From %s icmp_seq=%d timeout\n", inet_ntoa(target_addr.u_addr.ip4), seqno);
+}
+
+void cmd_ping_on_ping_end(esp_ping_handle_t hdl, void *args) {
+  ip_addr_t target_addr;
+  uint32_t transmitted;
+  uint32_t received;
+  uint32_t total_time_ms;
+  esp_ping_get_profile(hdl, ESP_PING_PROF_REQUEST, &transmitted, sizeof(transmitted));
+  esp_ping_get_profile(hdl, ESP_PING_PROF_REPLY, &received, sizeof(received));
+  esp_ping_get_profile(hdl, ESP_PING_PROF_IPADDR, &target_addr, sizeof(target_addr));
+  esp_ping_get_profile(hdl, ESP_PING_PROF_DURATION, &total_time_ms, sizeof(total_time_ms));
+  uint32_t loss = (uint32_t)((1 - ((float)received) / transmitted) * 100);
+  if (IP_IS_V4(&target_addr)) {
+      printf("\n--- %s ping statistics ---\n", inet_ntoa(*ip_2_ip4(&target_addr)));
+  } else {
+      printf("\n--- %s ping statistics ---\n", inet6_ntoa(*ip_2_ip6(&target_addr)));
+  }
+  printf("%d packets transmitted, %d received, %d%% packet loss, time %dms\n",
+         transmitted, received, loss, total_time_ms);
+  // delete the ping sessions, so that we clean up all resources and can create a new ping session
+  // we don't have to call delete function in the callback, instead we can call delete function from other tasks
+  esp_ping_delete_session(hdl);
+}
+
+int PING_cmd_do_ping(const char *host) {
+  esp_ping_config_t config = ESP_PING_DEFAULT_CONFIG();
+
+  /* parse IP address */
+  struct sockaddr_in6 sock_addr6;
+  ip_addr_t target_addr;
+  const char *hostp = host; /* extra pointer for getaddrinfo() as it might change it */
+  memset(&target_addr, 0, sizeof(target_addr));
+
+  if (inet_pton(AF_INET6, hostp, &sock_addr6.sin6_addr) == 1) {
+    /* convert ip6 string to ip6 address */
+    ipaddr_aton(host, &target_addr);
+  } else {
+    struct addrinfo hint;
+    struct addrinfo *res = NULL;
+    memset(&hint, 0, sizeof(hint));
+    /* convert ip4 string or hostname to ip4 or ip6 address */
+    if (getaddrinfo(hostp, NULL, &hint, &res) != 0) {
+      printf("ping: unknown host %s\n", host);
+      return 1;
+    }
+    if (res->ai_family == AF_INET) {
+      struct in_addr addr4 = ((struct sockaddr_in *) (res->ai_addr))->sin_addr;
+      inet_addr_to_ip4addr(ip_2_ip4(&target_addr), &addr4);
+    } else {
+      struct in6_addr addr6 = ((struct sockaddr_in6 *) (res->ai_addr))->sin6_addr;
+      inet6_addr_to_ip6addr(ip_2_ip6(&target_addr), &addr6);
+    }
+    freeaddrinfo(res);
+  }
+  config.target_addr = target_addr;
+
+  /* set callback functions */
+  esp_ping_callbacks_t cbs = {
+      .on_ping_success = cmd_ping_on_ping_success,
+      .on_ping_timeout = cmd_ping_on_ping_timeout,
+      .on_ping_end = cmd_ping_on_ping_end,
+      .cb_args = NULL
+  };
+  esp_ping_handle_t ping;
+  esp_ping_new_session(&config, &cbs, &ping);
+  esp_ping_start(ping);
+  return 0; /* ok */
+}
+
+void PING_Cmd_Init(void) {
+}
+#endif /* PL_CONFIG_USE_PING */
diff --git a/ADIS_ESP32_Eclipse/main/ping.h b/ADIS_ESP32_Eclipse/main/ping.h
new file mode 100644
index 0000000..17e3bd1
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/ping.h
@@ -0,0 +1,30 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef MAIN_PING_H_
+#define MAIN_PING_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*!
+ * \brief performs a network ping
+ * \param host host name or address
+ * \return 0 for ok, negative values for error
+ */
+int PING_cmd_do_ping(const char *host);
+
+/*!
+ * \brief Module initialization
+ */
+void PING_cmd_Init(void);
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* MAIN_PING_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/ping_shell.c b/ADIS_ESP32_Eclipse/main/ping_shell.c
new file mode 100644
index 0000000..b57496a
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/ping_shell.c
@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "platform.h"
+#if PL_CONFIG_USE_PING
+#include "ping_shell.h"
+#include "ping.h"
+#include "wifi.h"
+#include "McuShell.h"
+#include "McuUtility.h"
+
+#if PL_CONFIG_USE_SHELL
+
+static uint8_t PrintStatus(const McuShell_StdIOType *io) {
+  McuShell_SendStatusStr((unsigned char*)"ping", (unsigned char*)"ESP32 ping status\r\n", io->stdOut);
+  return ERR_OK;
+}
+
+static uint8_t PrintHelp(const McuShell_StdIOType *io) {
+  McuShell_SendHelpStr((unsigned char*)"ping", (unsigned char*)"Group of ESP32 ping commands\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  help|status", (unsigned char*)"Shows ESP32 ping help or status\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  <host>", (unsigned char*)"Ping host\r\n", io->stdOut);
+  return ERR_OK;
+}
+
+uint8_t PING_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io) {
+  const unsigned char *p;
+
+  if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_HELP)==0 || McuUtility_strcmp((char*)cmd, (char*)"ping help")==0) {
+    *handled = TRUE;
+    return PrintHelp(io);
+  } else if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_STATUS)==0 || McuUtility_strcmp((char*)cmd, (char*)"ping status")==0) {
+    *handled = TRUE;
+    return PrintStatus(io);
+  } else if (McuUtility_strncmp((char*)cmd, (char*)"ping ", sizeof("ping ")-1)==0) {
+    *handled = TRUE;
+    if (!WiFi_isConnected()) {
+      McuShell_SendStr((unsigned char*)"Network not connected\r\n", io->stdErr);
+      return ERR_FAILED;
+    }
+    p = cmd + sizeof("ping ")-1;
+    if (PING_cmd_do_ping((const char*)p)==0) {
+      return ERR_OK;
+    } else {
+      return ERR_FAILED;
+    }
+  }
+  return ERR_OK;
+}
+#endif /* PL_CONFIG_USE_SHELL */
+
+
+void PING_Init(void) {
+}
+
+#endif /* PL_CONFIG_USE_PING */
diff --git a/ADIS_ESP32_Eclipse/main/ping_shell.h b/ADIS_ESP32_Eclipse/main/ping_shell.h
new file mode 100644
index 0000000..5242849
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/ping_shell.h
@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef PING_SHELL_H_
+#define PING_SHELL_H_
+
+#include "platform.h"
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if PL_CONFIG_USE_SHELL
+  #include "McuShell.h"
+
+  /*!
+   * \brief Command line and shell handler
+   * \param cmd The command to be parsed
+   * \param handled If command has been recognized and handled
+   * \param io I/O handler to be used
+   * \return error code, otherwise ERR_OK
+   */
+  uint8_t PING_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io);
+#endif /* PL_CONFIG_USE_SHELL */
+
+/*!
+ * \brief Module initialization
+ */
+void PING_Init(void);
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* PING_SHELL_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/platform.c b/ADIS_ESP32_Eclipse/main/platform.c
new file mode 100644
index 0000000..660df67
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/platform.c
@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "platform.h"
+#include "esp_err.h"
+#if PL_CONFIG_USE_BLINKY
+  #include "led.h"
+#endif
+#if PL_CONFIG_USE_WIFI
+  #include "wifi.h"
+  #include "nvs_flash.h"
+#endif
+#if PL_CONFIG_USE_UDP_CLIENT
+  #include "udp_client.h"
+#endif
+#if PL_CONFIG_USE_UDP_SERVER
+  #include "udp_server.h"
+#endif
+#if PL_CONFIG_USE_SHELL
+  #include "Shell.h"
+#endif
+#if PL_CONFIG_USE_I2C
+  #include "i2c.h"
+#endif
+#if PL_CONFIG_USE_NVMC
+  #include "nvmc.h"
+#endif
+#if PL_CONFIG_USE_PING
+  #include "ping_shell.h"
+#endif
+#if PL_CONFIG_USE_SNTP_TIME
+  #include "sntp_time.h"
+#endif
+#if PL_CONFIG_USE_TIME_DATE
+  #include "McuTimeDate.h"
+  #include "timer.h"
+#endif
+#if PL_CONFIG_USE_ROBO_REMOTE
+  #include "robot.h"
+#endif
+#include "McuLib.h"
+#include "McuGPIO.h"
+#include "McuLED.h"
+#include "McuUtility.h"
+#include "McuWait.h"
+#include "McuShell.h"
+#include "McuRTOS.h"
+#include "McuXFormat.h"
+#include "McuLog.h"
+#include "McuCriticalSection.h"
+#include "esp32_mac.h"
+#include "rs485.h"
+
+void PL_Init(void) {
+  McuLib_Init();
+  McuLog_Init();
+  McuWait_Init();
+  McuRTOS_Init();
+  McuUtility_Init();
+  McuGPIO_Init();
+  McuLED_Init();
+#if PL_CONFIG_USE_TIME_DATE
+  McuTimeDate_Init();
+  TMR_Init();
+#endif
+
+#if PL_CONFIG_USE_BLINKY
+  LED_Init();
+#endif
+#if PL_CONFIG_USE_WIFI
+  ESP_ERROR_CHECK(nvs_flash_init()); /* need to call this before using any WiFi functions */
+  ESP32_MacInit();
+  WiFi_Init();
+#endif
+#if PL_CONFIG_USE_UDP_SERVER
+  UDP_Server_Init();
+#endif
+#if PL_CONFIG_USE_UDP_CLIENT
+  UDP_Client_Init();
+#endif
+#if PL_CONFIG_USE_SHELL
+  McuXFormat_Init();
+  McuShell_Init();
+  SHELL_Init();
+#endif
+#if PL_CONFIG_USE_I2C
+  I2C_Init();
+#endif
+#if PL_CONFIG_USE_NVMC
+  NVMC_Init();
+#endif
+#if PL_CONFIG_USE_RS485
+  RS485_Init();
+#endif
+#if PL_CONFIG_USE_PING
+  PING_Init();
+#endif
+#if PL_CONFIG_USE_SNTP_TIME
+  SNTP_Init();
+#endif
+#if PL_CONFIG_USE_ROBO_REMOTE
+  ROBOT_Init();
+#endif
+}
diff --git a/ADIS_ESP32_Eclipse/main/platform.h b/ADIS_ESP32_Eclipse/main/platform.h
new file mode 100644
index 0000000..8e0f459
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/platform.h
@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef PLATFORM_H_
+#define PLATFORM_H_
+
+/* platform configuration macros: turn on to enable functionality */
+#define PL_CONFIG_USE_BLINKY       (0)  /*!< if using blinky LED */
+#define PL_CONFIG_USE_WIFI         (0)  /*!< if using WiFi/WLAN */
+#define PL_CONFIG_USE_IDENTIFY     (0 && PL_CONFIG_USE_WIFI)  /*!< used to identify ESP32 and robot, needed for EEE network */
+#define PL_CONFIG_USE_UDP_SERVER   (0 && PL_CONFIG_USE_WIFI) /*!< UDP server, used for communication to robot */
+#define PL_CONFIG_USE_UDP_CLIENT   (0 && PL_CONFIG_USE_WIFI) /*!< UDP client, optionally available for tests */
+#define PL_CONFIG_USE_PING         (0 && PL_CONFIG_USE_WIFI) /*!< shell command with ping, to test network connection */
+
+#define PL_CONFIG_USE_SHELL        (0) /*!< implements shell between robot and ESP32 */
+#define PL_CONFIG_USE_RS485        (0) /*!< ESP32 using RS-485 to split-flaps */
+#define PL_CONFIG_USE_SNTP_TIME    (0 && PL_CONFIG_USE_WIFI)
+#define PL_CONFIG_USE_TIME_DATE    (0) /*!< if using Time and Date information */
+#define PL_CONFIG_USE_ROBO_REMOTE  (0 && PL_CONFIG_USE_UDP_SERVER) /* UDP Remote controller for robot */
+
+/*! \brief Module and platform initialization */
+void PL_Init(void);
+
+/* the following ones are not implemented yet: */
+#define PL_CONFIG_USE_I2C          (0)
+#define PL_CONFIG_USE_NVMC         (0)
+#define PL_CONFIG_USE_WDT          (0) /* NYI */
+
+#endif /* PLATFORM_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/robot.c b/ADIS_ESP32_Eclipse/main/robot.c
new file mode 100644
index 0000000..64e70a9
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/robot.c
@@ -0,0 +1,66 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "platform.h"
+#if PL_CONFIG_USE_ROBO_REMOTE
+#include "robot.h"
+#include "udp_server.h"
+#include "wifi.h"
+#include "McuShell.h"
+#include "McuUtility.h"
+#include "Shell.h"
+
+#if PL_CONFIG_USE_SHELL
+
+static uint8_t PrintStatus(const McuShell_StdIOType *io) {
+  McuShell_SendStatusStr((unsigned char*)"robo", (unsigned char*)"ESP32 robo status\r\n", io->stdOut);
+  return ERR_OK;
+}
+
+static uint8_t PrintHelp(const McuShell_StdIOType *io) {
+  McuShell_SendHelpStr((unsigned char*)"robo", (unsigned char*)"Group of robot commands\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  help|status", (unsigned char*)"Shows robot help or status\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  send <text>", (unsigned char*)"Send a text to the robot\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  sendcmd <cmd>", (unsigned char*)"Send a command to the robot, e.g. '#buzzer buz 100 200'\r\n", io->stdOut);
+  return ERR_OK;
+}
+
+uint8_t ROBOT_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io) {
+  if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_HELP)==0 || McuUtility_strcmp((char*)cmd, (char*)"robo help")==0) {
+    *handled = TRUE;
+    return PrintHelp(io);
+  } else if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_STATUS)==0 || McuUtility_strcmp((char*)cmd, (char*)"robo status")==0) {
+    *handled = TRUE;
+    return PrintStatus(io);
+  } else if (McuUtility_strncmp((char*)cmd, (char*)"robo send ", sizeof("robo send ")-1)==0) {
+    const unsigned char *p;
+
+    *handled = TRUE;
+    p = cmd+sizeof("robo send ")-1;
+    McuShell_SendStr(p, io->stdOut); /* send to standard I/O which is the UART to the robot */
+    return ERR_OK;
+  } else if (McuUtility_strncmp((char*)cmd, (char*)"robo sendcmd ", sizeof("robo sendcmd ")-1)==0) {
+    static uint8_t response[10*1024];
+    const unsigned char *p;
+
+    *handled = TRUE;
+    p = cmd+sizeof("robo sendcmd ")-1;
+    SHELL_SendToRobotAndGetResponse(p, response, sizeof(response));
+    McuShell_SendStr(response, io->stdOut); /* show result on console */
+    return ERR_OK;
+  }
+  return ERR_OK;
+}
+#endif /* PL_CONFIG_USE_SHELL */
+
+void ROBOT_Deinit(void) {
+  /* nothing needed */
+}
+
+void ROBOT_Init(void) {
+  /* nothing needed */
+}
+#endif /* PL_CONFIG_USE_ROBO_REMOTE */
diff --git a/ADIS_ESP32_Eclipse/main/robot.h b/ADIS_ESP32_Eclipse/main/robot.h
new file mode 100644
index 0000000..98db047
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/robot.h
@@ -0,0 +1,43 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef MAIN_ROBOT_H_
+#define MAIN_ROBOT_H_
+
+
+#include "platform.h"
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if PL_CONFIG_USE_SHELL
+  #include "McuShell.h"
+
+  /*!
+   * \brief Command line and shell handler
+   * \param cmd The command to be parsed
+   * \param handled If command has been recognized and handled
+   * \param io I/O handler to be used
+   * \return error code, otherwise ERR_OK
+   */
+  uint8_t ROBOT_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io);
+#endif /* PL_CONFIG_USE_SHELL */
+
+/*! \brief Module de-initialization */
+void ROBOT_Deinit(void);
+
+/*! \brief Module initialization */
+void ROBOT_Init(void);
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+
+
+#endif /* MAIN_ROBOT_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/rs485.c b/ADIS_ESP32_Eclipse/main/rs485.c
new file mode 100644
index 0000000..5420025
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/rs485.c
@@ -0,0 +1,632 @@
+/*
+ * Copyright (c) 2019-2022, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "platform.h"
+#if PL_CONFIG_USE_RS485
+#include "rs485.h"
+#include "McuGPIO.h"
+#include "McuUart485.h"
+#include "McuShell.h"
+#include "McuRTOS.h"
+#include "McuUtility.h"
+#include "McuLog.h"
+#include "Shell.h"
+#if McuLib_CONFIG_CPU_IS_KINETIS || McuLib_CONFIG_CPU_IS_LPC
+  #include "nvmc.h"
+#endif
+#if PL_CONFIG_USE_WDT
+  #include "watchdog.h"
+#endif
+#if 0 /* \TODO */
+#include "stepper.h"
+#endif
+
+typedef enum RS485_Response_e {
+  RS485_RESPONSE_CONTINUE, /* continue scanning and parsing */
+  RS485_RESPONSE_OK, /* ok response */
+  RS485_RESPONSE_NOK, /* not ok response */
+  RS485_RESPONSE_TIMEOUT, /* timeout */
+} RS485_Response_e;
+
+static bool RS485_DoLogging = false; /* if traffic on the bus shall be reported on the shell */
+static SemaphoreHandle_t RS485_stdioMutex; /* mutex to protect access to standard I/O */
+
+uint8_t RS485_GetAddress(void) {
+#if McuLib_CONFIG_CPU_IS_KINETIS || McuLib_CONFIG_CPU_IS_LPC
+  uint8_t addr = 0;
+
+  if (NVMC_GetRS485Addr(&addr)==ERR_OK) {
+    return addr;
+  }
+  return 0; /* failed */
+#elif McuLib_CONFIG_CPU_IS_ESP32
+  return 1; /* hard coded */
+#endif
+}
+
+static void RS485_SendChar(unsigned char ch) {
+  McuUart485_stdio.stdOut(ch);
+}
+
+static void RS485_NullSend(unsigned char ch) {
+  /* do nothing */
+}
+
+static void RS485_ReadChar(uint8_t *c) {
+  *c = '\0'; /* only sending on this channel */
+}
+
+static bool RS485_CharPresent(void) {
+  return false; /* only sending on this channel */
+}
+
+McuShell_ConstStdIOType RS485_stdio = {
+    .stdIn = (McuShell_StdIO_In_FctType)RS485_ReadChar,
+    .stdOut = (McuShell_StdIO_OutErr_FctType)RS485_SendChar,
+    .stdErr = (McuShell_StdIO_OutErr_FctType)RS485_SendChar,
+    .keyPressed = RS485_CharPresent, /* if input is not empty */
+  #if McuShell_CONFIG_ECHO_ENABLED
+    .echoEnabled = false,
+  #endif
+};
+
+McuShell_ConstStdIOType RS485_stdioBroadcast = {
+    .stdIn = (McuShell_StdIO_In_FctType)RS485_ReadChar,
+    .stdOut = (McuShell_StdIO_OutErr_FctType)RS485_NullSend,
+    .stdErr = (McuShell_StdIO_OutErr_FctType)RS485_NullSend,
+    .keyPressed = RS485_CharPresent, /* if input is not empty */
+  #if McuShell_CONFIG_ECHO_ENABLED
+    .echoEnabled = false,
+  #endif
+};
+
+/*-----------------------------------------------------------------------*/
+/* parser I/O handler, used to parse the returned data after sending a command to the RS-485 bus */
+static void RS485Parse_SendChar(unsigned char ch) {
+  if (xSemaphoreTakeRecursive(RS485_stdioMutex, portMAX_DELAY)==pdPASS) { /* take mutex */
+    McuUart485_stdio.stdOut(ch);
+    (void)xSemaphoreGiveRecursive(RS485_stdioMutex); /* give back mutex */
+  }
+}
+
+static void RS485Parse_ReadChar(uint8_t *c) {
+  if (xSemaphoreTakeRecursive(RS485_stdioMutex, portMAX_DELAY)==pdPASS) { /* take mutex */
+    McuUart485_stdio.stdIn(c);
+    (void)xSemaphoreGiveRecursive(RS485_stdioMutex); /* give back mutex */
+  }
+}
+
+static bool RS485Parse_CharPresent(void) {
+  bool inputPresent = false;
+
+  if (xSemaphoreTakeRecursive(RS485_stdioMutex, portMAX_DELAY)==pdPASS) { /* take mutex */
+    inputPresent = McuUart485_stdio.keyPressed();
+    (void)xSemaphoreGiveRecursive(RS485_stdioMutex); /* give back mutex */
+  }
+  return inputPresent;
+}
+
+static McuShell_ConstStdIOType RS485Parse_stdio = {
+    .stdIn = (McuShell_StdIO_In_FctType)RS485Parse_ReadChar,
+    .stdOut = (McuShell_StdIO_OutErr_FctType)RS485Parse_SendChar,
+    .stdErr = (McuShell_StdIO_OutErr_FctType)RS485Parse_SendChar,
+    .keyPressed = RS485Parse_CharPresent, /* if input is not empty */
+  #if McuShell_CONFIG_ECHO_ENABLED
+    .echoEnabled = false,
+  #endif
+ };
+/*-----------------------------------------------------------------------*/
+static void RS485_SendStr(unsigned char *str) {
+  while(*str!='\0') {
+    RS485_stdio.stdOut(*str++);
+  }
+}
+
+static uint8_t CalcCRC(const uint8_t *data, uint8_t dataSize, uint8_t start) {
+  uint8_t crc, i, x, y;
+
+  crc = start;
+  for(x=0;x<dataSize;x++){
+    y = data[x];
+    for(i=0;i<8;i++) { /* go through all bits of the data byte */
+      if((crc&0x01)^(y&0x01)) {
+        crc >>= 1;
+        crc ^= 0x8c;
+      } else {
+        crc >>= 1;
+      }
+      y >>= 1;
+    }
+  }
+  return crc;
+}
+
+static uint8_t CalcMsgCrc(const unsigned char *msg) {
+  /* header is "@dd ss cc ...", both dd, ss and cc are 8bit HEX values. The CRC (cc) is not included in the CRC */
+  uint8_t crc;
+
+  crc = CalcCRC(msg, sizeof("@dd ss ")-1, 0);
+  crc = CalcCRC(msg+sizeof("@dd ss cc")-1, strlen((char*)msg+sizeof("@dd ss cc")-1), crc);
+  return crc;
+}
+
+typedef enum CMD_ParserState_e {
+  CMD_PARSER_INIT,
+  CMD_PARSER_START_DETECTED, /* start '@' detected */
+  CMD_PARSER_SCAN_DST_ADDR, /* scanning destination address */
+  CMD_PARSER_SCAN_SRC_ADDR,  /* scan source address */
+  CMD_PARSER_SCAN_CRC,       /* scan CRC */
+  CMD_PARSER_SCAN_OK_NOK,   /* reading NOK or OK */
+} CMD_ParserState_e;
+
+static RS485_Response_e Scan(CMD_ParserState_e *state, unsigned char ch, unsigned char *buf, size_t bufSize, uint8_t fromAddr) {
+  /* scan for "@<dstaddr> <srcAddr> <CRC> OK"
+   *       or "@<dstaddr> <srcAddr> <CRC> NOK"
+   */
+  const unsigned char *p;
+  uint8_t addr;
+  uint8_t exp_crc;
+  static uint8_t crc = 0;
+
+  if (ch=='@') { /* a marker? start scanning again */
+    *state = CMD_PARSER_INIT;
+  }
+  for(;;) { /* breaks or returns */
+    switch(*state) {
+      case CMD_PARSER_INIT:
+        buf[0] = '\0'; /* reset buffer */
+        if (ch=='@') { /* a marker? start scanning again */
+          McuUtility_chcat(buf, bufSize, ch);
+          *state = CMD_PARSER_START_DETECTED;
+          break; /* continue state machine */
+        }
+        return RS485_RESPONSE_CONTINUE;
+
+       case CMD_PARSER_START_DETECTED:
+        *state = CMD_PARSER_SCAN_DST_ADDR;
+        return RS485_RESPONSE_CONTINUE;
+
+       case CMD_PARSER_SCAN_DST_ADDR:
+         McuUtility_chcat(buf, bufSize, ch);
+         if (ch==' ') {
+           p = &buf[sizeof("@")-1];
+           if (McuUtility_ScanHex8uNumberNoPrefix(&p, &addr)==ERR_OK && addr==RS485_GetAddress()) {
+             *state = CMD_PARSER_SCAN_SRC_ADDR;
+             return RS485_RESPONSE_CONTINUE;
+           } else {
+             *state = CMD_PARSER_INIT;
+           }
+         } else if (ch=='\n') { /* failed */
+           *state = CMD_PARSER_INIT;
+         }
+         return RS485_RESPONSE_CONTINUE;
+
+       case CMD_PARSER_SCAN_SRC_ADDR:
+         McuUtility_chcat(buf, bufSize, ch);
+         if (ch==' ') {
+           p = &buf[sizeof("@ss ")-1];
+           if (McuUtility_ScanHex8uNumberNoPrefix(&p, &addr)==ERR_OK && addr==fromAddr) {
+             *state = CMD_PARSER_SCAN_CRC;
+             return RS485_RESPONSE_CONTINUE;
+           } else {
+             *state = CMD_PARSER_INIT;
+           }
+         } else if (ch=='\n') { /* failed */
+           *state = CMD_PARSER_INIT;
+         }
+         return RS485_RESPONSE_CONTINUE;
+
+       case CMD_PARSER_SCAN_CRC:
+         McuUtility_chcat(buf, bufSize, ch);
+         if (ch==' ') {
+           p = &buf[sizeof("@ss dd ")-1];
+           if (McuUtility_ScanHex8uNumberNoPrefix(&p, &crc)==ERR_OK) {
+             *state = CMD_PARSER_SCAN_OK_NOK;
+             return RS485_RESPONSE_CONTINUE;
+           } else {
+             *state = CMD_PARSER_INIT;
+           }
+         } else if (ch=='\n') { /* failed */
+           *state = CMD_PARSER_INIT;
+         }
+         return RS485_RESPONSE_CONTINUE;
+
+       case CMD_PARSER_SCAN_OK_NOK:
+          McuUtility_chcat(buf, bufSize, ch);
+          if (ch=='\n') {
+            p = &buf[sizeof("@ss dd cc ")-1];
+            if (McuUtility_strcmp((char*)p, (char*)"OK\n")==0) { /* a match! */
+              buf[sizeof("@ss dd cc OK")-1] = '\0'; /* overwrite '\n' as not included in CRC */
+              exp_crc = CalcMsgCrc(buf);
+              *state = CMD_PARSER_INIT;
+              if (crc==exp_crc) {
+                return RS485_RESPONSE_OK;
+              } else {
+                return RS485_RESPONSE_NOK;
+              }
+            } else if (McuUtility_strcmp((char*)buf, (char*)"NOK\n")==0) { /* a match! */
+              buf[sizeof("@ss dd cc NOK")-1] = '\0'; /* overwrite '\n' as not included in CRC */
+              exp_crc = CalcMsgCrc(buf);
+              *state = CMD_PARSER_INIT;
+              if (crc==exp_crc) {
+                return RS485_RESPONSE_NOK;
+              } else {
+                return RS485_RESPONSE_NOK; /* CRC is not ok, and message is NOK too */
+              }
+            } else if (ch=='\n') { /* failed */
+              *state = CMD_PARSER_INIT;
+              break; /* continue in state machine */
+            }
+          }
+          return RS485_RESPONSE_CONTINUE;
+
+      default:
+        break;
+    } /* switch */
+    /* get here with a break */
+  } /* for */
+  return RS485_RESPONSE_CONTINUE;
+}
+
+static RS485_Response_e WaitForResponse(int32_t timeoutMs, uint8_t fromAddr, McuShell_ConstStdIOType *shellIO, McuShell_ConstStdIOType *rsIO) {
+  unsigned char buf[24] = ""; /* enough for "@<addr> <fromAddr> OK" or "@<addr> <fromAddr> NOK" */
+  unsigned char ch;
+  RS485_Response_e resp;
+  CMD_ParserState_e state = CMD_PARSER_INIT;
+
+  for(;;) { /* returns */
+    /* read response text and write into buffer or to console */
+    static unsigned char lineBuffer[512]; /* enough for a line of text coming back from the bus */
+
+    lineBuffer[0] = '\0'; /* initialize buffer */
+    do {
+      rsIO->stdIn(&ch);
+      if (ch!='\0') {
+        McuUtility_chcat(lineBuffer, sizeof(lineBuffer), ch);
+        if (ch=='\n') {
+          if (lineBuffer[0]!='@') { /* do not send things like OK or NOK messages from bus */
+            SHELL_SendStringToIO(lineBuffer, shellIO);
+          }
+          lineBuffer[0] = '\0'; /* reset buffer */
+        }
+      }
+    } while(ch!='\0');
+
+    ch = McuUart485_GetResponseQueueChar();
+    if (ch!='\0') {
+      resp = Scan(&state, ch, buf, sizeof(buf), fromAddr);
+      if (resp==RS485_RESPONSE_OK || resp==RS485_RESPONSE_NOK) {
+        return resp;
+      }
+    } else { /* empty response buffer: check normal incoming characters */
+      vTaskDelay(pdMS_TO_TICKS(50));
+    #if PL_CONFIG_USE_WDT
+      WDT_Report(WDT_REPORT_ID_CURR_TASK, 50);
+    #endif
+      timeoutMs -= 50;
+      if (timeoutMs<=0) {
+        return RS485_RESPONSE_TIMEOUT;
+      }
+    }
+  } /* for */
+  return RS485_RESPONSE_CONTINUE;
+}
+
+uint8_t RS485_SendCommand(uint8_t dstAddr, const unsigned char *cmd, int32_t timeoutMs, uint32_t nofRetry, McuShell_ConstStdIOType *shellIO, McuShell_ConstStdIOType *rsIO) {
+  /* example: send "@16 1 cmd stepper status" */
+  unsigned char buf[McuShell_DEFAULT_SHELL_BUFFER_SIZE];
+  uint8_t res = ERR_OK;
+  RS485_Response_e resp;
+  uint8_t crc, hex;
+
+  if (rsIO==NULL) { /* assign default */
+    rsIO = &RS485Parse_stdio;
+  }
+  McuUtility_strcpy(buf, sizeof(buf), (unsigned char*)("@"));
+  McuUtility_strcatNum8Hex(buf, sizeof(buf), dstAddr); /* add destination address */
+  McuUtility_chcat(buf, sizeof(buf), ' ');
+  McuUtility_strcatNum8Hex(buf, sizeof(buf), RS485_GetAddress()); /* add src address */
+  McuUtility_chcat(buf, sizeof(buf), ' ');
+  McuUtility_strcatNum8Hex(buf, sizeof(buf), 0); /* dummy crc, will be replaced with real one */
+  McuUtility_strcat(buf, sizeof(buf), (unsigned char*)(" cmd "));
+  McuUtility_strcat(buf, sizeof(buf), cmd);
+  /* update crc */
+  crc = CalcMsgCrc(buf);
+  hex = (char)((crc>>4) & 0x0F);
+  buf[sizeof("@dd ss ")-1] = (char)(hex + ((hex <= 9) ? '0' : ('A'-10)));
+  hex = (char)(crc & 0x0F);
+  buf[sizeof("@dd ss c")-1] = (char)(hex + ((hex <= 9) ? '0' : ('A'-10)));
+
+  if (xSemaphoreTakeRecursive(RS485_stdioMutex, portMAX_DELAY)==pdPASS) { /* take mutex */
+    for(;;) { /* breaks */
+      McuUart485_ClearResponseQueue(); /* clear up if there is something pending */
+      if (RS485_DoLogging) {
+        McuLog_trace("Tx: %s", buf);
+      }
+      RS485_SendStr(buf);
+      RS485_SendStr((unsigned char*)"\n");
+      if (dstAddr==RS485_BROADCAST_ADDRESS) {
+        /* do not wait for a OK/NOK response for broadcast messages. The caller has to check with 'lastError' */
+        res = ERR_OK;
+        break; /* leave loop */
+      } else {
+        vTaskDelay(pdMS_TO_TICKS(100)); /* give back some time for receiving a response */
+        resp = WaitForResponse(timeoutMs, dstAddr, shellIO, rsIO);
+        if (resp==RS485_RESPONSE_OK) {
+          res = ERR_OK;
+          break; /* fine, leave loop */
+        } else if (resp==RS485_RESPONSE_TIMEOUT) { /* board did not respond? */
+          res = ERR_BUSOFF; /* retry */
+        } else if (resp==RS485_RESPONSE_NOK) { /* not ok, crc error? */
+          res = ERR_CRC; /* retry */
+        }
+      }
+      /* NOK or timeout */
+      if (nofRetry==0) { /* tried enough */
+        res = ERR_FAILED;
+        break; /* leave loop */
+      }
+      nofRetry--; /* try again */
+    } /* for */
+    (void)xSemaphoreGiveRecursive(RS485_stdioMutex); /* give back mutex */
+  }
+  return res;
+}
+
+static uint8_t PrintStatus(const McuShell_StdIOType *io) {
+  uint8_t buf[16];
+
+  McuShell_SendStatusStr((unsigned char*)"rs", (unsigned char*)"RS-485 settings\r\n", io->stdOut);
+  McuUtility_strcpy(buf, sizeof(buf), (unsigned char*)"0x");
+  McuUtility_strcatNum8Hex(buf, sizeof(buf), RS485_GetAddress());
+  McuUtility_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
+  McuShell_SendStatusStr((unsigned char*)"  addr", buf, io->stdOut);
+  McuShell_SendStatusStr((unsigned char*)"  log", RS485_DoLogging?(unsigned char*)"on\r\n":(unsigned char*)"off\r\n", io->stdOut);
+  return ERR_OK;
+}
+
+static uint8_t PrintHelp(const McuShell_StdIOType *io) {
+  McuShell_SendHelpStr((unsigned char*)"rs", (unsigned char*)"Group of RS-485 commands\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  help|status", (unsigned char*)"Print help or status information\r\n", io->stdOut);
+#if PL_CONFIG_USE_NVMC
+  McuShell_SendHelpStr((unsigned char*)"  addr <addr>", (unsigned char*)"Set RS-485 address\r\n", io->stdOut);
+#endif
+  McuShell_SendHelpStr((unsigned char*)"  send <text>", (unsigned char*)"Send a text to the RS-485 bus\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  sendcmd <addr> <cmd>", (unsigned char*)"Send a shell command to the RS-485 address and check response\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  log on|off", (unsigned char*)"Log RS-485 bus activity to McuLog\r\n", io->stdOut);
+  return ERR_OK;
+}
+
+uint8_t RS485_ParseCommand(const unsigned char *cmd, bool *handled, const McuShell_StdIOType *io) {
+  const unsigned char *p;
+  int32_t val;
+
+  if (McuUtility_strcmp((char*)cmd, McuShell_CMD_HELP)==0 || McuUtility_strcmp((char*)cmd, "rs help")==0) {
+    *handled = TRUE;
+    return PrintHelp(io);
+  } else if ((McuUtility_strcmp((char*)cmd, McuShell_CMD_STATUS)==0) || (McuUtility_strcmp((char*)cmd, "rs status")==0)) {
+    *handled = TRUE;
+    return PrintStatus(io);
+  } else if (McuUtility_strncmp((char*)cmd, "rs log ", sizeof("rs log ")-1)==0) {
+    *handled = TRUE;
+    p = cmd + sizeof("rs log ")-1;
+    if (McuUtility_strcmp((char*)p, "on")==0) {
+      RS485_DoLogging = true;
+      return ERR_OK;
+    } else if (McuUtility_strcmp((char*)p, "off")==0) {
+      RS485_DoLogging = false;
+      return ERR_OK;
+    }
+    return ERR_FAILED;
+#if PL_CONFIG_USE_NVMC
+  } else if (McuUtility_strncmp((char*)cmd, "rs addr ", sizeof("rs addr ")-1)==0) {
+    *handled = true;
+    p = cmd + sizeof("rs addr ")-1;
+    if (McuUtility_xatoi(&p, &val)==ERR_OK && val>=0 && val<=0xff) {
+      return NVMC_SetRS485Addr(val);
+    }
+    return ERR_FAILED;
+#endif
+  } else if (McuUtility_strncmp((char*)cmd, "rs send ", sizeof("rs send ")-1)==0) {
+    *handled = true;
+    RS485_SendStr((unsigned char*)cmd+sizeof("rs send ")-1);
+    RS485_SendStr((unsigned char*)("\n"));
+  } else if (McuUtility_strncmp((char*)cmd, "rs sendcmd ", sizeof("rs sendcmd ")-1)==0) {
+    *handled = true;
+    p = cmd + sizeof("rs sendcmd ")-1;
+    if (McuUtility_xatoi(&p, &val)==ERR_OK) { /* parse destination address */
+      unsigned char buffer[McuShell_CONFIG_DEFAULT_SHELL_BUFFER_SIZE];
+
+      while (*p==' ') { /* skip leading spaces */
+        p++;
+      }
+      if (*p=='"') { /* double-quoted command: it can contain multiple commands */
+        if (McuUtility_ScanDoubleQuotedString(&p, buffer, sizeof(buffer))!=ERR_OK) {
+          return ERR_FAILED;
+        }
+        p = buffer;
+      }
+      return RS485_SendCommand(val, (unsigned char*)p, 10000, 0, io, &RS485Parse_stdio); /* 10 seconds should be enough */
+    }
+    return ERR_FAILED;
+  }
+  return ERR_OK;
+}
+
+static uint8_t CheckHeader(unsigned char *msg, const unsigned char **startCmd, uint8_t *sourceAddr, uint8_t *destinationAddr) {
+  /* format is in the form "@<DST_ADDR> <SRC_ADDR> <CRC> cmd help" */
+  const unsigned char *p;
+  uint8_t dstAddr, srcAddr;
+  uint8_t expected_crc, crc, res;
+  unsigned char buf[42];
+
+  /* init with defaults in case of error */
+  *sourceAddr = RS485_BROADCAST_ADDRESS;
+  *destinationAddr = RS485_BROADCAST_ADDRESS;
+  *startCmd = msg;
+  if (*msg=='@') {
+    p = msg+1; /* skip '@' */
+    /* check for "@<DST_ADDR> <SRC_ADDR>" */
+    if (   McuUtility_ScanHex8uNumberNoPrefix(&p, &dstAddr)==ERR_OK
+        && (dstAddr==RS485_GetAddress() || dstAddr==RS485_BROADCAST_ADDRESS) /* broadcast or matching destination address */
+        && McuUtility_ScanHex8uNumberNoPrefix(&p, &srcAddr)==ERR_OK /* get source address */
+        )
+    {
+      *sourceAddr = srcAddr;
+      *destinationAddr = dstAddr;
+      /* check CRC */
+      res = McuUtility_ScanHex8uNumberNoPrefix(&p, &crc);
+      if (res!=ERR_OK) {
+        return ERR_CRC;
+      }
+      expected_crc = CalcMsgCrc(msg);
+      if (crc!=expected_crc) {
+        if (dstAddr!=RS485_BROADCAST_ADDRESS) { /* only send back error if it was not a broadcast */
+          McuUtility_strcpy(buf, sizeof(buf), (uint8_t*)"CRC_ERR 0x");
+          McuUtility_strcatNum8Hex(buf, sizeof(buf), RS485_GetAddress());
+          McuUtility_strcat(buf, sizeof(buf), (uint8_t*)": 0x");
+          McuUtility_strcatNum8Hex(buf, sizeof(buf), crc);
+          McuUtility_strcat(buf, sizeof(buf), (uint8_t*)" expected 0x");
+          McuUtility_strcatNum8Hex(buf, sizeof(buf), expected_crc);
+          McuUtility_chcat(buf, sizeof(buf), '\n');
+          McuShell_SendStr(buf, RS485_stdio.stdErr);
+        }
+        return ERR_CRC;
+      }
+      *startCmd = p;
+      return ERR_OK;
+    }
+  }
+  return ERR_FAILED;
+}
+
+static void RS485Task(void *pv) {
+  static uint8_t cmdBuf[McuShell_DEFAULT_SHELL_BUFFER_SIZE]; /* command line and text from the RS-485 bus */
+  const unsigned char *startCmd;
+  uint8_t srcAddr, dstAddr;
+  uint8_t res, crc;
+  uint8_t buf[32];
+  unsigned char hex;
+  bool reply;
+  static uint8_t lastError = ERR_OK;
+
+  (void)pv; /* not used */
+  McuLog_trace("Starting RS485 Task");
+  #if PL_CONFIG_USE_WDT
+  WDT_SetTaskHandle(WDT_REPORT_ID_TASK_RS485, xTaskGetCurrentTaskHandle());
+  #endif
+  cmdBuf[0] = '\0';
+  for(;;) {
+    while (!McuUart485_stdio.keyPressed()) { /* if nothing in input queue, give back some CPU time */
+      vTaskDelay(pdMS_TO_TICKS(10));
+    #if PL_CONFIG_USE_WDT
+      WDT_Report(WDT_REPORT_ID_TASK_RS485, 10);
+    #endif
+    }
+    if (McuShell_ReadCommandLine(cmdBuf, sizeof(cmdBuf), &RS485Parse_stdio)==ERR_OK) {
+      reply = false;
+      srcAddr = RS485_ILLEGAL_ADDRESS;
+      dstAddr = RS485_ILLEGAL_ADDRESS;
+      if (cmdBuf[0]=='@' && strlen((char*)cmdBuf)>sizeof("@dd ss cc ")-1) { /* have a valid message? */
+        if (RS485_DoLogging) {
+          McuLog_trace("Rx: %s", cmdBuf);
+        }
+        reply = false; /* default */
+        res = CheckHeader(cmdBuf, &startCmd, &srcAddr, &dstAddr);
+        if (res == ERR_CRC) { /* wrong crc */
+          lastError = ERR_CRC;
+          reply = true;
+        } else if (res==ERR_OK) { /* header was ok */
+          res = ERR_FAILED; /* set default return value */
+          if (McuUtility_strcmp((char*)startCmd, (char*)" cmd lastError")==0) {
+            reply = true;
+            res = lastError;  /* report back last error */
+            lastError = ERR_OK; /* clear error */
+          } else if (McuUtility_strcmp((char*)startCmd, (char*)" cmd idle")==0) {
+            reply = true;
+#if 0 /* \TODO */
+            if (STEPPER_IsIdle()) {
+              res = ERR_OK;  /* ERR_OK if board is idle */
+            } else {
+              res = ERR_FAILED; /* not idle */
+            }
+#else
+            res = ERR_FAILED; /* not idle */
+#endif
+          } else if (McuUtility_strncmp((char*)startCmd, " cmd ", sizeof(" cmd ")-1)==0) { /* shell command? */
+            McuUart485_ClearResponseQueue(); /* clear any pending response: we are going to parse a new command */
+            startCmd += sizeof(" cmd ")-1;
+            if (dstAddr==RS485_BROADCAST_ADDRESS) {
+              res = SHELL_ParseCommandIO(startCmd, &RS485_stdioBroadcast, true); /* do not write anything back if broadcast */
+            } else {
+              res = SHELL_ParseCommandIO(startCmd, &RS485_stdio, true);
+            }
+            lastError = res; /* remember error status if we get asked later on */
+            reply = true;
+          } else if (McuUtility_strcmp((char*)startCmd, (char*)" OK")==0) {
+            reply = false;
+          } else if (McuUtility_strcmp((char*)startCmd, (char*)" NOK")==0) {
+            reply = false;
+          }
+        }
+      } else {
+        /* not starting with '@', print it ... */
+        McuUtility_strcat(cmdBuf, sizeof(cmdBuf), (unsigned char*)"\r\n"); /* for the shell parser, the new-line has been removed. Add it again for output */
+        SHELL_SendString((unsigned char *)cmdBuf); /* \TODO do not send directly to UART: instead, use a stdio which buffers the output */
+      }
+      cmdBuf[0] = '\0'; /* reset buffer for next iteration */
+      /* send response back to sender */
+      if (reply && dstAddr!=RS485_BROADCAST_ADDRESS) { /* normal message, send response. For broadcasts it is up to the caller to check the last error */
+        McuUtility_strcpy(buf, sizeof(buf), (unsigned char*)"@");
+        McuUtility_strcatNum8Hex(buf, sizeof(buf), srcAddr);
+        McuUtility_chcat(buf, sizeof(buf), ' ');
+        McuUtility_strcatNum8Hex(buf, sizeof(buf), RS485_GetAddress());
+        McuUtility_chcat(buf, sizeof(buf), ' ');
+        McuUtility_strcatNum8Hex(buf, sizeof(buf), 0); /* dummy crc, will be replaced later */
+        if (res==ERR_OK) {
+          McuUtility_strcat(buf, sizeof(buf), (unsigned char*)" OK");
+        } else {
+          McuUtility_strcat(buf, sizeof(buf), (unsigned char*)" NOK");
+        }
+        crc = CalcMsgCrc(buf);
+        hex = (char)((crc>>4) & 0x0F);
+        buf[sizeof("@dd ss ")-1] = (char)(hex + ((hex <= 9) ? '0' : ('A'-10)));
+        hex = (char)(crc & 0x0F);
+        buf[sizeof("@dd ss c")-1] = (char)(hex + ((hex <= 9) ? '0' : ('A'-10)));
+        McuUtility_chcat(buf, sizeof(buf), '\n');
+        RS485_SendStr(buf);
+      }
+    }
+  } /* for */
+}
+
+void RS485_Deinit(void) {
+  McuUart485_Deinit();
+}
+
+void RS485_Init(void) {
+  McuUart485_Init();
+  if (xTaskCreate(
+      RS485Task,  /* pointer to the task */
+      "RS-485", /* task name for kernel awareness debugging */
+      1300/sizeof(StackType_t), /* task stack size */
+      (void*)NULL, /* optional task startup argument */
+      tskIDLE_PRIORITY+4,  /* initial priority */
+      (TaskHandle_t*)NULL /* optional task handle to create */
+    ) != pdPASS)
+  {
+    McuLog_fatal("Failed creating RS-485 task");
+    for(;;){} /* error! probably out of memory */
+  }
+  RS485_stdioMutex = xSemaphoreCreateRecursiveMutex();
+  if (RS485_stdioMutex==NULL) { /* creation failed? */
+    McuLog_fatal("Failed creating RS-485 Standard I/O mutex");
+    for(;;);
+  }
+  vQueueAddToRegistry(RS485_stdioMutex, "RS485StdIoMutex");
+}
+
+#endif /* PL_CONFIG_USE_RS485 */
diff --git a/ADIS_ESP32_Eclipse/main/rs485.h b/ADIS_ESP32_Eclipse/main/rs485.h
new file mode 100644
index 0000000..765d3d8
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/rs485.h
@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2019-2022, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef RS485_H_
+#define RS485_H_
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "McuShell.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*! special pre-defined node addresses */
+#define RS485_BROADCAST_ADDRESS (0x00)
+  /*!< special broadcast address */
+#define RS485_ILLEGAL_ADDRESS   (0xff)
+  /*!< illegal/initialization value */
+
+/*!
+ * \brief Send a shell command to the RS-485 bus
+ * \param dstAddr Destination node address
+ * \param cmd The shell command string
+ * \param timeoutMs timeout in milliseconds to wait for a response
+ * \param nofRetry Number of retries
+ * \param shellIO I/O handler of the calling shell, used for writing output of the command
+ * \param rsIO I/O handler for the RS-485 bus, used to read incoming characters
+ * \return Error code, or ERR_OK
+ */
+uint8_t RS485_SendCommand(uint8_t dstAddr, const unsigned char *cmd, int32_t timeoutMs, uint32_t nofRetry, McuShell_ConstStdIOType *shellIO, McuShell_ConstStdIOType *rsIO);
+
+/*!
+ * \brief Getter for RS-485 node address
+ * \return address of node
+ */
+uint8_t RS485_GetAddress(void);
+
+/*!
+ * \brief Shell command line parser
+ * \param cmd command to be parsed
+ * \param handled if command was recognized
+ * \param io I/O handler
+ * \return Error code, or ERR_OK
+ */
+uint8_t RS485_ParseCommand(const unsigned char *cmd, bool *handled, const McuShell_StdIOType *io);
+
+/*! \brief Module de-initialization */
+void RS485_Deinit(void);
+
+/*! \brief Module initialization */
+void RS485_Init(void);
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* RS485_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/sntp_time.c b/ADIS_ESP32_Eclipse/main/sntp_time.c
new file mode 100644
index 0000000..c3d49a4
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/sntp_time.c
@@ -0,0 +1,89 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+
+#include "platform.h"
+#if PL_CONFIG_USE_SNTP_TIME
+#include "sntp_time.h"
+#include "esp_sntp.h"
+#include "esp_log.h"
+#include "wifi.h"
+#include "McuTimeDate.h"
+#include "McuLog.h"
+
+static void SNTP_SetTime(void) {
+  time_t now = 0;
+  struct tm timeinfo = { 0 };
+
+  time(&now);
+  setenv("TZ", "CET-1CEST,M3.5.0,M10.5.0/3", 1); /* see https://github.com/nayarsystems/posix_tz_db/blob/master/zones.csv */
+  tzset();
+  localtime_r(&now, &timeinfo);
+
+  char strftime_buf[64];
+
+  strftime(strftime_buf, sizeof(strftime_buf), "%c", &timeinfo);
+  McuLog_info("The current date/time is: %s", strftime_buf);
+
+#if PL_CONFIG_USE_TIME_DATE
+ uint32_t seconds;
+  TIMEREC timeRec;
+  DATEREC dateRec;
+
+  seconds = (uint32_t)time(NULL); /* get number of seconds since 1970 */
+  McuTimeDate_UnixSecondsToTimeDateCustom(seconds, -1, &timeRec, &dateRec, 1970);
+  McuTimeDate_SetTimeDate(&timeRec, &dateRec);
+#endif
+}
+
+void time_sync_notification_cb(struct timeval *tv) {
+  McuLog_info("Notification of a time synchronization event");
+  SNTP_SetTime();
+}
+
+static void initialize_sntp(void) {
+  McuLog_info("Initializing SNTP");
+  sntp_setoperatingmode(SNTP_OPMODE_POLL);
+  sntp_setservername(0, "pool.ntp.org");
+  sntp_set_time_sync_notification_cb(time_sync_notification_cb);
+#ifdef CONFIG_SNTP_TIME_SYNC_METHOD_SMOOTH
+  sntp_set_sync_mode(SNTP_SYNC_MODE_SMOOTH);
+#endif
+  sntp_init();
+}
+
+int SNTP_ObtainTime(void) {
+  const int retry_count = 10;
+  int retry = 0;
+
+  if (!WiFi_isConnected()) {
+    McuLog_error("Cannot get sntp time, WiFi not connected");
+    return -1; /* failure */
+  }
+  /**
+   * NTP server address could be acquired via DHCP,
+   * see LWIP_DHCP_GET_NTP_SRV menuconfig option
+   */
+#ifdef LWIP_DHCP_GET_NTP_SRV
+  sntp_servermode_dhcp(1);
+#endif
+
+  initialize_sntp();
+
+  /* wait for time to be set */
+  while (sntp_get_sync_status() == SNTP_SYNC_STATUS_RESET && ++retry < retry_count) {
+    McuLog_info("Waiting for system time to be set... (%d/%d)", retry, retry_count);
+    vTaskDelay(pdMS_TO_TICKS(2000));
+  }
+  /* here we have received a valid time/date from the SNTP server */
+  return 0; /* ok */
+}
+
+void SNTP_Init(void) {
+  /* nothing needed */
+}
+
+#endif /* PL_CONFIG_USE_SNTP_TIME */
diff --git a/ADIS_ESP32_Eclipse/main/sntp_time.h b/ADIS_ESP32_Eclipse/main/sntp_time.h
new file mode 100644
index 0000000..4471c8b
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/sntp_time.h
@@ -0,0 +1,27 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef MAIN_SNTP_TIME_H_
+#define MAIN_SNTP_TIME_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*!
+ * \brief Get the time from the sntp server
+ * \return 0 if time has been obtained, negative value in case of error.
+ */
+int SNTP_ObtainTime(void);
+
+/*! \brief module initialization */
+void SNTP_Init(void);
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* MAIN_SNTP_TIME_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/timer.c b/ADIS_ESP32_Eclipse/main/timer.c
new file mode 100644
index 0000000..6e5479c
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/timer.c
@@ -0,0 +1,31 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "platform.h"
+#if PL_CONFIG_USE_TIME_DATE
+#include "timer.h"
+#include "McuRTOS.h"
+#include "esp_log.h"
+#include "McuTimeDate.h"
+
+static const char *TAG = "Timer";
+
+static TimerHandle_t timer;
+
+static void timerCallback(TimerHandle_t xTimer) {
+  McuTimeDate_AddTick();
+}
+
+void TMR_Init(void) {
+  /* create auto-reload timer to update software RTC */
+  timer = xTimerCreate("timer", pdMS_TO_TICKS(McuTimeDate_CONFIG_TICK_TIME_MS), pdTRUE, NULL, timerCallback);
+  if (timer==NULL) {
+    ESP_LOGE(TAG, "Failed creating timer");
+    return;
+  }
+  xTimerStart(timer, 0);
+}
+#endif /* PL_CONFIG_USE_TIME_DATE */
diff --git a/ADIS_ESP32_Eclipse/main/timer.h b/ADIS_ESP32_Eclipse/main/timer.h
new file mode 100644
index 0000000..082f63c
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/timer.h
@@ -0,0 +1,21 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef MAIN_TIMER_H_
+#define MAIN_TIMER_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*! \brief Module initialization */
+void TMR_Init(void);
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* MAIN_TIMER_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/udp_client.c b/ADIS_ESP32_Eclipse/main/udp_client.c
new file mode 100644
index 0000000..b2945d2
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/udp_client.c
@@ -0,0 +1,303 @@
+/* BSD Socket API Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include "platform.h"
+#if PL_CONFIG_USE_UDP_CLIENT
+#include <string.h>
+#include <sys/param.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/event_groups.h"
+#include "esp_system.h"
+#include "esp_wifi.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "nvs_flash.h"
+#include "esp_netif.h"
+#include "lwip/err.h"
+#include "lwip/sockets.h"
+#include "lwip/sys.h"
+#include <lwip/netdb.h>
+
+#include "udp_client.h"
+#include "McuShell.h"
+#include "McuUtility.h"
+
+#define CONFIG_EXAMPLE_IPV4
+
+#ifdef CONFIG_EXAMPLE_IPV4
+  #define HOST_IP_ADDR    "192.168.0.146"
+#else
+  #define HOST_IP_ADDR    "FE80::30AD:E57B:C212:68AD" /*CONFIG_EXAMPLE_IPV6_ADDR*/
+#endif
+#define PORT            3333
+
+static uint16_t udp_client_destination_port = PORT;
+static unsigned char udp_client_destination_host[24] = HOST_IP_ADDR;
+
+static const char *TAG = "udp_client";
+static TaskHandle_t taskHandle = NULL; /* udp client task handle */
+
+#if 0
+static const char *payload = "Message from ESP32 ";
+
+static void udp_client_task(void *pvParameters) {
+  char rx_buffer[128];
+  char addr_str[128];
+  int addr_family;
+  int ip_protocol;
+
+  vTaskSuspend(NULL); /* UDP_Client_Start() will wake me up */
+  for(;;) {
+#ifdef CONFIG_EXAMPLE_IPV4
+    struct sockaddr_in dest_addr;
+    dest_addr.sin_addr.s_addr = inet_addr(HOST_IP_ADDR);
+    dest_addr.sin_family = AF_INET;
+    dest_addr.sin_port = htons(PORT);
+    addr_family = AF_INET;
+    ip_protocol = IPPROTO_IP;
+    inet_ntoa_r(dest_addr.sin_addr, addr_str, sizeof(addr_str) - 1);
+#else /* IPV6 */
+    struct sockaddr_in6 dest_addr;
+    inet6_aton(HOST_IP_ADDR, &dest_addr.sin6_addr);
+    dest_addr.sin6_family = AF_INET6;
+    dest_addr.sin6_port = htons(PORT);
+    addr_family = AF_INET6;
+    ip_protocol = IPPROTO_IPV6;
+    inet6_ntoa_r(dest_addr.sin6_addr, addr_str, sizeof(addr_str) - 1);
+#endif
+
+    int sock = socket(addr_family, SOCK_DGRAM, ip_protocol);
+    if (sock < 0) {
+      ESP_LOGE(TAG, "Unable to create socket: errno %d", errno);
+      break;
+    }
+    ESP_LOGI(TAG, "Socket created, sending to %s:%d", HOST_IP_ADDR, PORT);
+    while (1) {
+      int err = sendto(sock, payload, strlen(payload), 0, (struct sockaddr *)&dest_addr, sizeof(dest_addr));
+      if (err < 0) {
+        ESP_LOGE(TAG, "Error occurred during sending: errno %d", errno);
+        break;
+      }
+      ESP_LOGI(TAG, "Message sent");
+
+      struct timeval to;
+
+      to.tv_sec = 1;
+      to.tv_usec = 0;
+      if (setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, &to, sizeof(to)) < 0) {
+        ESP_LOGE(TAG, "setting socket timeout failed");
+      }
+
+      ESP_LOGI(TAG, "Waiting for response");
+      struct sockaddr_in source_addr; /* Large enough for both IPv4 or IPv6 */
+      socklen_t socklen = sizeof(source_addr);
+      int len = recvfrom(sock, rx_buffer, sizeof(rx_buffer) - 1, 0, (struct sockaddr *)&source_addr, &socklen);
+
+      /* Error occurred during receiving */
+      if (len < 0) {
+        ESP_LOGE(TAG, "recvfrom failed: errno %d", errno);
+        break;
+      } else { /* Data received */
+        rx_buffer[len] = 0; /* Null-terminate whatever we received and treat like a string */
+        ESP_LOGI(TAG, "Received %d bytes from %s:", len, addr_str);
+        ESP_LOGI(TAG, "%s", rx_buffer);
+      }
+      vTaskDelay(pdMS_TO_TICKS(2000));
+    }
+    if (sock != -1) {
+      ESP_LOGE(TAG, "Shutting down socket and restarting...");
+      shutdown(sock, 0);
+      close(sock);
+    }
+  } /* for */
+  vTaskDelete(NULL);
+}
+#endif
+
+static uint8_t udp_client_send(const unsigned char *host, uint16_t port, const unsigned char *msg, unsigned char *rxBuffer, size_t rxBufferSize) {
+  char addr_str[128];
+  int addr_family;
+  int ip_protocol;
+  uint8_t res = ERR_OK;
+
+#ifdef CONFIG_EXAMPLE_IPV4
+  struct sockaddr_in dest_addr;
+  dest_addr.sin_addr.s_addr = inet_addr((const char*)host);
+  dest_addr.sin_family = AF_INET;
+  dest_addr.sin_port = htons(port);
+  addr_family = AF_INET;
+  ip_protocol = IPPROTO_IP;
+  inet_ntoa_r(dest_addr.sin_addr, addr_str, sizeof(addr_str) - 1);
+#else /* IPV6 */
+  struct sockaddr_in6 dest_addr;
+  inet6_aton(host, &dest_addr.sin6_addr);
+  dest_addr.sin6_family = AF_INET6;
+  dest_addr.sin6_port = htons(port);
+  addr_family = AF_INET6;
+  ip_protocol = IPPROTO_IPV6;
+  inet6_ntoa_r(dest_addr.sin6_addr, addr_str, sizeof(addr_str) - 1);
+#endif
+
+  int sock = socket(addr_family, SOCK_DGRAM, ip_protocol);
+  for(;;) { /* breaks in in case of error */
+    if (sock < 0) {
+      ESP_LOGE(TAG, "Unable to create socket: errno %d", errno);
+      res = ERR_FAILED;
+      break;
+    }
+    ESP_LOGI(TAG, "Socket created, sending to %s:%d", host, port);
+
+    int err = sendto(sock, msg, strlen((char*)msg), 0, (struct sockaddr *)&dest_addr, sizeof(dest_addr));
+    if (err < 0) {
+      ESP_LOGE(TAG, "Error occurred during sending: errno %d", errno);
+      res = ERR_FAILED;
+      break;
+    }
+    ESP_LOGI(TAG, "Message sent");
+
+    struct timeval to;
+
+    to.tv_sec = 1;
+    to.tv_usec = 0;
+    if (setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, &to, sizeof(to)) < 0) {
+      ESP_LOGE(TAG, "setting socket timeout failed");
+      res = ERR_FAILED;
+      break;
+    }
+
+    ESP_LOGI(TAG, "Waiting for response");
+    struct sockaddr_in source_addr; /* Large enough for both IPv4 or IPv6 */
+    socklen_t socklen = sizeof(source_addr);
+    int len = recvfrom(sock, rxBuffer, rxBufferSize-1, 0, (struct sockaddr *)&source_addr, &socklen);
+
+    /* Error occurred during receiving */
+    if (len < 0) {
+      ESP_LOGE(TAG, "recvfrom failed: errno %d", errno);
+      res = ERR_FAILED;
+      break;
+    } else { /* Data received */
+      rxBuffer[len] = '\0'; /* Null-terminate whatever we received and treat like a string */
+      ESP_LOGI(TAG, "Received %d bytes from %s:", len, addr_str);
+      ESP_LOGI(TAG, "%s", rxBuffer);
+    }
+    break;
+  } /* for */
+  if (sock != -1) {
+    ESP_LOGE(TAG, "Shutting down socket");
+    shutdown(sock, 0);
+    close(sock);
+  }
+  return res;
+}
+
+void UDP_Client_Start(void) {
+  if (taskHandle!=NULL) {
+    vTaskResume(taskHandle);
+  }
+}
+
+void UDP_Client_Stop(void) {
+  if (taskHandle!=NULL) {
+    vTaskSuspend(taskHandle);
+  }
+}
+
+void UDP_Client_Init(void) {
+#if 0
+  BaseType_t res;
+
+  res = xTaskCreate(udp_client_task, "udp_client", 16*1024/sizeof(StackType_t), NULL, 5, &taskHandle);
+  if (res==pdPASS) {
+    ESP_LOGI(TAG, "created UDP client task");
+  } else {
+    ESP_LOGE(TAG, "failed creating UDP client task!");
+  }
+#endif
+}
+
+#if PL_CONFIG_USE_SHELL
+static uint8_t PrintStatus(const McuShell_StdIOType *io) {
+  unsigned char buf[64];
+
+  McuShell_SendStatusStr((unsigned char*)"udpc", (unsigned char*)"UDP client status\r\n", io->stdOut);
+
+  McuUtility_strcpy(buf, sizeof(buf), udp_client_destination_host);
+  McuUtility_chcat(buf, sizeof(buf), ':');
+  McuUtility_strcatNum16u(buf, sizeof(buf), udp_client_destination_port);
+  McuUtility_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
+  McuShell_SendStatusStr((unsigned char*)"  host", buf, io->stdOut);
+  return ERR_OK;
+}
+
+static uint8_t PrintHelp(const McuShell_StdIOType *io) {
+  McuShell_SendHelpStr((unsigned char*)"udpc", (unsigned char*)"Group of UDP client commands\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  help|status", (unsigned char*)"Shows motor help or status\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  host <string>", (unsigned char*)"Set default host destination IP address (double quoted)\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  port <number>", (unsigned char*)"Set default host destination port number\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  send default <msg>", (unsigned char*)"Send message (double quoted) to default host and port\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  send <ip> <port> <msg>", (unsigned char*)"Send message (double quoted) to ip (double quoted) and port\r\n", io->stdOut);
+  return ERR_OK;
+}
+
+uint8_t UDP_Client_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io) {
+  const unsigned char *p;
+  unsigned char msgBuf[64];
+  unsigned char rxBuf[64];
+  unsigned char ip[24];
+  uint16_t port;
+
+  if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_HELP)==0 || McuUtility_strcmp((char*)cmd, (char*)"udpc help")==0) {
+    *handled = TRUE;
+    return PrintHelp(io);
+  } else if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_STATUS)==0 || McuUtility_strcmp((char*)cmd, (char*)"udpc status")==0) {
+    *handled = TRUE;
+    return PrintStatus(io);
+  } else if (McuUtility_strncmp((char*)cmd, (char*)"udpc host ", sizeof("udpc host ")-1)==0) {
+    *handled = TRUE;
+    p = cmd + sizeof("udpc host ")-1;
+    return McuUtility_ScanDoubleQuotedString(&p, udp_client_destination_host, sizeof(udp_client_destination_host));
+  } else if (McuUtility_strncmp((char*)cmd, (char*)"udpc port ", sizeof("udpc port ")-1)==0) {
+    *handled = TRUE;
+    p = cmd + sizeof("udpc port ")-1;
+    return McuUtility_ScanDecimal16uNumber(&p, &udp_client_destination_port);
+  } else if (McuUtility_strncmp((char*)cmd, (char*)"udpc send default ", sizeof("udpc send default ")-1)==0) {
+    *handled = TRUE;
+    p = cmd + sizeof("udpc send default ")-1;
+    if (McuUtility_ScanDoubleQuotedString(&p, msgBuf, sizeof(msgBuf))!=ERR_OK) {
+      return ERR_FAILED;
+    }
+    if (udp_client_send(udp_client_destination_host, udp_client_destination_port, msgBuf, rxBuf, sizeof(rxBuf))!=ERR_OK) {
+      return ERR_FAILED;
+    }
+    McuShell_SendStr(rxBuf, io->stdOut);
+    return ERR_OK;
+  } else if (McuUtility_strncmp((char*)cmd, (char*)"udpc send ", sizeof("udpc send ")-1)==0) {
+    *handled = TRUE;
+    p = cmd + sizeof("udpc send ")-1;
+    if (McuUtility_ScanDoubleQuotedString(&p, ip, sizeof(ip))!=ERR_OK) {
+      return ERR_FAILED;
+    }
+    if (McuUtility_ScanDecimal16uNumber(&p, &port)!=ERR_OK) {
+      return ERR_FAILED;
+    }
+    if (McuUtility_ScanDoubleQuotedString(&p, msgBuf, sizeof(msgBuf))!=ERR_OK) {
+      return ERR_FAILED;
+    }
+    if (udp_client_send(ip, port, msgBuf, rxBuf, sizeof(rxBuf))!=ERR_OK) {
+      return ERR_FAILED;
+    }
+    McuShell_SendStr(rxBuf, io->stdOut);
+    return ERR_OK;
+  }
+  return ERR_OK;
+}
+
+#endif /* PL_CONFIG_USE_SHELL */
+
+#endif /* PL_CONFIG_USE_UDP_CLIENT */
diff --git a/ADIS_ESP32_Eclipse/main/udp_client.h b/ADIS_ESP32_Eclipse/main/udp_client.h
new file mode 100644
index 0000000..32baca6
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/udp_client.h
@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2019, 2020, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef UDP_CLIENT_H_
+#define UDP_CLIENT_H_
+
+#include "platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if PL_CONFIG_USE_SHELL
+  #include "McuShell.h"
+
+  /*!
+   * \brief Command line and shell handler
+   * \param cmd The command to be parsed
+   * \param handled If command has been recognized and handled
+   * \param io I/O handler to be used
+   * \return error code, otherwise ERR_OK
+   */
+  uint8_t UDP_Client_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io);
+#endif
+
+void UDP_Client_Start(void);
+void UDP_Client_Stop(void);
+
+/*! \brief Module initialization */
+void UDP_Client_Init(void);
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* UDP_CLIENT_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/udp_server.c b/ADIS_ESP32_Eclipse/main/udp_server.c
new file mode 100644
index 0000000..8a6ddcf
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/udp_server.c
@@ -0,0 +1,151 @@
+/* BSD Socket API Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+
+#include "platform.h"
+#if PL_CONFIG_USE_UDP_SERVER
+#include "udp_server.h"
+#include <string.h>
+#include <sys/param.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_system.h"
+#include "esp_wifi.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "nvs_flash.h"
+#include "esp_netif.h"
+
+#include "lwip/err.h"
+#include "lwip/sockets.h"
+#include "lwip/sys.h"
+#include <lwip/netdb.h>
+
+#include "Shell.h"
+#include "McuUtility.h"
+#include "McuLog.h"
+
+#define CONFIG_EXAMPLE_IPV4
+
+static TaskHandle_t taskHandle = NULL; /* udp server task handle */
+
+static int SendToSocket(int sock, const char *msg, const struct sockaddr *to, socklen_t tolen) {
+  return sendto(sock, msg, McuUtility_strlen((char*)msg), 0, to, tolen);
+}
+
+static void udp_server_task(void *pvParameters) {
+  char rx_buffer[128];
+  char addr_str[128];
+  int addr_family;
+  int ip_protocol;
+
+  vTaskSuspend(NULL); /* UDP_Server_Start() will wake me up */
+  for(;;) {
+#ifdef CONFIG_EXAMPLE_IPV4
+    struct sockaddr_in dest_addr;
+
+    dest_addr.sin_addr.s_addr = htonl(INADDR_ANY); /** 0.0.0.0 */
+    dest_addr.sin_family = AF_INET;
+    dest_addr.sin_port = htons(UDP_SERVER_PORT);
+    addr_family = AF_INET;
+    ip_protocol = IPPROTO_IP;
+    inet_ntoa_r(dest_addr.sin_addr, addr_str, sizeof(addr_str) - 1);
+#else // IPV6
+    struct sockaddr_in6 dest_addr;
+    bzero(&dest_addr.sin6_addr.un, sizeof(dest_addr.sin6_addr.un));
+    dest_addr.sin6_family = AF_INET6;
+    dest_addr.sin6_port = htons(UDP_SERVER_PORT);PO
+    addr_family = AF_INET6;
+    ip_protocol = IPPROTO_IPV6;
+    inet6_ntoa_r(dest_addr.sin6_addr, addr_str, sizeof(addr_str) - 1);
+#endif
+
+    int sock = socket(addr_family, SOCK_DGRAM, ip_protocol);
+    if (sock < 0) {
+      McuLog_error("Unable to create socket: errno %d", errno);
+      break;
+    }
+    McuLog_info("Socket created");
+
+    int err = bind(sock, (struct sockaddr *)&dest_addr, sizeof(dest_addr));
+    if (err < 0) {
+      McuLog_error("Socket unable to bind: errno %d", errno);
+    }
+    McuLog_info("Socket bound, port %d", UDP_SERVER_PORT);
+    while (1) {
+      McuLog_info("Waiting for data on port %d", UDP_SERVER_PORT);
+      struct sockaddr_in6 source_addr; /* Large enough for both IPv4 or IPv6 */
+      socklen_t socklen = sizeof(source_addr);
+
+      /* receive data (blocking): */
+      int len = recvfrom(sock, rx_buffer, sizeof(rx_buffer)-1, 0, (struct sockaddr *)&source_addr, &socklen);
+
+      /* Error occurred during receiving */
+      if (len < 0) {
+        McuLog_error("recvfrom failed: errno %d", errno);
+        break;
+      } else { /* Data received */
+        /* Get the sender's ip address as string */
+        if (source_addr.sin6_family == PF_INET) {
+          inet_ntoa_r(((struct sockaddr_in *)&source_addr)->sin_addr.s_addr, addr_str, sizeof(addr_str) - 1);
+        } else if (source_addr.sin6_family == PF_INET6) {
+          inet6_ntoa_r(source_addr.sin6_addr, addr_str, sizeof(addr_str) - 1);
+        }
+        rx_buffer[len] = '\0'; /* Null-terminate whatever we received and treat like a string... */
+        McuLog_info("Received %d bytes from %s:\n%s", len, addr_str, rx_buffer);
+
+        /* \TODO Need to handle messages and send them to the robot */
+
+        /* send back response */
+        unsigned char test_response[128];
+        int err;
+
+        McuLog_info("Sending back response");
+        McuUtility_strcpy(test_response, sizeof(test_response), (unsigned char*)"OK"); /* default response */
+        if (McuUtility_strncmp(rx_buffer, "test", sizeof("test")-1)==0) { /* hard-coded command */
+          McuUtility_strcpy(test_response, sizeof(test_response), (unsigned char*)"test_response");
+        }
+        err = SendToSocket(sock, (const char*)test_response, (struct sockaddr *)&source_addr, sizeof(source_addr));
+        if (err < 0) {
+          McuLog_error("Error occurred during sending: errno %d", errno);
+        }
+      } /* if */
+    } /* while */
+    if (sock != -1) {
+      McuLog_error("Shutting down socket and restarting...");
+      shutdown(sock, 0);
+      close(sock);
+    }
+  } /* for */
+  vTaskDelete(NULL);
+}
+
+void UDP_Server_Start(void) {
+  if (taskHandle!=NULL) {
+    vTaskResume(taskHandle);
+  }
+}
+
+void UDP_Server_Stop(void) {
+  if (taskHandle!=NULL) {
+    vTaskSuspend(taskHandle);
+  }
+}
+
+void UDP_Server_Init(void) {
+  BaseType_t res;
+
+  res = xTaskCreate(udp_server_task, "udp_server", (16*1024)/sizeof(StackType_t), NULL, tskIDLE_PRIORITY+5, &taskHandle);
+  if (res==pdPASS) {
+    McuLog_info("created UDP server task");
+  } else {
+    McuLog_error("failed creating UDP server task!");
+  }
+}
+
+#endif /* PL_CONFIG_USE_UDP_SERVER */
diff --git a/ADIS_ESP32_Eclipse/main/udp_server.h b/ADIS_ESP32_Eclipse/main/udp_server.h
new file mode 100644
index 0000000..1fc07e9
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/udp_server.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright (c) 2019, 2020, 202§, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef UDP_SERVER_H_
+#define UDP_SERVER_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define UDP_SERVER_PORT    (1234) /*!< default UDP server port */
+
+/*! \brief start the UDP server */
+void UDP_Server_Start(void);
+
+/*! \brief stop the UDP server */
+void UDP_Server_Stop(void);
+
+/*! \brief Module initialization */
+void UDP_Server_Init(void);
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* UDP_SERVER_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/udp_server_shell.c b/ADIS_ESP32_Eclipse/main/udp_server_shell.c
new file mode 100644
index 0000000..e99c08a
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/udp_server_shell.c
@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "platform.h"
+#if PL_CONFIG_USE_UDP_SERVER
+#include "udp_server_shell.h"
+#include "udp_server.h"
+#include "wifi.h"
+#include "McuShell.h"
+#include "McuUtility.h"
+#include "Shell.h"
+
+#if PL_CONFIG_USE_SHELL
+
+static uint8_t PrintStatus(const McuShell_StdIOType *io) {
+  unsigned char buf[32];
+
+  McuShell_SendStatusStr((unsigned char*)"udps", (unsigned char*)"ESP32 udp server status\r\n", io->stdOut);
+  McuUtility_Num32sToStr(buf, sizeof(buf), UDP_SERVER_PORT);
+  McuUtility_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
+  McuShell_SendStatusStr((unsigned char*)"  port", buf, io->stdOut);
+  return ERR_OK;
+}
+
+static uint8_t PrintHelp(const McuShell_StdIOType *io) {
+  McuShell_SendHelpStr((unsigned char*)"udps", (unsigned char*)"Group of udp server commands\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  help|status", (unsigned char*)"Shows udp server help or status\r\n", io->stdOut);
+  return ERR_OK;
+}
+
+uint8_t UDP_Server_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io) {
+  if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_HELP)==0 || McuUtility_strcmp((char*)cmd, (char*)"udps help")==0) {
+    *handled = TRUE;
+    return PrintHelp(io);
+  } else if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_STATUS)==0 || McuUtility_strcmp((char*)cmd, (char*)"udps status")==0) {
+    *handled = TRUE;
+    return PrintStatus(io);
+  }
+  return ERR_OK;
+}
+#endif /* PL_CONFIG_USE_SHELL */
+
+#endif /* PL_CONFIG_USE_UDP_SERVER */
diff --git a/ADIS_ESP32_Eclipse/main/udp_server_shell.h b/ADIS_ESP32_Eclipse/main/udp_server_shell.h
new file mode 100644
index 0000000..748ace5
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/udp_server_shell.h
@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef UDP_SERVER_SHELL_H_
+#define UDP_SERVER_SHELL_H_
+
+#include "platform.h"
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if PL_CONFIG_USE_SHELL
+  #include "McuShell.h"
+
+  /*!
+   * \brief Command line and shell handler
+   * \param cmd The command to be parsed
+   * \param handled If command has been recognized and handled
+   * \param io I/O handler to be used
+   * \return error code, otherwise ERR_OK
+   */
+  uint8_t UDP_Server_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io);
+#endif /* PL_CONFIG_USE_SHELL */
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* UDP_SERVER_SHELL_H_ */
diff --git a/ADIS_ESP32_Eclipse/main/wifi.c b/ADIS_ESP32_Eclipse/main/wifi.c
new file mode 100644
index 0000000..8eb4f68
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/wifi.c
@@ -0,0 +1,383 @@
+/*
+ * Copyright (c) 2019, 2020, 2021, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ * ******************************************************************
+ * Dear programmer:
+ * When I wrote this code, only god and I knew how it worked.
+ * Now, only god knows it!
+ *
+ * Therefore, if you are trying to optimize or change this code
+ * and it fails (most surely), please increase the counter below
+ * as a warning for the next person:
+ *
+ * total_hours_wasted_here = 257
+ * *******************************************************************
+ */
+
+#include "platform.h"
+#if PL_CONFIG_USE_WIFI
+#include <string.h>
+#include <stdlib.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/event_groups.h"
+#include "esp_wifi.h"
+#include "esp_wpa2.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "esp_system.h"
+#include "nvs_flash.h"
+#include "esp_netif.h"
+#if PL_CONFIG_USE_SNTP_TIME
+  #include "sntp_time.h"
+#endif
+#if PL_CONFIG_USE_UDP_CLIENT
+  #include "udp_client.h"
+#endif
+#if PL_CONFIG_USE_UDP_SERVER
+  #include "udp_server.h"
+#endif
+#if PL_CONFIG_USE_BLINKY
+  #include "led.h"
+  #define LED_ON_TIME_MS_CONNECTED      1000
+  #define LED_ON_TIME_MS_DISCONNECTED   5
+#endif
+#include "McuUtility.h"
+#include "McuXFormat.h"
+#include "esp32_mac.h"
+#include "McuLog.h"
+
+#define EAP_PEAP 1  /* WPA2 Enterprise with password and no certificate */
+#define EAP_TTLS 2  /* TLS method */
+
+#include "pwd.h"  /* local file with login information */
+
+#ifndef CONFIG_ESP_MAXIMUM_RETRY
+  #define CONFIG_ESP_MAXIMUM_RETRY (2) /*  number of retries to connect to the network */
+#endif
+
+static int s_retry_num = 0;
+
+/* FreeRTOS event group to signal when we are connected & ready to make a request */
+static EventGroupHandle_t s_wifi_event_group;
+/* The event group allows multiple bits for each event, but we only care about two events:
+ * - we are connected to the AP with an IP
+ * - we failed to connect after the maximum amount of retries */
+#define WIFI_EVENT_HANDLER_CONNECTED_BIT (1<<0)
+#define WIFI_EVENT_HANDLER_FAIL_BIT      (1<<1)
+#define WIFI_CONNECTED_BIT               (1<<2)
+
+static esp_netif_t *APP_WiFi_NetIf;
+static bool APP_WiFi_isOn = true;
+
+void APP_WiFi_PrintIP(void) {
+  tcpip_adapter_ip_info_t ip;
+
+  memset(&ip, 0, sizeof(tcpip_adapter_ip_info_t));
+  if (tcpip_adapter_get_ip_info(ESP_IF_WIFI_STA, &ip) == ESP_OK) {
+    McuLog_info("IP:"IPSTR " MASK:"IPSTR " GW:"IPSTR, IP2STR(&ip.ip), IP2STR(&ip.netmask), IP2STR(&ip.gw));
+  } else {
+    McuLog_error("failed tcpip_adapter_get_ip_info()");
+  }
+}
+
+static void event_handler(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data) {
+  if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
+    McuLog_info("WIFI_EVENT_STA_START: start event");
+    esp_wifi_connect();
+  } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
+    McuLog_info("WIFI_EVENT_STA_DISCONNECTED: disconnected, retry %d", s_retry_num);
+    if (s_retry_num < CONFIG_ESP_MAXIMUM_RETRY) {
+      esp_wifi_connect();
+      s_retry_num++;
+      McuLog_info("retry to connect to the AP");
+    } else {
+      xEventGroupSetBits(s_wifi_event_group, WIFI_EVENT_HANDLER_FAIL_BIT);
+    }
+    McuLog_info("connect to the AP fail");
+  } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
+    ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data;
+    McuLog_info("IP_EVENT_STA_GOT_IP: got ip:" IPSTR, IP2STR(&event->ip_info.ip));
+    s_retry_num = 0;
+    xEventGroupSetBits(s_wifi_event_group, WIFI_EVENT_HANDLER_CONNECTED_BIT);
+  }
+}
+
+typedef enum {
+  WIFI_PASSWORD_METHOD_PSK,
+  WIFI_PASSWORD_METHOD_WPA2,
+} WiFi_PasswordMethod_e;
+
+static void GetNetworkSSID(unsigned char *ssidBuf, size_t ssidBufSize) {
+  wifi_ap_record_t ap;
+  esp_err_t err;
+
+  err = esp_wifi_sta_get_ap_info(&ap);
+  if (err==ESP_OK) {
+    McuUtility_strcpy(ssidBuf, ssidBufSize, ap.ssid);
+  } else if (err==ESP_ERR_WIFI_CONN) {
+    McuUtility_strcpy(ssidBuf, ssidBufSize, (unsigned char*)"not init");
+  } else if (err==ESP_ERR_WIFI_NOT_CONNECT) {
+    McuUtility_strcpy(ssidBuf, ssidBufSize, (unsigned char*)"not connected");
+  } else {
+    McuUtility_strcpy(ssidBuf, ssidBufSize, (unsigned char*)"error?");
+  }
+}
+
+static void SetPasswordMode(WiFi_PasswordMethod_e mode) {
+  wifi_config_t wifi_config;
+
+  McuLog_info("SetPasswordMode(): %d", mode);
+  ESP_ERROR_CHECK( esp_wifi_set_storage(WIFI_STORAGE_RAM) );
+  memset(&wifi_config, 0, sizeof(wifi_config_t)); /* initialize all fields */
+  if (mode==WIFI_PASSWORD_METHOD_WPA2) {
+    strncpy((char*)wifi_config.sta.ssid, CONFIG_WIFI_EAP_SSID, sizeof(wifi_config.sta.ssid));
+  } else if (mode==WIFI_PASSWORD_METHOD_PSK) {
+    strncpy((char*)wifi_config.sta.ssid, CONFIG_WIFI_PSK_SSID, sizeof(wifi_config.sta.ssid));
+    strncpy((char*)wifi_config.sta.password, CONFIG_WIFI_PSK_PASSWORD, sizeof(wifi_config.sta.password));
+  } else {
+    McuLog_error("Wrong connection mode: %d", mode);
+  }
+  ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
+  ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config) );
+  if (mode==WIFI_PASSWORD_METHOD_WPA2) {
+    const ESP32_Device_t *device;
+
+    device = ESP32_GetDeviceConfig();
+    McuLog_info("EAP_ID: %s", device->eee_id);
+    ESP_ERROR_CHECK( esp_wifi_sta_wpa2_ent_set_identity((uint8_t *)device->eee_id, strlen(device->eee_id)) );
+    if (CONFIG_WIFI_EAP_METHOD == EAP_PEAP || CONFIG_WIFI_EAP_METHOD == EAP_TTLS) {
+      McuLog_info("EAP_USERNAME: %s", device->eee_id);
+      ESP_ERROR_CHECK( esp_wifi_sta_wpa2_ent_set_username((uint8_t *)device->eee_id, strlen(device->eee_id)) );
+      ESP_ERROR_CHECK( esp_wifi_sta_wpa2_ent_set_password((uint8_t *)device->eee_pwd, strlen(device->eee_pwd)) );
+    }
+    ESP_ERROR_CHECK( esp_wifi_sta_wpa2_ent_enable() );
+  }
+}
+
+static void initialise_wifi(void) {
+  WiFi_PasswordMethod_e mode = CONFIG_WIFI_START_WITH; /* starting mode */
+  const ESP32_Device_t *config;
+
+  s_wifi_event_group = xEventGroupCreate();
+  ESP_ERROR_CHECK(esp_netif_init());
+  ESP_ERROR_CHECK(esp_event_loop_create_default());
+  APP_WiFi_NetIf = esp_netif_create_default_wifi_sta();
+
+  config = ESP32_GetDeviceConfig();
+  McuLog_info("Setting hostname: %s", config->hostName);
+  ESP_ERROR_CHECK(esp_netif_set_hostname(APP_WiFi_NetIf, config->hostName));
+  wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+  ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+
+  ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler, NULL));
+  ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler, NULL));
+
+  SetPasswordMode(mode);
+
+  McuLog_info("Starting WiFi");
+  ESP_ERROR_CHECK(esp_wifi_start());
+
+  /* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum
+   * number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */
+  EventBits_t bits;
+
+  do {
+    if (APP_WiFi_isOn) {
+      bits = xEventGroupWaitBits(s_wifi_event_group,
+              WIFI_EVENT_HANDLER_CONNECTED_BIT | WIFI_EVENT_HANDLER_FAIL_BIT, /* bits to wait for */
+              pdTRUE, /* bits to clear on exit: we do not clear the WIFI_CONNECTED_BIT because used by WiFi task */
+              pdFALSE, /* wait for all bits */
+              pdMS_TO_TICKS(20000)); /* wait time */
+      if (bits&WIFI_EVENT_HANDLER_CONNECTED_BIT) {
+        break; /* leave loop */
+      }
+      if (bits&WIFI_EVENT_HANDLER_FAIL_BIT) {
+        McuLog_info("FAILED connecting, restarting WiFi with different mode");
+        ESP_ERROR_CHECK(esp_wifi_stop());
+        /* toggle mode */
+        if (mode==WIFI_PASSWORD_METHOD_PSK) {
+          mode = WIFI_PASSWORD_METHOD_WPA2;
+        } else if (mode==WIFI_PASSWORD_METHOD_WPA2) {
+          ESP_ERROR_CHECK(esp_wifi_sta_wpa2_ent_disable());
+          mode = WIFI_PASSWORD_METHOD_PSK;
+        }
+        SetPasswordMode(mode);
+        ESP_ERROR_CHECK(esp_wifi_start());
+      }
+    } else {
+      vTaskDelay(pdMS_TO_TICKS(500));
+    }
+  } while(true); /* breaks */
+
+  /* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually happened. */
+  if (bits & WIFI_EVENT_HANDLER_CONNECTED_BIT) {
+    if (mode == WIFI_PASSWORD_METHOD_WPA2) {
+      McuLog_info("connected to AP SSID: %s ",  CONFIG_WIFI_EAP_SSID);
+    } else if (mode == WIFI_PASSWORD_METHOD_PSK) {
+      McuLog_info("connected to AP SSID: %s",  CONFIG_WIFI_PSK_SSID);
+    }
+    xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
+  } else if (bits & WIFI_EVENT_HANDLER_FAIL_BIT) {
+    if (mode == WIFI_PASSWORD_METHOD_WPA2) {
+      McuLog_info("Failed to connect to SSID: %s", CONFIG_WIFI_EAP_SSID);
+    } else if (mode == WIFI_PASSWORD_METHOD_PSK) {
+      McuLog_info("Failed to connect to SSID: %s", CONFIG_WIFI_PSK_SSID);
+    }
+  } else {
+    McuLog_error("UNEXPECTED EVENT");
+  }
+}
+
+typedef enum {
+  WIFI_STATE_INIT,
+  WIFI_STATE_CONNECTED,
+  WIFI_STATE_DISCONNECTED,
+} WiFi_State_e;
+
+static void WiFiTask(void *pv) {
+  bool isConnected = false;
+  WiFi_State_e state = WIFI_STATE_INIT;
+
+  McuLog_info("Initialize WiFi");
+  initialise_wifi();
+#if PL_CONFIG_USE_BLINKY
+  LED_SetOnTime(LED_ON_TIME_MS_DISCONNECTED);
+#endif
+  for(;;) {
+    vTaskDelay(pdMS_TO_TICKS(5000));
+    isConnected = xEventGroupGetBits(s_wifi_event_group)&WIFI_CONNECTED_BIT;
+    #if PL_CONFIG_USE_BLINKY
+      LED_SetOnTime(isConnected?LED_ON_TIME_MS_CONNECTED:LED_ON_TIME_MS_DISCONNECTED);
+    #endif
+    if (state == WIFI_STATE_INIT && isConnected) { /* first connection */
+      state = WIFI_STATE_CONNECTED;
+      //ESP_LOGI(TAG, "WiFi is connected.");
+      if (isConnected) {
+    	  APP_WiFi_PrintIP();
+      }
+    #if PL_CONFIG_USE_UDP_SERVER
+      McuLog_info("starting UDP server.");
+      UDP_Server_Start();
+    #endif
+    #if PL_CONFIG_USE_UDP_CLIENT
+      McuLog_info("starting UDP client.");
+      UDP_Client_Start();
+    #endif
+    #if PL_CONFIG_USE_SNTP_TIME
+      if (SNTP_ObtainTime()!=0) {
+        McuLog_error("failed getting SNTP time.");
+      }
+    #endif
+#if 0
+    } else if (isConnected) {
+      ESP_LOGI(TAG, "still connected.");
+      APP_WiFi_PrintIP();
+
+      const char *hostname;
+      ESP_ERROR_CHECK(esp_netif_get_hostname(APP_WiFi_NetIf, &hostname));
+      ESP_LOGI(TAG,"hostname: %s", hostname);
+    } else {
+      ESP_LOGI(TAG, "not connected yet.");
+#endif
+    }
+  } /* for */
+}
+
+bool WiFi_isConnected(void) {
+  bool isConnected;
+
+  isConnected = xEventGroupGetBits(s_wifi_event_group)&WIFI_CONNECTED_BIT;
+  return isConnected;
+}
+
+#if PL_CONFIG_USE_SHELL
+static uint8_t PrintStatus(const McuShell_StdIOType *io) {
+  uint8_t buf[32];
+  uint8_t mac[6];
+
+  McuShell_SendStatusStr((unsigned char*)"wifi", (unsigned char*)"ESP32 WiFi status\r\n", io->stdOut);
+  McuUtility_strcpy(buf, sizeof(buf), (unsigned char*)IDF_VER);
+  McuUtility_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
+  McuShell_SendStatusStr((unsigned char*)"  IDF", buf, io->stdOut);
+  McuShell_SendStatusStr((unsigned char*)"  connected", WiFi_isConnected()?(unsigned char*)"yes\r\n":(unsigned char*)"no\r\n", io->stdOut);
+
+  ESP32_MacRead(mac);
+  ESP32_MacToString(mac, buf, sizeof(buf));
+  McuUtility_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
+  McuShell_SendStatusStr((unsigned char*)"  MAC", buf, io->stdOut);
+  McuShell_SendStatusStr((unsigned char*)"  WiFi", APP_WiFi_isOn?(unsigned char*)"on\r\n":(unsigned char*)"off\r\n", io->stdOut);
+
+  if (WiFi_isConnected()) {
+    unsigned char buf[64];
+    tcpip_adapter_ip_info_t ip;
+    const char *hostname;
+
+    if (esp_netif_get_hostname(APP_WiFi_NetIf, &hostname)==ERR_OK) {
+      McuUtility_strcpy(buf, sizeof(buf), (unsigned char*)hostname);
+      McuUtility_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
+    } else {
+      McuUtility_strcpy(buf, sizeof(buf), (unsigned char*)"failed\r\n");
+    }
+    McuShell_SendStatusStr((unsigned char*)"  hostname", buf, io->stdOut);
+
+    memset(&ip, 0, sizeof(tcpip_adapter_ip_info_t));
+    if (tcpip_adapter_get_ip_info(ESP_IF_WIFI_STA, &ip) == ESP_OK) {
+      McuXFormat_xsnprintf((char*)buf, sizeof(buf), "IP:"IPSTR " MASK:"IPSTR " GW:"IPSTR "\r\n", IP2STR(&ip.ip), IP2STR(&ip.netmask), IP2STR(&ip.gw));
+    } else {
+      McuUtility_strcpy(buf, sizeof(buf), (unsigned char*)"failed\r\n");
+    }
+    McuShell_SendStatusStr((unsigned char*)"  IP", buf, io->stdOut);
+
+    GetNetworkSSID(buf, sizeof(buf));
+    McuUtility_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
+    McuShell_SendStatusStr((unsigned char*)"  SSID", buf, io->stdOut);
+  }
+  return ERR_OK;
+}
+
+static uint8_t PrintHelp(const McuShell_StdIOType *io) {
+  McuShell_SendHelpStr((unsigned char*)"wifi", (unsigned char*)"Group of ESP32 WiFi commands\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  help|status", (unsigned char*)"Shows WiFi help or status\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  on|off", (unsigned char*)"Turn WiFi on or off\r\n", io->stdOut);
+  return ERR_OK;
+}
+
+uint8_t WiFi_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io) {
+  if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_HELP)==0 || McuUtility_strcmp((char*)cmd, (char*)"wifi help")==0) {
+    *handled = TRUE;
+    return PrintHelp(io);
+  } else if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_STATUS)==0 || McuUtility_strcmp((char*)cmd, (char*)"wifi status")==0) {
+    *handled = TRUE;
+    return PrintStatus(io);
+  } else if (McuUtility_strcmp((char*)cmd, (char*)"wifi on")==0) {
+    *handled = TRUE;
+    APP_WiFi_isOn = true;
+    return ERR_OK;
+  } else if (McuUtility_strcmp((char*)cmd, (char*)"wifi off")==0) {
+    *handled = TRUE;
+    APP_WiFi_isOn = false;
+    return ERR_OK;
+  }
+  return ERR_OK;
+}
+#endif /* PL_CONFIG_USE_SHELL */
+
+void WiFi_Init(void) {
+  BaseType_t res;
+
+  res = xTaskCreate(WiFiTask, "WiFi", 16*1024/sizeof(StackType_t), NULL, tskIDLE_PRIORITY, NULL);
+  if (res==pdPASS) {
+    McuLog_info("created WiFi task");
+  } else {
+    McuLog_error("failed creating WiFi task!");
+  }
+  /* set mac address, otherwise will get "system_api: Base MAC address is not set, read default base MAC address from BLK0 of EFUSE" whenever asking for it */
+  uint8_t mac[6];
+  res = esp_read_mac(&mac[0], ESP_MAC_WIFI_STA);
+  if (res==ESP_OK) {
+    ESP_ERROR_CHECK(esp_base_mac_addr_set(&mac[0]));
+  }
+}
+#endif /* PL_CONFIG_USE_WIFI */
diff --git a/ADIS_ESP32_Eclipse/main/wifi.h b/ADIS_ESP32_Eclipse/main/wifi.h
new file mode 100644
index 0000000..79ae4ce
--- /dev/null
+++ b/ADIS_ESP32_Eclipse/main/wifi.h
@@ -0,0 +1,45 @@
+/*
+ * Copyright (c) 2020, Erich Styger
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef APPWIFI_H_
+#define APPWIFI_H_
+
+#include "platform.h"
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if PL_CONFIG_USE_SHELL
+  #include "McuShell.h"
+
+  /*!
+   * \brief Command line and shell handler
+   * \param cmd The command to be parsed
+   * \param handled If command has been recognized and handled
+   * \param io I/O handler to be used
+   * \return error code, otherwise ERR_OK
+   */
+  uint8_t WiFi_ParseCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io);
+#endif
+
+/*!
+ * \brief Decides if connected to a network or not
+ * \return true if connected, false if not
+ */
+bool WiFi_isConnected(void);
+
+/*!
+ * \brief Module Initialization
+ */
+void WiFi_Init(void);
+
+#ifdef __cplusplus
+}  /* extern "C" */
+#endif
+
+#endif /* APPWIFI_H_ */