diff --git a/cpu/esp32/Makefile.dep b/cpu/esp32/Makefile.dep
index fb9f6690a6..af918d6664 100644
--- a/cpu/esp32/Makefile.dep
+++ b/cpu/esp32/Makefile.dep
@@ -31,6 +31,7 @@ ifneq (,$(filter esp_wifi_any,$(USEMODULE)))
     USEMODULE += esp_idf_wpa_supplicant_crypto
     USEMODULE += esp_idf_wpa_supplicant_port
     USEMODULE += esp_idf_nvs_flash
+    USEMODULE += riot_freertos
 
     # crypto and hashes produce symbol conflicts with esp_idf_wpa_supplicant_crypto
     DISABLE_MODULE += crypto
@@ -39,11 +40,12 @@ endif
 
 ifneq (,$(filter esp_idf_nvs_flash,$(USEMODULE)))
     # add additional modules required by esp_idf_nvs_flash
+    USEMODULE += mtd
     USEMODULE += pthread
 endif
 
-ifneq (,$(filter esp_idf_nvs_flash,$(USEMODULE)))
-    # add additional modules required by riot_riot_freertos
+ifneq (,$(filter riot_freertos,$(USEMODULE)))
+    # add additional modules required by riot_freertos
     USEMODULE += xtimer
 endif