diff --git a/Kconfig b/Kconfig
index 56b30c63575..7f5fa8112df 100644
--- a/Kconfig
+++ b/Kconfig
@@ -1709,6 +1709,31 @@ config DEBUG_WATCHDOG_INFO
 		Enable watchdog time informational output to SYSLOG.
 
 endif # DEBUG_WATCHDOG
+
+if DEBUG_MOTOR
+
+config DEBUG_MOTOR_ERROR
+	bool "Motor Error Output"
+	default n
+	depends on DEBUG_ERROR
+	---help---
+		Enable motor error output to SYSLOG.
+
+config DEBUG_MOTOR_WARN
+	bool "Motor Warnings Output"
+	default n
+	depends on DEBUG_WARN
+	---help---
+		Enable motor warning output to SYSLOG.
+
+config DEBUG_MOTOR_INFO
+	bool "Motor Informational Output"
+	default n
+	depends on DEBUG_INFO
+	---help---
+		Enable motor informational output to SYSLOG.
+
+endif # DEBUG_MOTOR
 endif # DEBUG_FEATURES
 
 config ARCH_HAVE_STACKCHECK
diff --git a/include/debug.h b/include/debug.h
index 9f2cb83eceb..f75a1fab849 100644
--- a/include/debug.h
+++ b/include/debug.h
@@ -731,6 +731,24 @@
 #  define wdinfo      _none
 #endif
 
+#ifdef CONFIG_DEBUG_MOTOR_ERROR
+#  define mtrerr      _err
+#else
+#  define mtrerr      _none
+#endif
+
+#ifdef CONFIG_DEBUG_MOTOR_WARN
+#  define mtrwarn     _warn
+#else
+#  define mtrwarn     _none
+#endif
+
+#ifdef CONFIG_DEBUG_MOTOR_INFO
+#  define mtrinfo     _info
+#else
+#  define mtrinfo     _none
+#endif
+
 /* Buffer dumping macros do not depend on varargs */
 
 #ifdef CONFIG_DEBUG_ERROR
@@ -995,6 +1013,14 @@
 #  define wdinfodumpbuffer(m,b,n)
 #endif
 
+#ifdef CONFIG_DEBUG_MOTOR
+#  define mtrerrdumpbuffer(m,b,n)  errdumpbuffer(m,b,n)
+#  define mtrinfodumpbuffer(m,b,n) infodumpbuffer(m,b,n)
+#else
+#  define mtrerrdumpbuffer(m,b,n)
+#  define mtrinfodumpbuffer(m,b,n)
+#endif
+
 /****************************************************************************
  * Public Function Prototypes
  ****************************************************************************/