diff --git a/CMakeLists.txt b/CMakeLists.txt
index 13e2338b55..21f6cc9d28 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -191,15 +191,18 @@ if (WITH_GUI)
     add_subdirectory(outlineviewer)
 endif()
 
+if (WITH_WPILIB OR WITH_SIMULATION_MODULES)
+    set(HAL_DEP_REPLACE ${HAL_DEP_REPLACE_IMPL})
+    add_subdirectory(hal)
+endif()
+
 if (WITH_CSCORE)
     set(CSCORE_DEP_REPLACE ${CSCORE_DEP_REPLACE_IMPL})
     set(CAMERASERVER_DEP_REPLACE ${CAMERASERVER_DEP_REPLACE_IMPL})
     add_subdirectory(cscore)
     add_subdirectory(cameraserver)
     if (WITH_WPILIB)
-        set(HAL_DEP_REPLACE ${HAL_DEP_REPLACE_IMPL})
         set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
-        add_subdirectory(hal)
         add_subdirectory(wpilibj)
         add_subdirectory(wpilibc)
         add_subdirectory(wpilibNewCommands)