diff --git a/hardwareModules/universalModule/software/esp32/dynamixelConfigurator/CMakeLists.txt b/hardwareModules/universalModule/software/esp32/dynamixelConfigurator/CMakeLists.txt
index 3e9bdfc8f..e64087ea3 100644
--- a/hardwareModules/universalModule/software/esp32/dynamixelConfigurator/CMakeLists.txt
+++ b/hardwareModules/universalModule/software/esp32/dynamixelConfigurator/CMakeLists.txt
@@ -2,6 +2,6 @@ add_rofi_firmware(dynamixelConfigurator.elf
     FLASH_SIZE 4MB
     SOURCES main.cpp)
 target_link_libraries(dynamixelConfigurator.elf
-    idf::esp32 idf::freertos idf::spi_flash idf::console rofi::hal
+    idf::esp32 idf::freertos idf::spi_flash idf::console rofi::hal::esp32 rofi_hal_esp32_impl
     magic_enum libfort::fort)
 set_partition_table(dynamixelConfigurator.elf partitions.csv)
diff --git a/softwareComponents/rofiHalEsp32/CMakeLists.txt b/softwareComponents/rofiHalEsp32/CMakeLists.txt
index 0f4f3a0f5..4e5737f6b 100644
--- a/softwareComponents/rofiHalEsp32/CMakeLists.txt
+++ b/softwareComponents/rofiHalEsp32/CMakeLists.txt
@@ -1,9 +1,14 @@
 file(GLOB_RECURSE SRC src/*.cpp src/*.c)
 
+add_library(rofi_hal_esp32_impl INTERFACE)
+target_include_directories(rofi_hal_esp32_impl INTERFACE src)
+target_link_libraries(rofi_hal_esp32_impl INTERFACE atoms)
+target_compile_options(rofi_hal_esp32_impl INTERFACE -mtext-section-literals -mlongcalls)
+
 add_library(rofi_hal_esp32 ${SRC})
-target_include_directories(rofi_hal_esp32 PUBLIC src)
 set_property(TARGET rofi_hal_esp32 PROPERTY CXX_STANDARD 17)
-target_link_libraries(rofi_hal_esp32 PUBLIC idf::driver atoms rofi::hal::inc)
+target_link_libraries(rofi_hal_esp32 PRIVATE rofi_hal_esp32_impl idf::driver atoms)
+target_link_libraries(rofi_hal_esp32 PUBLIC rofi::hal::inc)
 target_compile_options(rofi_hal_esp32 PUBLIC -mtext-section-literals -mlongcalls)
 
 add_library(rofi::hal::esp32 ALIAS rofi_hal_esp32)