diff --git a/arch/arm/src/common/stm32/Kconfig.foc b/arch/arm/src/common/stm32/Kconfig.foc
index 79e61e292e4..bcbeba9e9e7 100644
--- a/arch/arm/src/common/stm32/Kconfig.foc
+++ b/arch/arm/src/common/stm32/Kconfig.foc
@@ -140,6 +140,7 @@ endchoice # "FOC0 device ADC selection"
 menuconfig STM32_FOC
 	bool "STM32 lower-half FOC support"
 	depends on STM32_HAVE_COMMON_FOC || ARCH_CHIP_STM32F7
+	depends on MOTOR_FOC
 	select ARCH_IRQPRIO
 	select STM32_ADC
 	select STM32_PWM_MULTICHAN