diff --git a/adafruit_esp32spi/adafruit_esp32spi.py b/adafruit_esp32spi/adafruit_esp32spi.py
index 347ea3b..7861c15 100755
--- a/adafruit_esp32spi/adafruit_esp32spi.py
+++ b/adafruit_esp32spi/adafruit_esp32spi.py
@@ -83,6 +83,7 @@
 _GET_HOST_BY_NAME_CMD = const(0x35)
 _START_SCAN_NETWORKS = const(0x36)
 _GET_FW_VERSION_CMD = const(0x37)
+_SEND_UDP_DATA_CMD = const(0x39)
 _GET_TIME = const(0x3B)
 _GET_IDX_BSSID_CMD = const(0x3C)
 _GET_IDX_CHAN_CMD = const(0x3D)
@@ -90,6 +91,7 @@
 
 _SEND_DATA_TCP_CMD = const(0x44)
 _GET_DATABUF_TCP_CMD = const(0x45)
+_INSERT_DATABUF_TCP_CMD = const(0x46)
 _SET_ENT_IDENT_CMD = const(0x4A)
 _SET_ENT_UNAME_CMD = const(0x4B)
 _SET_ENT_PASSWD_CMD = const(0x4C)
@@ -689,15 +691,19 @@ def socket_connected(self, socket_num):
         """Test if a socket is connected to the destination, returns boolean true/false"""
         return self.socket_status(socket_num) == SOCKET_ESTABLISHED
 
-    def socket_write(self, socket_num, buffer):
+    def socket_write(self, socket_num, buffer, conn_mode=TCP_MODE):
         """Write the bytearray buffer to a socket"""
         if self._debug:
             print("Writing:", buffer)
         self._socknum_ll[0][0] = socket_num
         sent = 0
-        for chunk in range((len(buffer) // 64) + 1):
+        total_chunks = (len(buffer) // 64) + 1
+        send_command = _SEND_DATA_TCP_CMD
+        if conn_mode == self.UDP_MODE:  # UDP requires a different command to write
+            send_command = _INSERT_DATABUF_TCP_CMD
+        for chunk in range(total_chunks):
             resp = self._send_command_get_response(
-                _SEND_DATA_TCP_CMD,
+                send_command,
                 (
                     self._socknum_ll[0],
                     memoryview(buffer)[(chunk * 64) : ((chunk + 1) * 64)],
@@ -706,6 +712,18 @@ def socket_write(self, socket_num, buffer):
             )
             sent += resp[0][0]
 
+        if conn_mode == self.UDP_MODE:
+            # UDP verifies chunks on write, not bytes
+            if sent != total_chunks:
+                raise RuntimeError(
+                    "Failed to write %d chunks (sent %d)" % (total_chunks, sent)
+                )
+            # UDP needs to finalize with this command, does the actual sending
+            resp = self._send_command_get_response(_SEND_UDP_DATA_CMD, self._socknum_ll)
+            if resp[0][0] != 1:
+                raise RuntimeError("Failed to send UDP data")
+            return
+
         if sent != len(buffer):
             raise RuntimeError(
                 "Failed to send %d bytes (sent %d)" % (len(buffer), sent)
@@ -749,6 +767,12 @@ def socket_connect(self, socket_num, dest, port, conn_mode=TCP_MODE):
             print("*** Socket connect mode", conn_mode)
 
         self.socket_open(socket_num, dest, port, conn_mode=conn_mode)
+        if conn_mode == self.UDP_MODE:
+            # UDP doesn't actually establish a connection
+            # but the socket for writing is created via start_server
+            self.start_server(port, socket_num, conn_mode)
+            return True
+
         times = time.monotonic()
         while (time.monotonic() - times) < 3:  # wait 3 seconds
             if self.socket_connected(socket_num):