diff --git a/arch/xtensa/src/esp32/chip_memory.h b/arch/xtensa/src/esp32/chip_memory.h
index 6038a11356..91b513d862 100644
--- a/arch/xtensa/src/esp32/chip_memory.h
+++ b/arch/xtensa/src/esp32/chip_memory.h
@@ -25,7 +25,9 @@
  * Included Files
  ****************************************************************************/
 
+#ifndef __ASSEMBLY__
 #include "hardware/esp32_soc.h"
+#endif
 
 /****************************************************************************
  * Inline Functions
diff --git a/arch/xtensa/src/esp32s2/chip_memory.h b/arch/xtensa/src/esp32s2/chip_memory.h
index f418427b7e..b4d42826f3 100644
--- a/arch/xtensa/src/esp32s2/chip_memory.h
+++ b/arch/xtensa/src/esp32s2/chip_memory.h
@@ -25,7 +25,9 @@
  * Included Files
  ****************************************************************************/
 
+#ifndef __ASSEMBLY__
 #include "hardware/esp32s2_soc.h"
+#endif
 
 /****************************************************************************
  * Inline Functions