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Hi Arun,
We do not have a TI-provided example implementation of Modbus on TMS570. There are, however, examples of implementations done on Hercules MCUs. See this thread for example: https://e2e.ti.com/support/microcontrollers/hercules/f/312/t/675413?RM46L852-Modbus-Over-TCP-IP-control-hand-in-TCP-Rx-interrupt
This is an RTOS example with a Modbus implementation (also supports TMS570): http://www.nuttx.org/Documentation/NuttX.html
Regards,
Sunil