diff --git a/hw/bsp/esp32s2/boards/esp32s2.c b/hw/bsp/esp32s2/boards/esp32s2.c
index 03ae9e366..a7ca82deb 100644
--- a/hw/bsp/esp32s2/boards/esp32s2.c
+++ b/hw/bsp/esp32s2/boards/esp32s2.c
@@ -33,7 +33,12 @@
 #include "soc/usb_periph.h"
 
 #include "driver/rmt.h"
-#include "esp_private/periph_ctrl.h"
+
+#if ESP_IDF_VERSION_MAJOR > 4
+  #include "esp_private/periph_ctrl.h"
+#else
+  #include "driver/periph_ctrl.h"
+#endif
 
 #ifdef NEOPIXEL_PIN
 #include "led_strip.h"
diff --git a/hw/bsp/esp32s3/boards/esp32s3.c b/hw/bsp/esp32s3/boards/esp32s3.c
index 03ae9e366..a7ca82deb 100644
--- a/hw/bsp/esp32s3/boards/esp32s3.c
+++ b/hw/bsp/esp32s3/boards/esp32s3.c
@@ -33,7 +33,12 @@
 #include "soc/usb_periph.h"
 
 #include "driver/rmt.h"
-#include "esp_private/periph_ctrl.h"
+
+#if ESP_IDF_VERSION_MAJOR > 4
+  #include "esp_private/periph_ctrl.h"
+#else
+  #include "driver/periph_ctrl.h"
+#endif
 
 #ifdef NEOPIXEL_PIN
 #include "led_strip.h"