diff -r ec0b5d9a2ff1 -r 777d1a8b3a27 include/ecrt.h
--- a/include/ecrt.h	Mon Mar 16 14:18:55 2015 -0400
+++ b/include/ecrt.h	Thu Mar 26 15:16:21 2015 -0400
@@ -1145,6 +1145,17 @@
                                      */
         );
 
+/** Configure whether a slave allows overlapping PDOs.
+ *
+ * Overlapping PDOs allows inputs to use the same space as outputs on the frame.
+ * This reduces the frame length.
+ */
+void ecrt_slave_config_overlapping_pdos(
+        ec_slave_config_t *sc, /**< Slave configuration. */
+        uint8_t allow_overlapping_pdos /**< Allow overlapping PDOs */
+        );
+
+
 /** Add a PDO to a sync manager's PDO assignment.
  *
  * This method has to be called in non-realtime context before