diff -r a89e2bedf004 -r c14b6bb14fdf include/ecrt.h
--- a/include/ecrt.h	Thu Apr 29 14:05:15 2010 +0200
+++ b/include/ecrt.h	Thu Apr 29 16:33:32 2010 +0200
@@ -78,6 +78,9 @@
  * - Added ecrt_slave_config_idn() method for storing SoE IDN configurations,
  *   and ecrt_master_read_idn() and ecrt_master_write_idn() to read/write IDNs
  *   ad-hoc via the user-space library.
+ * - Added support for overlapping PDOs which allows inputs to use the same
+ *   space as outputs on the frame. This reduces the frame length.
+ *
  *
  * @{
  */
@@ -891,6 +894,17 @@
                                      */
         );
 
+/** Configure wether 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.
  *
  * \see ecrt_slave_config_pdos()