diff --git a/bsp/stm32/stm32f072-st-nucleo/board/Kconfig b/bsp/stm32/stm32f072-st-nucleo/board/Kconfig
index f61b56243f..2f8726210e 100644
--- a/bsp/stm32/stm32f072-st-nucleo/board/Kconfig
+++ b/bsp/stm32/stm32f072-st-nucleo/board/Kconfig
@@ -17,7 +17,6 @@ menu "Onboard Peripheral Drivers"
     config BSP_USING_ARDUINO
         bool "Support Arduino"
         select PKG_USING_RTDUINO
-        select RTDUINO_USING_SERVO
         select RT_USING_PIN
         select BSP_USING_ADC
         select BSP_USING_ADC1
@@ -32,6 +31,7 @@ menu "Onboard Peripheral Drivers"
         select BSP_USING_PWM16_CH1
         select BSP_USING_PWM17
         select BSP_USING_PWM17_CH1
+        imply RTDUINO_USING_SERVO
         default n
 
 endmenu
diff --git a/bsp/stm32/stm32l475-atk-pandora/board/Kconfig b/bsp/stm32/stm32l475-atk-pandora/board/Kconfig
index 34194dd0a4..6305a939eb 100644
--- a/bsp/stm32/stm32l475-atk-pandora/board/Kconfig
+++ b/bsp/stm32/stm32l475-atk-pandora/board/Kconfig
@@ -22,10 +22,6 @@ menu "Onboard Peripheral Drivers"
     config BSP_USING_ARDUINO
         bool "Support Arduino"
         select PKG_USING_RTDUINO
-        select RTDUINO_USING_SERVO
-        select RTDUINO_USING_WIRE
-        select RTDUINO_USING_ADAFRUIT
-        select RTDUINO_USING_USBSERIAL
         select BSP_USING_PWM
         select BSP_USING_PWM1
         select BSP_USING_PWM1_CH1
@@ -41,6 +37,10 @@ menu "Onboard Peripheral Drivers"
         select BSP_USING_I2C
         select BSP_USING_I2C3
         select BSP_USING_I2C4
+        imply RTDUINO_USING_SERVO
+        imply RTDUINO_USING_WIRE
+        imply RTDUINO_USING_ADAFRUIT
+        imply RTDUINO_USING_USBSERIAL
         default n
 
     config BSP_USING_KEY