diff --git a/src/esp-idf/CMakeLists.txt b/src/esp-idf/CMakeLists.txt
new file mode 100644
index 00000000..6f1102bc
--- /dev/null
+++ b/src/esp-idf/CMakeLists.txt
@@ -0,0 +1,25 @@
+# The following five lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+set(srcs
+    "src/modbus-data.c"
+    "src/modbus-rtu.c"
+    "src/modbus-tcp.c"
+    "src/modbus.c")
+
+set(include_dirs src)
+
+set(priv_include_dirs ../)
+
+list(APPEND priv_include_dirs)
+
+add_prefix(srcs "${CMAKE_CURRENT_LIST_DIR}/libmodbus/" ${srcs})
+add_prefix(include_dirs "${CMAKE_CURRENT_LIST_DIR}/libmodbus/" ${include_dirs})
+add_prefix(priv_include_dirs "${CMAKE_CURRENT_LIST_DIR}/libmodbus/" ${priv_include_dirs})
+
+message(STATUS "DEBUG: Using libmodbus component folder: ${CMAKE_CURRENT_LIST_DIR}.")
+
+idf_component_register(SRCS "${srcs}"
+                    INCLUDE_DIRS "${include_dirs}"
+                    PRIV_INCLUDE_DIRS "${priv_include_dirs}"
+                    PRIV_REQUIRES driver vfs)
+
diff --git a/src/esp-idf/README.md b/src/esp-idf/README.md
new file mode 100644
index 00000000..2179a1da
--- /dev/null
+++ b/src/esp-idf/README.md
@@ -0,0 +1,70 @@
+# Instructions to use with Espressif IoT Development Framework (ESP-IDF)
+
+## Adding libmodbus as a component
+
+- Create a subdirectory at the top level of your ESP-IDF project where you will
+place this and create a component, ie. `libmodbus`. This directory will be
+referred as *component directory* further down in this text.
+
+- Download the latest version of libmodbus with the method of your choice and
+unpack it under component directory in a subdirectory `libmodbus`
+
+- Copy the files supplied in this documentation directory to the component directory,
+namely:
+  - `CMakeLists.txt`: the CMake script that enumerates files and directories used
+     in the build as well as defines needed dependencies
+  - `component.mk`: the component build definition
+  - `config.h`: the library configuration, especially tailored for ESP-IDF. This is 
+    usually generated with the autoconf tool, but this is not present in ESP-IDF and
+    is therefore manually prepared and customized
+  - `idf_component.yml`: the component description file
+
+- Add a reference from your main project in the project top level `CMakeLists.txt` to
+  the newly added module with something like: `set(EXTRA_COMPONENT_DIRS libmodbus/)`. 
+  If you already have other components you may just add the reference to the newly
+  added component.
+
+- As the ESP-IDF does not provide a `nanosleep` function in its SDK, you should add
+  this in your project so you will be able to find it at linking time, for example:
+
+```
+int nanosleep(const struct timespec *req, struct timespec *_Nullable rem) {
+    return usleep(req->tv_sec*1000 + req->tv_nsec / 1000);
+}
+```
+
+Now you are almost ready to use libmodbus in your project!
+
+If you desire to use the library for serial communication, you will need to do a few
+more hardware configuration steps before using the `modbus_new_rtu` call, namely:
+
+- Configure, if needed, any pins for the used uart via `uart_set_pin`
+
+- Install the uart driver via the `uart_driver_install`
+
+- Configure, if needed, the uart mode (ie. set it to half duplex) via `uart_set_mode`
+
+These configurations are not included in libmodbus as they are highly hardware specific
+and would require a heavy change in the library interface.
+
+## Other details using libmodbus with ESP-IDF
+
+- The serial driver is implemented using the `vfs` virtual filesystem component. This
+  makes the changes needed for the library minimal, but may not be the most performant
+  solution. Be aware that if you are not using the UART0 as console (ie. you are
+  disabling console or you are using the USB Serial/JTAG Controller) you may need to
+  explicitly initialize UART VFS in your main program as well just by calling
+  `uart_vfs_dev_register()` (from `driver/uart_vfs.h`).
+
+- The serial name (first parameter to `modbus_new_rtu`) should be a string containing
+  only the serial index (ie. `"1"` or `"2"`).
+
+- When using the TCP version be aware of the maximum number of sockets that can be
+  open on the platform: this is by default 10 and can be possibly raised to 16 in
+  a standard configuration. Please check the `LWIP_MAX_SOCKETS` configuration
+  variable.
+
+- Older versions (<=5.3.1) of ESP-IDF contain a buglet in the serial read code that
+  may cause some packet loss under certain circumstances (when line ending
+  chars are present), see also: https://github.com/espressif/esp-idf/issues/14155
+  Please use a newer version of ESP-IDF if you see this behavior.
diff --git a/src/esp-idf/component.mk b/src/esp-idf/component.mk
new file mode 100644
index 00000000..a5c6f709
--- /dev/null
+++ b/src/esp-idf/component.mk
@@ -0,0 +1,18 @@
+INCLUDEDIRS := src
+PRIV_INCLUDEDIRS := ../
+SRCDIRS := src
+
+COMPONENT_PRIV_INCLUDEDIRS = $(addprefix libmodbus/, \
+	$(PRIV_INCLUDEDIRS) \
+	)
+
+COMPONENT_SRCDIRS = $(addprefix libmodbus/, \
+	$(SRCDIRS) \
+	)
+
+COMPONENT_ADD_INCLUDEDIRS = $(addprefix libmodbus/, \
+	$(INCLUDEDIRS) \
+	)
+
+
+
diff --git a/src/esp-idf/config.h b/src/esp-idf/config.h
new file mode 100644
index 00000000..00abb7fb
--- /dev/null
+++ b/src/esp-idf/config.h
@@ -0,0 +1,296 @@
+/* config.h.  Generated from config.h.in by configure.  */
+/* config.h.in.  Generated from configure.ac by autoheader.  */
+
+#define ESP_PLATFORM 1
+
+#define O_NDELAY    O_NONBLOCK
+
+/* Define to 1 if you have the `accept4' function. */
+// #define HAVE_ACCEPT4 1
+
+/* Define to 1 if you have the <arpa/inet.h> header file. */
+#define HAVE_ARPA_INET_H 1
+
+/* Define to 1 if you have the <byteswap.h> header file. */
+// #define HAVE_BYTESWAP_H 1
+
+/* Define to 1 if you have the declaration of `TIOCM_RTS', and to 0 if you
+   don't. */
+// #define HAVE_DECL_TIOCM_RTS 1
+
+/* Define to 1 if you have the declaration of `TIOCSRS485', and to 0 if you
+   don't. */
+// #define HAVE_DECL_TIOCSRS485 1
+
+/* Define to 1 if you have the declaration of `__CYGWIN__', and to 0 if you
+   don't. */
+#define HAVE_DECL___CYGWIN__ 0
+
+/* Define to 1 if you have the <dlfcn.h> header file. */
+#define HAVE_DLFCN_H 1
+
+/* Define to 1 if you have the <errno.h> header file. */
+#define HAVE_ERRNO_H 1
+
+/* Define to 1 if you have the <fcntl.h> header file. */
+#define HAVE_FCNTL_H 1
+
+/* Define to 1 if you have the `getaddrinfo' function. */
+#define HAVE_GETADDRINFO 1
+
+/* Define to 1 if you have the `gettimeofday' function. */
+#define HAVE_GETTIMEOFDAY 1
+
+/* Define to 1 if you have the `inet_ntop' function. */
+#define HAVE_INET_NTOP 1
+
+/* Define to 1 if you have the `inet_pton' function. */
+#define HAVE_INET_PTON 1
+
+/* Define to 1 if you have the <inttypes.h> header file. */
+#define HAVE_INTTYPES_H 1
+
+/* Define to 1 if you have the <limits.h> header file. */
+#define HAVE_LIMITS_H 1
+
+/* Define to 1 if you have the <linux/serial.h> header file. */
+// #define HAVE_LINUX_SERIAL_H 1
+
+/* Define to 1 if you have the <minix/config.h> header file. */
+/* #undef HAVE_MINIX_CONFIG_H */
+
+/* Define to 1 if you have the <netdb.h> header file. */
+#define HAVE_NETDB_H 1
+
+/* Define to 1 if you have the <netinet/in.h> header file. */
+#define HAVE_NETINET_IN_H 1
+
+/* Define to 1 if you have the <netinet/tcp.h> header file. */
+#define HAVE_NETINET_TCP_H 1
+
+/* Define to 1 if you have the `select' function. */
+#define HAVE_SELECT 1
+
+/* Define to 1 if you have the `socket' function. */
+#define HAVE_SOCKET 1
+
+/* Define to 1 if you have the <stdint.h> header file. */
+#define HAVE_STDINT_H 1
+
+/* Define to 1 if you have the <stdio.h> header file. */
+#define HAVE_STDIO_H 1
+
+/* Define to 1 if you have the <stdlib.h> header file. */
+#define HAVE_STDLIB_H 1
+
+/* Define to 1 if you have the `strerror' function. */
+#define HAVE_STRERROR 1
+
+/* Define to 1 if you have the <strings.h> header file. */
+#define HAVE_STRINGS_H 1
+
+/* Define to 1 if you have the <string.h> header file. */
+#define HAVE_STRING_H 1
+
+/* Define to 1 if you have the `strlcpy' function. */
+/* #undef HAVE_STRLCPY */
+
+/* Define to 1 if you have the <sys/ioctl.h> header file. */
+#define HAVE_SYS_IOCTL_H 1
+
+/* Define to 1 if you have the <sys/params.h> header file. */
+/* #undef HAVE_SYS_PARAMS_H */
+
+/* Define to 1 if you have the <sys/socket.h> header file. */
+#define HAVE_SYS_SOCKET_H 1
+
+/* Define to 1 if you have the <sys/stat.h> header file. */
+#define HAVE_SYS_STAT_H 1
+
+/* Define to 1 if you have the <sys/time.h> header file. */
+#define HAVE_SYS_TIME_H 1
+
+/* Define to 1 if you have the <sys/types.h> header file. */
+#define HAVE_SYS_TYPES_H 1
+
+/* Define to 1 if you have the <termios.h> header file. */
+#define HAVE_TERMIOS_H 1
+
+/* Define to 1 if you have the <time.h> header file. */
+#define HAVE_TIME_H 1
+
+/* Define to 1 if you have the <unistd.h> header file. */
+#define HAVE_UNISTD_H 1
+
+/* Define to 1 if you have the <wchar.h> header file. */
+#define HAVE_WCHAR_H 1
+
+/* Define to 1 if you have the <winsock2.h> header file. */
+/* #undef HAVE_WINSOCK2_H */
+
+/* Define to the sub-directory where libtool stores uninstalled libraries. */
+#define LT_OBJDIR ".libs/"
+
+/* Name of package */
+#define PACKAGE "libmodbus"
+
+/* Define to the address where bug reports for this package should be sent. */
+#define PACKAGE_BUGREPORT "https://github.com/stephane/libmodbus/issues"
+
+/* Define to the full name of this package. */
+#define PACKAGE_NAME "libmodbus"
+
+/* Define to the full name and version of this package. */
+#define PACKAGE_STRING "libmodbus 3.1.10"
+
+/* Define to the one symbol short name of this package. */
+#define PACKAGE_TARNAME "libmodbus"
+
+/* Define to the home page for this package. */
+#define PACKAGE_URL "http://libmodbus.org/"
+
+/* Define to the version of this package. */
+#define PACKAGE_VERSION "3.1.10"
+
+/* Define to 1 if all of the C90 standard headers exist (not just the ones
+   required in a freestanding environment). This macro is provided for
+   backward compatibility; new code need not use it. */
+#define STDC_HEADERS 1
+
+/* Enable extensions on AIX 3, Interix.  */
+#ifndef _ALL_SOURCE
+# define _ALL_SOURCE 1
+#endif
+/* Enable general extensions on macOS.  */
+#ifndef _DARWIN_C_SOURCE
+# define _DARWIN_C_SOURCE 1
+#endif
+/* Enable general extensions on Solaris.  */
+#ifndef __EXTENSIONS__
+# define __EXTENSIONS__ 1
+#endif
+/* Enable GNU extensions on systems that have them.  */
+#ifndef _GNU_SOURCE
+# define _GNU_SOURCE 1
+#endif
+/* Enable X/Open compliant socket functions that do not require linking
+   with -lxnet on HP-UX 11.11.  */
+#ifndef _HPUX_ALT_XOPEN_SOCKET_API
+# define _HPUX_ALT_XOPEN_SOCKET_API 1
+#endif
+/* Identify the host operating system as Minix.
+   This macro does not affect the system headers' behavior.
+   A future release of Autoconf may stop defining this macro.  */
+#ifndef _MINIX
+/* # undef _MINIX */
+#endif
+/* Enable general extensions on NetBSD.
+   Enable NetBSD compatibility extensions on Minix.  */
+#ifndef _NETBSD_SOURCE
+# define _NETBSD_SOURCE 1
+#endif
+/* Enable OpenBSD compatibility extensions on NetBSD.
+   Oddly enough, this does nothing on OpenBSD.  */
+#ifndef _OPENBSD_SOURCE
+# define _OPENBSD_SOURCE 1
+#endif
+/* Define to 1 if needed for POSIX-compatible behavior.  */
+#ifndef _POSIX_SOURCE
+/* # undef _POSIX_SOURCE */
+#endif
+/* Define to 2 if needed for POSIX-compatible behavior.  */
+#ifndef _POSIX_1_SOURCE
+/* # undef _POSIX_1_SOURCE */
+#endif
+/* Enable POSIX-compatible threading on Solaris.  */
+#ifndef _POSIX_PTHREAD_SEMANTICS
+# define _POSIX_PTHREAD_SEMANTICS 1
+#endif
+/* Enable extensions specified by ISO/IEC TS 18661-5:2014.  */
+#ifndef __STDC_WANT_IEC_60559_ATTRIBS_EXT__
+# define __STDC_WANT_IEC_60559_ATTRIBS_EXT__ 1
+#endif
+/* Enable extensions specified by ISO/IEC TS 18661-1:2014.  */
+#ifndef __STDC_WANT_IEC_60559_BFP_EXT__
+# define __STDC_WANT_IEC_60559_BFP_EXT__ 1
+#endif
+/* Enable extensions specified by ISO/IEC TS 18661-2:2015.  */
+#ifndef __STDC_WANT_IEC_60559_DFP_EXT__
+# define __STDC_WANT_IEC_60559_DFP_EXT__ 1
+#endif
+/* Enable extensions specified by ISO/IEC TS 18661-4:2015.  */
+#ifndef __STDC_WANT_IEC_60559_FUNCS_EXT__
+# define __STDC_WANT_IEC_60559_FUNCS_EXT__ 1
+#endif
+/* Enable extensions specified by ISO/IEC TS 18661-3:2015.  */
+#ifndef __STDC_WANT_IEC_60559_TYPES_EXT__
+# define __STDC_WANT_IEC_60559_TYPES_EXT__ 1
+#endif
+/* Enable extensions specified by ISO/IEC TR 24731-2:2010.  */
+#ifndef __STDC_WANT_LIB_EXT2__
+# define __STDC_WANT_LIB_EXT2__ 1
+#endif
+/* Enable extensions specified by ISO/IEC 24747:2009.  */
+#ifndef __STDC_WANT_MATH_SPEC_FUNCS__
+# define __STDC_WANT_MATH_SPEC_FUNCS__ 1
+#endif
+/* Enable extensions on HP NonStop.  */
+#ifndef _TANDEM_SOURCE
+# define _TANDEM_SOURCE 1
+#endif
+/* Enable X/Open extensions.  Define to 500 only if necessary
+   to make mbstate_t available.  */
+#ifndef _XOPEN_SOURCE
+/* # undef _XOPEN_SOURCE */
+#endif
+
+
+/* Version number of package */
+#define VERSION "3.1.10"
+
+/* _ */
+#define WINVER 0x0501
+
+/* Number of bits in a file offset, on hosts where this is settable. */
+/* #undef _FILE_OFFSET_BITS */
+
+/* Define for large files, on AIX-style hosts. */
+/* #undef _LARGE_FILES */
+
+/* Define for Solaris 2.5.1 so the uint32_t typedef from <sys/synch.h>,
+   <pthread.h>, or <semaphore.h> is not used. If the typedef were allowed, the
+   #define below would cause a syntax error. */
+/* #undef _UINT32_T */
+
+/* Define for Solaris 2.5.1 so the uint8_t typedef from <sys/synch.h>,
+   <pthread.h>, or <semaphore.h> is not used. If the typedef were allowed, the
+   #define below would cause a syntax error. */
+/* #undef _UINT8_T */
+
+/* Define to `__inline__' or `__inline' if that's what the C compiler
+   calls it, or to nothing if 'inline' is not supported under any name.  */
+#ifndef __cplusplus
+/* #undef inline */
+#endif
+
+/* Define to the type of a signed integer type of width exactly 64 bits if
+   such a type exists and the standard includes do not define it. */
+/* #undef int64_t */
+
+/* Define to `unsigned int' if <sys/types.h> does not define. */
+/* #undef size_t */
+
+/* Define to `int' if <sys/types.h> does not define. */
+/* #undef ssize_t */
+
+/* Define to the type of an unsigned integer type of width exactly 16 bits if
+   such a type exists and the standard includes do not define it. */
+/* #undef uint16_t */
+
+/* Define to the type of an unsigned integer type of width exactly 32 bits if
+   such a type exists and the standard includes do not define it. */
+/* #undef uint32_t */
+
+/* Define to the type of an unsigned integer type of width exactly 8 bits if
+   such a type exists and the standard includes do not define it. */
+/* #undef uint8_t */
diff --git a/src/esp-idf/idf_component.yml b/src/esp-idf/idf_component.yml
new file mode 100644
index 00000000..181228b2
--- /dev/null
+++ b/src/esp-idf/idf_component.yml
@@ -0,0 +1,13 @@
+dependencies:
+  idf:
+    version: '>=5.0'
+description: A Modbus library for Linux, Mac OS, FreeBSD and Windows
+files:
+  exclude:
+  - docs/**/*
+  - docs
+  - tests/**/*
+  - tests
+url: https://github.com/stephane/libmodbus
+version: 3.1.10
+
diff --git a/src/modbus-rtu.c b/src/modbus-rtu.c
index ebef9347..b059da94 100644
--- a/src/modbus-rtu.c
+++ b/src/modbus-rtu.c
@@ -26,6 +26,13 @@
 #include <linux/serial.h>
 #endif
 
+
+#if ESP_PLATFORM
+#include "driver/uart.h"
+#include "driver/uart_vfs.h"
+#include "esp_log.h"
+#endif
+
 /* Table of CRC values for high-order byte */
 static const uint8_t table_crc_hi[] = {
     0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
@@ -501,6 +508,92 @@ static int _modbus_rtu_connect(modbus_t *ctx)
 
     return 0;
 }
+#elif ESP_PLATFORM
+// EspressIf SDK
+static int _modbus_rtu_connect(modbus_t *ctx)
+{
+    modbus_rtu_t *ctx_rtu = ctx->backend_data;
+    char serial_name[16];
+    uart_word_length_t data_bits;
+    uart_parity_t parity;
+    uart_stop_bits_t stop_bits;
+
+    const uart_port_t uart_num = atoi(ctx_rtu->device);
+
+    switch (ctx_rtu->data_bit) {
+    case 5:
+        data_bits = UART_DATA_5_BITS;
+        break;
+    case 6:
+        data_bits = UART_DATA_6_BITS;
+        break;
+    case 7:
+        data_bits = UART_DATA_7_BITS;
+        break;
+    case 8:
+        data_bits = UART_DATA_8_BITS;
+        break;
+    default:
+        ESP_LOGI("libmodbus", "Invalid data bits value");
+        return -1;
+    }
+
+    switch (ctx_rtu->parity) {
+    case 'N':
+        parity = UART_PARITY_DISABLE;
+        break;
+    case 'E':
+        parity = UART_PARITY_EVEN;
+        break;
+    case 'O':
+        parity = UART_PARITY_ODD;
+        break;
+    default:
+        ESP_LOGI("libmodbus", "Invalid parity value");
+        return -1;
+    }
+
+    switch (ctx_rtu->stop_bit) {
+    case 1:
+        stop_bits = UART_STOP_BITS_1;
+        break;
+    case 2:
+        stop_bits = UART_STOP_BITS_2;
+        break;
+    default:
+        ESP_LOGI("libmodbus", "Invalid stop-bits value");
+        return -1;
+    }
+
+
+    uart_config_t uart_config = {
+        .baud_rate = ctx_rtu->baud,
+        .data_bits = data_bits,
+        .parity = parity,
+        .stop_bits = stop_bits,
+        .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, // UART_HW_FLOWCTRL_CTS_RTS,
+        .rx_flow_ctrl_thresh = 2,
+        .source_clk = UART_SCLK_DEFAULT,
+    };
+
+    // Configure UART parameters
+    ESP_ERROR_CHECK(uart_param_config(uart_num, &uart_config));
+
+    // Handle to access serial
+    snprintf(serial_name, 16, "/dev/uart/%s", ctx_rtu->device);
+
+    if ((ctx->s = open(serial_name, O_RDWR)) == -1) {
+            ctx->s = -1;
+            return -1;
+    }
+
+    uart_vfs_dev_use_driver(uart_num);
+    uart_vfs_dev_port_set_rx_line_endings(uart_num, ESP_LINE_ENDINGS_LF);
+    uart_vfs_dev_port_set_tx_line_endings(uart_num, ESP_LINE_ENDINGS_LF);
+
+    return 0;
+}
+
 #else
 
 static speed_t _get_termios_speed(int baud, int debug)