diff --git a/components/freemodbus/Kconfig b/components/freemodbus/Kconfig
index 1127543d5f..cbdba581fa 100644
--- a/components/freemodbus/Kconfig
+++ b/components/freemodbus/Kconfig
@@ -113,6 +113,29 @@ menu "Modbus configuration"
                 Modbus port data processing task priority.
                 The priority of Modbus controller task is equal to (CONFIG_FMB_PORT_TASK_PRIO - 1).
 
+    choice FMB_PORT_TASK_AFFINITY
+        prompt "Modbus task affinity"
+        default FMB_PORT_TASK_AFFINITY_CPU0
+        depends on !FREERTOS_UNICORE
+        help
+            Allows setting the core affinity of the Modbus controller task, i.e. whether the task is pinned to
+            particular CPU, or allowed to run on any CPU.
+
+        config FMB_PORT_TASK_AFFINITY_NO_AFFINITY
+            bool "No affinity"
+        config FMB_PORT_TASK_AFFINITY_CPU0
+            bool "CPU0"
+        config FMB_PORT_TASK_AFFINITY_CPU1
+            bool "CPU1"
+
+    endchoice
+
+    config FMB_PORT_TASK_AFFINITY
+        hex
+        default FREERTOS_NO_AFFINITY if FMB_PORT_TASK_AFFINITY_NO_AFFINITY || FREERTOS_UNICORE
+        default 0x0 if FMB_PORT_TASK_AFFINITY_CPU0
+        default 0x1 if FMB_PORT_TASK_AFFINITY_CPU1
+
     config FMB_CONTROLLER_SLAVE_ID_SUPPORT
         bool "Modbus controller slave ID support"
         default y
@@ -165,7 +188,7 @@ menu "Modbus configuration"
 
     config FMB_TIMER_PORT_ENABLED
         bool "Modbus slave stack use timer for 3.5T symbol time measurement"
-        default y
+        default n
         help
                 If this option is set the Modbus stack uses timer for T3.5 time measurement.
                 Else the internal UART TOUT timeout is used for 3.5T symbol time measurement.
diff --git a/components/freemodbus/port/port.h b/components/freemodbus/port/port.h
index 84d3d3ff34..a127326f8e 100644
--- a/components/freemodbus/port/port.h
+++ b/components/freemodbus/port/port.h
@@ -50,6 +50,9 @@
 #define MB_TCP_STACK_SIZE               (CONFIG_FMB_PORT_TASK_STACK_SIZE)
 #define MB_TCP_TASK_PRIO                (CONFIG_FMB_PORT_TASK_PRIO)
 
+// The task affinity for Modbus stack tasks
+#define MB_PORT_TASK_AFFINITY           (CONFIG_FMB_PORT_TASK_AFFINITY)
+
 #define MB_TCP_READ_TIMEOUT_MS          (100) // read timeout in mS
 #define MB_TCP_READ_TIMEOUT             (pdMS_TO_TICKS(MB_TCP_READ_TIMEOUT_MS))
 #define MB_TCP_SEND_TIMEOUT_MS          (500) // send event timeout in mS
diff --git a/components/freemodbus/port/portserial.c b/components/freemodbus/port/portserial.c
index 9fbf774c9c..f86099533d 100644
--- a/components/freemodbus/port/portserial.c
+++ b/components/freemodbus/port/portserial.c
@@ -249,8 +249,10 @@ BOOL xMBPortSerialInit(UCHAR ucPORT, ULONG ulBaudRate,
     uart_set_always_rx_timeout(ucUartNumber, true);
 
     // Create a task to handle UART events
-    BaseType_t xStatus = xTaskCreate(vUartTask, "uart_queue_task", MB_SERIAL_TASK_STACK_SIZE,
-                                        NULL, MB_SERIAL_TASK_PRIO, &xMbTaskHandle);
+    BaseType_t xStatus = xTaskCreatePinnedToCore(vUartTask, "uart_queue_task",
+                                                    MB_SERIAL_TASK_STACK_SIZE,
+                                                    NULL, MB_SERIAL_TASK_PRIO,
+                                                    &xMbTaskHandle, MB_PORT_TASK_AFFINITY);
     if (xStatus != pdPASS) {
         vTaskDelete(xMbTaskHandle);
         // Force exit from function with failure
diff --git a/components/freemodbus/port/portserial_m.c b/components/freemodbus/port/portserial_m.c
index 023bcd05f8..2179f99bea 100644
--- a/components/freemodbus/port/portserial_m.c
+++ b/components/freemodbus/port/portserial_m.c
@@ -243,8 +243,10 @@ BOOL xMBMasterPortSerialInit( UCHAR ucPORT, ULONG ulBaudRate, UCHAR ucDataBits,
     uart_set_always_rx_timeout(ucUartNumber, true);
 
     // Create a task to handle UART events
-    BaseType_t xStatus = xTaskCreate(vUartTask, "uart_queue_task", MB_SERIAL_TASK_STACK_SIZE,
-                                        NULL, MB_SERIAL_TASK_PRIO, &xMbTaskHandle);
+    BaseType_t xStatus = xTaskCreatePinnedToCore(vUartTask, "uart_queue_task",
+                                                    MB_SERIAL_TASK_STACK_SIZE,
+                                                    NULL, MB_SERIAL_TASK_PRIO,
+                                                    &xMbTaskHandle, MB_PORT_TASK_AFFINITY);
     if (xStatus != pdPASS) {
         vTaskDelete(xMbTaskHandle);
         // Force exit from function with failure
diff --git a/components/freemodbus/serial_master/modbus_controller/mbc_serial_master.c b/components/freemodbus/serial_master/modbus_controller/mbc_serial_master.c
index 426a45532b..40f23196f7 100644
--- a/components/freemodbus/serial_master/modbus_controller/mbc_serial_master.c
+++ b/components/freemodbus/serial_master/modbus_controller/mbc_serial_master.c
@@ -671,12 +671,13 @@ esp_err_t mbc_serial_master_create(void** handler)
     MB_MASTER_CHECK((mbm_opts->mbm_event_group != NULL),
                         ESP_ERR_NO_MEM, "mb event group error.");
     // Create modbus controller task
-    status = xTaskCreate((void*)&modbus_master_task,
+    status = xTaskCreatePinnedToCore((void*)&modbus_master_task,
                             "modbus_matask",
                             MB_CONTROLLER_STACK_SIZE,
                             NULL,                       // No parameters
                             MB_CONTROLLER_PRIORITY,
-                            &mbm_opts->mbm_task_handle);
+                            &mbm_opts->mbm_task_handle,
+                            MB_PORT_TASK_AFFINITY);
     if (status != pdPASS) {
         vTaskDelete(mbm_opts->mbm_task_handle);
         MB_MASTER_CHECK((status == pdPASS), ESP_ERR_NO_MEM,
diff --git a/components/freemodbus/serial_slave/modbus_controller/mbc_serial_slave.c b/components/freemodbus/serial_slave/modbus_controller/mbc_serial_slave.c
index 4e6db38f54..cf45730f40 100644
--- a/components/freemodbus/serial_slave/modbus_controller/mbc_serial_slave.c
+++ b/components/freemodbus/serial_slave/modbus_controller/mbc_serial_slave.c
@@ -212,12 +212,13 @@ esp_err_t mbc_serial_slave_create(void** handler)
     MB_SLAVE_CHECK((mbs_opts->mbs_notification_queue_handle != NULL),
             ESP_ERR_NO_MEM, "mb notify queue creation error.");
     // Create Modbus controller task
-    status = xTaskCreate((void*)&modbus_slave_task,
+    status = xTaskCreatePinnedToCore((void*)&modbus_slave_task,
                             "modbus_slave_task",
                             MB_CONTROLLER_STACK_SIZE,
                             NULL,
                             MB_CONTROLLER_PRIORITY,
-                            &mbs_opts->mbs_task_handle);
+                            &mbs_opts->mbs_task_handle,
+                            MB_PORT_TASK_AFFINITY);
     if (status != pdPASS) {
         vTaskDelete(mbs_opts->mbs_task_handle);
         MB_SLAVE_CHECK((status == pdPASS), ESP_ERR_NO_MEM,
diff --git a/components/freemodbus/tcp_master/port/port_tcp_master.c b/components/freemodbus/tcp_master/port/port_tcp_master.c
index 8711827718..5bb981a874 100644
--- a/components/freemodbus/tcp_master/port/port_tcp_master.c
+++ b/components/freemodbus/tcp_master/port/port_tcp_master.c
@@ -123,12 +123,13 @@ xMBMasterTCPPortInit( USHORT usTCPPort )
     }
 
     // Create task for packet processing
-    BaseType_t xErr = xTaskCreate(vMBTCPPortMasterTask,
+    BaseType_t xErr = xTaskCreatePinnedToCore(vMBTCPPortMasterTask,
                                     "tcp_master_task",
                                     MB_TCP_STACK_SIZE,
                                     NULL,
                                     MB_TCP_TASK_PRIO,
-                                    &xMbPortConfig.xMbTcpTaskHandle);
+                                    &xMbPortConfig.xMbTcpTaskHandle,
+                                    MB_PORT_TASK_AFFINITY);
     if (xErr != pdTRUE)
     {
         ESP_LOGE(MB_TCP_MASTER_PORT_TAG, "TCP master task creation failure.");
diff --git a/components/freemodbus/tcp_slave/modbus_controller/mbc_tcp_slave.c b/components/freemodbus/tcp_slave/modbus_controller/mbc_tcp_slave.c
index f0db0c96f1..3b39e4e47d 100644
--- a/components/freemodbus/tcp_slave/modbus_controller/mbc_tcp_slave.c
+++ b/components/freemodbus/tcp_slave/modbus_controller/mbc_tcp_slave.c
@@ -185,12 +185,13 @@ esp_err_t mbc_tcp_slave_create(void** handler)
     MB_SLAVE_CHECK((mbs_opts->mbs_notification_queue_handle != NULL),
             ESP_ERR_NO_MEM, "mb notify queue creation error.");
     // Create Modbus controller task
-    status = xTaskCreate((void*)&modbus_tcp_slave_task,
+    status = xTaskCreatePinnedToCore((void*)&modbus_tcp_slave_task,
                             "modbus_tcp_slave_task",
                             MB_CONTROLLER_STACK_SIZE,
                             NULL,
                             MB_CONTROLLER_PRIORITY,
-                            &mbs_opts->mbs_task_handle);
+                            &mbs_opts->mbs_task_handle,
+                            MB_PORT_TASK_AFFINITY);
     if (status != pdPASS) {
         vTaskDelete(mbs_opts->mbs_task_handle);
         MB_SLAVE_CHECK((status == pdPASS), ESP_ERR_NO_MEM,