diff --git a/cpu/rpx0xx/Kconfig b/cpu/rpx0xx/Kconfig
index 27d3872af7..5ef494173c 100644
--- a/cpu/rpx0xx/Kconfig
+++ b/cpu/rpx0xx/Kconfig
@@ -17,6 +17,10 @@ config CPU_FAM_RPX0XX
     select HAS_PERIPH_UART_MODECFG
     select HAS_PERIPH_UART_RECONFIGURE
     select HAS_PIO_I2C
+    select MODULE_PIO_I2C if MODULE_PERIPH_I2C
+    # Since make has a wildcard for anything starting with pio_ we need to
+    # build it as new modules get added
+    select MODULE_PERIPH_PIO if MODULE_PIO_I2C
 
 config CPU_FAM
     default "RPX0XX" if CPU_FAM_RPX0XX
@@ -36,4 +40,14 @@ config HAS_CPU_RPX0XX
     help
         Indicates that a RPX0XX CPU (e.g. the RP2040) is used
 
+config MODULE_PIO_I2C
+    bool "Enable PIO I2C module"
+    depends on HAS_PIO_I2C
+
+config MODULE_PIO_AUTOSTART_I2C
+    bool "Enable PIO I2C module autostart"
+    default y if MODULE_PIO_I2C
+    depends on HAS_PIO_I2C
+
+
 source "$(RIOTCPU)/cortexm_common/Kconfig"
diff --git a/drivers/periph_common/Kconfig b/drivers/periph_common/Kconfig
index ee2df8edf7..5b5c53d64f 100644
--- a/drivers/periph_common/Kconfig
+++ b/drivers/periph_common/Kconfig
@@ -90,6 +90,16 @@ config MODULE_PERIPH_INIT_HWRNG
 
 rsource "Kconfig.i2c"
 
+config MODULE_PERIPH_PIO
+    bool "Programmable IO (PIO) peripheral driver"
+    depends on HAS_PERIPH_PIO
+    select MODULE_PERIPH_COMMON
+
+config MODULE_PERIPH_INIT_PIO
+    bool "Auto initialize programmable IO (PIO) peripheral driver"
+    default y if MODULE_PERIPH_INIT
+    depends on MODULE_PERIPH_PIO
+
 config MODULE_PERIPH_PM
     bool "Power Management (PM) peripheral driver"
     default y