diff --git a/soes/CMakeLists.txt b/soes/CMakeLists.txt
index 91dfcfa..d39dfd9 100644
--- a/soes/CMakeLists.txt
+++ b/soes/CMakeLists.txt
@@ -13,6 +13,7 @@ add_library (soes
   esc_eep.h
   ecat_slv.c
   ecat_slv.h
+  options.h
   ${HAL_SOURCES}
   )
 
diff --git a/soes/ecat_slv.c b/soes/ecat_slv.c
index 70ff265..7ae9d58 100644
--- a/soes/ecat_slv.c
+++ b/soes/ecat_slv.c
@@ -195,7 +195,9 @@ void ecat_slv_worker (uint32_t event_mask)
       while ((ESC_mbxprocess() > 0) || (ESCvar.txcue > 0))
       {
          ESC_coeprocess();
+#if USE_FOE
          ESC_foeprocess();
+#endif
          ESC_xoeprocess();
       }
 
@@ -232,7 +234,9 @@ void ecat_slv_poll (void)
    if (ESC_mbxprocess())
    {
       ESC_coeprocess();
+#if USE_FOE
       ESC_foeprocess();
+#endif
       ESC_xoeprocess();
    }
 
@@ -273,8 +277,10 @@ void ecat_slv_init (esc_cfg_t * config)
       ESCvar.DLstatus = etohs (ESCvar.DLstatus);
    }
 
+#if USE_FOE
    /* Init FoE */
    FOE_init();
+#endif
 
    /* reset ESC to init state */
    ESC_ALstatus (ESCinit);
diff --git a/soes/ecat_slv.h b/soes/ecat_slv.h
index 13d6aae..99097c8 100644
--- a/soes/ecat_slv.h
+++ b/soes/ecat_slv.h
@@ -1,6 +1,8 @@
 #ifndef __ECAT_SLV_H__
 #define __ECAT_SLV_H__
 
+#include "ecat_slv.h"
+#include "options.h"
 #include "esc.h"
 
 /**
diff --git a/soes/options.h b/soes/options.h
new file mode 100644
index 0000000..e724a69
--- /dev/null
+++ b/soes/options.h
@@ -0,0 +1,144 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#ifndef __options__
+#define __options__
+
+/* User-defined options, Options defined here will override default values */
+#include "ecat_options.h"
+
+/* FoE support */
+#ifndef USE_FOE
+#define USE_FOE          1
+#endif
+
+/* EoE support */
+#ifndef USE_EOE
+#define USE_EOE          1
+#endif
+
+#ifndef MBXSIZE
+#define MBXSIZE          128
+#endif
+
+#ifndef MBXSIZEBOOT
+#define MBXSIZEBOOT      128
+#endif
+
+#ifndef MBXBUFFERS
+#define MBXBUFFERS       3
+#endif
+
+#ifndef MBX0_sma
+#define MBX0_sma         0x1000
+#endif
+
+#ifndef MBX0_sml
+#define MBX0_sml         MBXSIZE
+#endif
+
+#ifndef MBX0_sme
+#define MBX0_sme         MBX0_sma+MBX0_sml-1
+#endif
+
+#ifndef MBX0_smc
+#define MBX0_smc         0x26
+#endif
+
+#ifndef MBX1_sma
+#define MBX1_sma         MBX0_sma+MBX0_sml
+#endif
+
+#ifndef MBX1_sml
+#define MBX1_sml         MBXSIZE
+#endif
+
+#ifndef MBX1_sme
+#define MBX1_sme         MBX1_sma+MBX1_sml-1
+#endif
+
+#ifndef MBX1_smc
+#define MBX1_smc         0x22
+#endif
+
+#ifndef MBX0_sma_b
+#define MBX0_sma_b       0x1000
+#endif
+
+#ifndef MBX0_sml_b
+#define MBX0_sml_b       MBXSIZEBOOT
+#endif
+
+#ifndef MBX0_sme_b
+#define MBX0_sme_b       MBX0_sma_b+MBX0_sml_b-1
+#endif
+
+#ifndef MBX0_smc_b
+#define MBX0_smc_b       0x26
+#endif
+
+#ifndef MBX1_sma_b
+#define MBX1_sma_b       MBX0_sma_b+MBX0_sml_b
+#endif
+
+#ifndef MBX1_sml_b
+#define MBX1_sml_b       MBXSIZEBOOT
+#endif
+
+#ifndef MBX1_sme_b
+#define MBX1_sme_b       MBX1_sma_b+MBX1_sml_b-1
+#endif
+
+#ifndef MBX1_smc_b
+#define MBX1_smc_b       0x22
+#endif
+
+#ifndef SM2_sma
+#define SM2_sma          0x1100
+#endif
+
+#ifndef SM2_smc
+#define SM2_smc          0x24
+#endif
+
+#ifndef SM2_act
+#define SM2_act          1
+#endif
+
+#ifndef SM3_sma
+#define SM3_sma          0x1180
+#endif
+
+#ifndef SM3_smc
+#define SM3_smc          0x20
+#endif
+
+#ifndef SM3_act
+#define SM3_act          1
+#endif
+
+/* Max processdata size (inputs) */
+#ifndef MAX_INPUT_SIZE
+#define MAX_INPUT_SIZE   128
+#endif
+
+/* Max processdata size (outputs) */
+#ifndef MAX_OUTPUT_SIZE
+#define MAX_OUTPUT_SIZE  128
+#endif
+
+/* Max number of mapped objects in SM2 */
+#ifndef MAX_MAPPINGS_SM2
+#define MAX_MAPPINGS_SM2 16
+#endif
+
+/* Max number of mapped objects in SM3 */
+#ifndef MAX_MAPPINGS_SM3
+#define MAX_MAPPINGS_SM3 16
+#endif
+
+/* _Static_assert (SM2_sma + 3 * MAX_INPUT_SIZE < SM3_sma); */
+
+#endif /* __options__ */