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Inspired by the branch ff/ipv6 of Florian Forster but this version uses a specific PI backend to isolate the IPv4 and IPv6 implementations. The existing TCP/IPv4 implementation has been kept intact (not rebased on the PI one) because its data backend requires fewer bytes than the PI. New functions modbus_new_tcp_pi, modbus_tcp_pi_listen and modbus_tcp_pi_accept and new backend called modbus_tcp_pi_t.