Updated to be compatible with Arduino IDE 1.8.3 (should also work for earlier versions of the Arduino IDE), and also to be compatible with the Panstamp, although including this will force the inclusion of HardwareSerial.h always.
To install this into your IDE environment, download the ZIP file for this release and then add it to your IDE environment via Sketch -> Include Library -> Add .ZIP Library...
To add the library to your sketch, go to Sketch -> Include Library -> arduino_TCL59116 (which will appear in the Contributed Libraries section).