diff --git a/include/mbedtls/config.h b/include/mbedtls/config.h
index e872840..fcb92f2 100644
--- a/include/mbedtls/config.h
+++ b/include/mbedtls/config.h
@@ -3457,6 +3457,9 @@
 /* Timeout */
 //#define MBEDTLS_SSL_CONF_READ_TIMEOUT 0
 
+/* Endpoint (Client/Server) */
+//#define MBEDTLS_SSL_CONF_ENDPOINT MBED
+
 /* DTLS-specific settings */
 //#define MBEDTLS_SSL_CONF_HS_TIMEOUT_MIN MBEDTLS_SSL_DTLS_TIMEOUT_DFL_MIN
 //#define MBEDTLS_SSL_CONF_HS_TIMEOUT_MAX MBEDTLS_SSL_DTLS_TIMEOUT_DFL_MAX
diff --git a/include/mbedtls/ssl.h b/include/mbedtls/ssl.h
index 1d7c05d..86759e5 100644
--- a/include/mbedtls/ssl.h
+++ b/include/mbedtls/ssl.h
@@ -1055,7 +1055,9 @@
      * Flags (bitfields)
      */
 
+#if !defined(MBEDTLS_SSL_CONF_ENDPOINT)
     unsigned int endpoint : 1;      /*!< 0: client, 1: server               */
+#endif /* !MBEDTLS_SSL_CONF_ENDPOINT */
     unsigned int transport : 1;     /*!< stream (TLS) or datagram (DTLS)    */
 #if !defined(MBEDTLS_SSL_CONF_AUTHMODE)
     unsigned int authmode : 2;      /*!< MBEDTLS_SSL_VERIFY_XXX             */
@@ -1381,13 +1383,18 @@
  */
 int mbedtls_ssl_session_reset( mbedtls_ssl_context *ssl );
 
+#if !defined(MBEDTLS_SSL_CONF_ENDPOINT)
 /**
  * \brief          Set the current endpoint type
  *
+ * \note           On constrained systems, this can also be configured
+ *                 at compile-time via MBEDTLS_SSL_CONF_ENDPOINT.
+ *
  * \param conf     SSL configuration
  * \param endpoint must be MBEDTLS_SSL_IS_CLIENT or MBEDTLS_SSL_IS_SERVER
  */
 void mbedtls_ssl_conf_endpoint( mbedtls_ssl_config *conf, int endpoint );
+#endif /* !MBEDTLS_SSL_CONF_ENDPOINT */
 
 /**
  * \brief           Set the transport type (TLS or DTLS).
diff --git a/include/mbedtls/ssl_internal.h b/include/mbedtls/ssl_internal.h
index 093c4ac..b08aae2 100644
--- a/include/mbedtls/ssl_internal.h
+++ b/include/mbedtls/ssl_internal.h
@@ -1085,6 +1085,21 @@
  * be fixed at compile time via one of MBEDTLS_SSL_SSL_CONF_XXX.
  */
 
+#if !defined(MBEDTLS_SSL_CONF_ENDPOINT)
+static inline unsigned int mbedtls_ssl_conf_get_endpoint(
+    mbedtls_ssl_config  const *conf )
+{
+    return( conf->endpoint );
+}
+#else /* !MBEDTLS_SSL_CONF_ENDPOINT */
+static inline unsigned int mbedtls_ssl_conf_get_endpoint(
+    mbedtls_ssl_config  const *conf )
+{
+    ((void) conf);
+    return( MBEDTLS_SSL_CONF_ENDPOINT );
+}
+#endif /* MBEDTLS_SSL_CONF_ENDPOINT */
+
 #if !defined(MBEDTLS_SSL_CONF_READ_TIMEOUT)
 static inline uint32_t mbedtls_ssl_conf_get_read_timeout(
     mbedtls_ssl_config  const *conf )