diff --git a/include/nuttx/motor/foc/foc.h b/include/nuttx/motor/foc/foc.h
index 17d995fd9cc..b3647525272 100644
--- a/include/nuttx/motor/foc/foc.h
+++ b/include/nuttx/motor/foc/foc.h
@@ -33,6 +33,8 @@
 
 #include <fixedmath.h>
 
+#ifdef CONFIG_MOTOR_FOC
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
@@ -153,4 +155,5 @@ int foc_register(FAR const char *path, FAR struct foc_dev_s *dev);
 }
 #endif
 
+#endif /* CONFIG_MOTOR_FOC */
 #endif /* __INCLUDE_NUTTX_MOTOR_FOC_FOC_H */