diff --git a/Makefile.dep b/Makefile.dep
index e3dd80b070329b46f9d2b1976f9e982958905e64..930b32d321daf434d886e1a7e3b5d074aa0db2fe 100644
--- a/Makefile.dep
+++ b/Makefile.dep
@@ -603,6 +603,14 @@ ifneq (,$(filter saul_default,$(USEMODULE)))
   USEMODULE += auto_init_saul
 endif
 
+ifneq (,$(filter saul_adc,$(USEMODULE)))
+  FEATURES_REQUIRED += periph_adc
+endif
+
+ifneq (,$(filter saul_gpio,$(USEMODULE)))
+  FEATURES_REQUIRED += periph_gpio
+endif
+
 ifneq (,$(filter saul,$(USEMODULE)))
   USEMODULE += phydat
 endif