diff --git a/drivers/Kconfig b/drivers/Kconfig
index 1a20f6c7ff..155862c464 100644
--- a/drivers/Kconfig
+++ b/drivers/Kconfig
@@ -122,6 +122,7 @@ rsource "si114x/Kconfig"
 rsource "si1133/Kconfig"
 rsource "sps30/Kconfig"
 rsource "srf02/Kconfig"
+rsource "srf04/Kconfig"
 rsource "tcs37727/Kconfig"
 rsource "tmp00x/Kconfig"
 rsource "tsl2561/Kconfig"
diff --git a/drivers/srf04/Kconfig b/drivers/srf04/Kconfig
new file mode 100644
index 0000000000..cacfa85145
--- /dev/null
+++ b/drivers/srf04/Kconfig
@@ -0,0 +1,15 @@
+# Copyright (c) 2021 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+config MODULE_SRF04
+    bool "SRF04 ultrasonic range finder"
+    depends on HAS_PERIPH_GPIO
+    depends on HAS_PERIPH_GPIO_IRQ
+    depends on TEST_KCONFIG
+    select MODULE_PERIPH_GPIO
+    select MODULE_PERIPH_GPIO_IRQ
+    select MODULE_XTIMER