diff --git a/boards/risc-v/esp32c6/common/src/CMakeLists.txt b/boards/risc-v/esp32c6/common/src/CMakeLists.txt
index 4eaaf07d419..657c1a5ee39 100644
--- a/boards/risc-v/esp32c6/common/src/CMakeLists.txt
+++ b/boards/risc-v/esp32c6/common/src/CMakeLists.txt
@@ -112,6 +112,10 @@ if(CONFIG_ARCH_BOARD_COMMON)
     target_link_libraries(board PRIVATE romfs_etc)
   endif()
 
+  if(CONFIG_ESPRESSIF_ULP_USE_TEST_BIN)
+    include(${NUTTX_DIR}/arch/risc-v/src/common/espressif/ulp.cmake)
+  endif()
+
 endif()
 
 target_sources(board PRIVATE ${SRCS})
diff --git a/boards/risc-v/esp32p4/common/src/CMakeLists.txt b/boards/risc-v/esp32p4/common/src/CMakeLists.txt
index a70fb04f17b..6c5b53d0e04 100644
--- a/boards/risc-v/esp32p4/common/src/CMakeLists.txt
+++ b/boards/risc-v/esp32p4/common/src/CMakeLists.txt
@@ -76,6 +76,10 @@ if(CONFIG_ARCH_BOARD_COMMON)
     list(APPEND SRCS esp_board_pcnt.c)
   endif()
 
+  if(CONFIG_ESPRESSIF_ULP_USE_TEST_BIN)
+    include(${NUTTX_DIR}/arch/risc-v/src/common/espressif/ulp.cmake)
+  endif()
+
 endif()
 
 target_sources(board PRIVATE ${SRCS})