diff --git a/.murdock b/.murdock
index ff0634c9bc..8850dc12a1 100755
--- a/.murdock
+++ b/.murdock
@@ -26,6 +26,7 @@ hifive1
 mbed_lpc1768
 mega-xplained
 microbit
+mulle
 native
 nrf52840dk
 nrf9160dk
diff --git a/boards/common/kw41z/Kconfig b/boards/common/kw41z/Kconfig
index 73426d6a36..db004741be 100644
--- a/boards/common/kw41z/Kconfig
+++ b/boards/common/kw41z/Kconfig
@@ -14,3 +14,11 @@ config BOARD_COMMON_KW41Z
     select HAS_PERIPH_TIMER
     select HAS_PERIPH_UART
     select HAS_RIOTBOOT
+
+    select HAVE_SAUL_ADC
+    select HAVE_SAUL_GPIO
+
+config MODULE_BOARDS_COMMON_KW41Z
+    bool
+    help
+      Common code for kw41z-based boards.
diff --git a/boards/frdm-k22f/Kconfig b/boards/frdm-k22f/Kconfig
index a72b56cb97..25714161b8 100644
--- a/boards/frdm-k22f/Kconfig
+++ b/boards/frdm-k22f/Kconfig
@@ -19,3 +19,6 @@ config BOARD_FRDM_K22F
     select HAS_PERIPH_SPI
     select HAS_PERIPH_TIMER
     select HAS_PERIPH_UART
+
+    select HAVE_SAUL_ADC
+    select HAVE_SAUL_GPIO
diff --git a/boards/frdm-k64f/Kconfig b/boards/frdm-k64f/Kconfig
index d1e0c28ce3..f3352e365d 100644
--- a/boards/frdm-k64f/Kconfig
+++ b/boards/frdm-k64f/Kconfig
@@ -20,3 +20,5 @@ config BOARD_FRDM_K64F
     select HAS_PERIPH_TIMER
     select HAS_PERIPH_UART
     select HAS_RIOTBOOT
+
+    select HAVE_SAUL_ADC
diff --git a/boards/frdm-kl43z/Kconfig b/boards/frdm-kl43z/Kconfig
index c30a6a2250..2a327b1094 100644
--- a/boards/frdm-kl43z/Kconfig
+++ b/boards/frdm-kl43z/Kconfig
@@ -17,3 +17,8 @@ config BOARD_FRDM_KL43Z
     select HAS_PERIPH_RTT
     select HAS_PERIPH_TIMER
     select HAS_PERIPH_UART
+
+    select HAVE_MAG3110
+    select HAVE_MMA8X5X
+    select HAVE_SAUL_ADC
+    select HAVE_SAUL_GPIO
diff --git a/boards/frdm-kw41z/Kconfig b/boards/frdm-kw41z/Kconfig
index c9206a17b1..d07b4adb6c 100644
--- a/boards/frdm-kw41z/Kconfig
+++ b/boards/frdm-kw41z/Kconfig
@@ -14,4 +14,7 @@ config BOARD_FRDM_KW41Z
     select HAS_PERIPH_SPI
     select BOARD_COMMON_KW41Z
 
+    select MODULE_BOARDS_COMMON_KW41Z if TEST_KCONFIG
+    select HAVE_FXOS8700
+
 source "$(RIOTBOARD)/common/kw41z/Kconfig"
diff --git a/boards/mulle/Kconfig b/boards/mulle/Kconfig
index ea7e536aad..f099e84439 100644
--- a/boards/mulle/Kconfig
+++ b/boards/mulle/Kconfig
@@ -20,3 +20,7 @@ config BOARD_MULLE
     select HAS_PERIPH_SPI
     select HAS_PERIPH_TIMER
     select HAS_PERIPH_UART
+
+    select HAVE_LIS3DH
+    select HAVE_SAUL_ADC
+    select HAVE_SAUL_GPIO
diff --git a/boards/mulle/Makefile.features b/boards/mulle/Makefile.features
index 2898318971..ba8aa8fa3d 100644
--- a/boards/mulle/Makefile.features
+++ b/boards/mulle/Makefile.features
@@ -18,3 +18,9 @@ FEATURES_PROVIDED += periph_rtt
 FEATURES_PROVIDED += periph_spi
 FEATURES_PROVIDED += periph_timer
 FEATURES_PROVIDED += periph_uart
+
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1, $(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(BOARDDIR)/mulle.config
+endif
diff --git a/boards/mulle/mulle.config b/boards/mulle/mulle.config
new file mode 100644
index 0000000000..5cc3399222
--- /dev/null
+++ b/boards/mulle/mulle.config
@@ -0,0 +1,10 @@
+# The Mulle uses NVRAM to store persistent variables, such as boot count.
+CONFIG_MODULE_NVRAM=y
+CONFIG_MODULE_NVRAM_SPI=y
+CONFIG_MODULE_VFS=y
+CONFIG_MODULE_DEVFS=y
+CONFIG_MODULE_MTD=y
+CONFIG_MODULE_MTD_SPI_NOR=y
+
+# Mulle always uses the RTT for the oscillator
+CONFIG_MODULE_PERIPH_RTT=y
diff --git a/boards/openlabs-kw41z-mini-256kib/Kconfig b/boards/openlabs-kw41z-mini-256kib/Kconfig
index 2a4b09a547..29f8a7b2cc 100644
--- a/boards/openlabs-kw41z-mini-256kib/Kconfig
+++ b/boards/openlabs-kw41z-mini-256kib/Kconfig
@@ -20,3 +20,6 @@ config BOARD_OPENLABS_KW41Z_MINI_256KIB
     select HAS_PERIPH_TIMER
     select HAS_PERIPH_UART
     select HAS_RIOTBOOT
+
+    select HAVE_SAUL_ADC
+    select HAVE_SAUL_GPIO
diff --git a/boards/openlabs-kw41z-mini/Kconfig b/boards/openlabs-kw41z-mini/Kconfig
index 25a2cb0e16..384eab1714 100644
--- a/boards/openlabs-kw41z-mini/Kconfig
+++ b/boards/openlabs-kw41z-mini/Kconfig
@@ -20,3 +20,6 @@ config BOARD_OPENLABS_KW41Z_MINI
     select HAS_PERIPH_TIMER
     select HAS_PERIPH_UART
     select HAS_RIOTBOOT
+
+    select HAVE_SAUL_ADC
+    select HAVE_SAUL_GPIO
diff --git a/boards/pba-d-01-kw2x/Kconfig b/boards/pba-d-01-kw2x/Kconfig
index 1190752761..af97b54914 100644
--- a/boards/pba-d-01-kw2x/Kconfig
+++ b/boards/pba-d-01-kw2x/Kconfig
@@ -19,3 +19,11 @@ config BOARD_PBA_D_01_KW2X
     select HAS_PERIPH_TIMER
     select HAS_PERIPH_UART
     select HAS_RIOTBOOT
+
+    select HAVE_SAUL_GPIO
+    select HAVE_HDC1000
+    select HAVE_MAG3110
+    select HAVE_MMA8X5X
+    select HAVE_MPL3115A2
+    select HAVE_TCS37727
+    select HAVE_TMP006
diff --git a/boards/phynode-kw41z/Kconfig b/boards/phynode-kw41z/Kconfig
index 3c810cdbe1..a19ee94ecb 100644
--- a/boards/phynode-kw41z/Kconfig
+++ b/boards/phynode-kw41z/Kconfig
@@ -14,4 +14,8 @@ config BOARD_PHYNODE_KW41Z
     select HAS_PERIPH_I2C
     select HAS_PERIPH_SPI
 
+    select HAVE_CCS811
+    select HAVE_MMA8X5X
+    select HAVE_TCS37727
+
 source "$(RIOTBOARD)/common/kw41z/Kconfig"
diff --git a/boards/usb-kw41z/Kconfig b/boards/usb-kw41z/Kconfig
index 9b1fcf4833..2a42370ff5 100644
--- a/boards/usb-kw41z/Kconfig
+++ b/boards/usb-kw41z/Kconfig
@@ -12,5 +12,6 @@ config BOARD_USB_KW41Z
     default y
     select BOARD_COMMON_KW41Z
     select HAS_PERIPH_SPI
+    select MODULE_BOARDS_COMMON_KW41Z if TEST_KCONFIG
 
 source "$(RIOTBOARD)/common/kw41z/Kconfig"
diff --git a/cpu/kinetis/Kconfig b/cpu/kinetis/Kconfig
index 85cfac3622..0a867907fc 100644
--- a/cpu/kinetis/Kconfig
+++ b/cpu/kinetis/Kconfig
@@ -12,6 +12,15 @@ config CPU_COMMON_KINETIS
     select HAS_PERIPH_GPIO_IRQ
     select HAS_PERIPH_PM
 
+    # enable kinetis periph drivers if available
+    imply MODULE_PERIPH_ICS
+    imply MODULE_PERIPH_MCG
+    imply MODULE_PERIPH_MCG_LITE
+    imply MODULE_PERIPH_WDOG
+
+    select MODULE_CORE_THREAD_FLAGS if MODULE_PERIPH_I2C
+    select MODULE_PERIPH_TIMER if MODULE_PERIPH_RTT && HAS_PERIPH_TIMER
+
 config CPU_FAM_EA
     bool
     select CPU_COMMON_KINETIS
@@ -162,3 +171,5 @@ config CPU
     default "kinetis" if CPU_COMMON_KINETIS
 
 source "$(RIOTCPU)/cortexm_common/Kconfig"
+
+rsource "periph/Kconfig"
diff --git a/cpu/kinetis/Makefile.features b/cpu/kinetis/Makefile.features
index 33484b682f..c8735849a5 100644
--- a/cpu/kinetis/Makefile.features
+++ b/cpu/kinetis/Makefile.features
@@ -33,3 +33,9 @@ else
 endif
 
 include $(RIOTCPU)/cortexm_common/Makefile.features
+
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1, $(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(RIOTCPU)/kinetis/kinetis.config
+endif
diff --git a/cpu/kinetis/kinetis.config b/cpu/kinetis/kinetis.config
new file mode 100644
index 0000000000..811b1f3712
--- /dev/null
+++ b/cpu/kinetis/kinetis.config
@@ -0,0 +1 @@
+CONFIG_MODULE_PM_LAYERED=y
diff --git a/cpu/kinetis/periph/Kconfig b/cpu/kinetis/periph/Kconfig
new file mode 100644
index 0000000000..cc80e1f9b1
--- /dev/null
+++ b/cpu/kinetis/periph/Kconfig
@@ -0,0 +1,33 @@
+# Copyright (c) 2021 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+if TEST_KCONFIG
+
+config MODULE_PERIPH_WDOG
+    bool
+    help
+        Low-level WDOG driver.
+
+config MODULE_PERIPH_ICS
+    bool
+    depends on HAS_PERIPH_ICS
+    help
+        Kinetis internal clock source controller.
+
+config MODULE_PERIPH_MCG
+    bool
+    depends on HAS_PERIPH_MCG
+    help
+      Kinetis Multipurpose Clock Generator.
+
+config MODULE_PERIPH_MCG_LITE
+    bool
+    depends on HAS_PERIPH_MCG_LITE
+    help
+      Kinetis Multipurpose Clock Generator (Lite version).
+
+endif # TEST_KCONFIG
diff --git a/drivers/fxos8700/Kconfig b/drivers/fxos8700/Kconfig
index 5711572836..5f2aae68ed 100644
--- a/drivers/fxos8700/Kconfig
+++ b/drivers/fxos8700/Kconfig
@@ -13,6 +13,12 @@ config MODULE_FXOS8700
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
 
+config HAVE_FXOS8700
+    bool
+    select MODULE_FXOS8700 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that an fxos8700 accelerometer/magnetometer is present.
+
 menuconfig KCONFIG_USEMODULE_FXOS8700
     bool "Configure FXOS8700 driver"
     depends on USEMODULE_FXOS8700
diff --git a/drivers/hdc1000/Kconfig b/drivers/hdc1000/Kconfig
index 236cabd086..185f6b3316 100644
--- a/drivers/hdc1000/Kconfig
+++ b/drivers/hdc1000/Kconfig
@@ -12,6 +12,12 @@ config MODULE_HDC1000
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
 
+config HAVE_HDC1000
+    bool
+    select MODULE_HDC1000 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that an hdc1000 humidity and temperature sensor is present.
+
 menuconfig KCONFIG_USEMODULE_HDC1000
     bool "Configure HDC1000 driver"
     depends on USEMODULE_HDC1000
diff --git a/drivers/lis3dh/Kconfig b/drivers/lis3dh/Kconfig
index 749b39329b..2a95669df4 100644
--- a/drivers/lis3dh/Kconfig
+++ b/drivers/lis3dh/Kconfig
@@ -12,3 +12,9 @@ config MODULE_LIS3DH
     depends on TEST_KCONFIG
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_SPI
+
+config HAVE_LIS3DH
+    bool
+    select MODULE_LIS3DH if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a lis3dh accelerometer is present.
diff --git a/drivers/mag3110/Kconfig b/drivers/mag3110/Kconfig
index 484cf3b0e5..18ea141949 100644
--- a/drivers/mag3110/Kconfig
+++ b/drivers/mag3110/Kconfig
@@ -12,6 +12,12 @@ config MODULE_MAG3110
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
 
+config HAVE_MAG3110
+    bool
+    select MODULE_MAG3110 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a mag3110 magnetometer is present.
+
 menuconfig KCONFIG_USEMODULE_MAG3110
     bool "Configure MAG3110 driver"
     depends on USEMODULE_MAG3110
diff --git a/drivers/mma8x5x/Kconfig b/drivers/mma8x5x/Kconfig
index 2fd273523a..bcae9ef059 100644
--- a/drivers/mma8x5x/Kconfig
+++ b/drivers/mma8x5x/Kconfig
@@ -12,6 +12,12 @@ config MODULE_MMA8X5X
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
 
+config HAVE_MMA8X5X
+    bool
+    select MODULE_MMA8X5X if MODULE_SAUL_DEFAULT
+    help
+      Indicates that an mma8x5x accelerometer is present.
+
 menuconfig KCONFIG_USEMODULE_MMA8X5X
     bool "Configure MMA8X5X driver"
     depends on USEMODULE_MMA8X5X
diff --git a/drivers/mpl3115a2/Kconfig b/drivers/mpl3115a2/Kconfig
index 6424d7d60d..54a40040bc 100644
--- a/drivers/mpl3115a2/Kconfig
+++ b/drivers/mpl3115a2/Kconfig
@@ -10,3 +10,9 @@ config MODULE_MPL3115A2
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
+
+config HAVE_MPL3115A2
+    bool
+    select MODULE_MPL3115A2 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that an mpl3115a2 pressure sensor is present.
diff --git a/drivers/tcs37727/Kconfig b/drivers/tcs37727/Kconfig
index 70e699d331..1bb61774d3 100644
--- a/drivers/tcs37727/Kconfig
+++ b/drivers/tcs37727/Kconfig
@@ -12,6 +12,12 @@ config MODULE_TCS37727
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
 
+config HAVE_TCS37727
+    bool
+    select MODULE_TCS37727 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a tcs37727 rgb light sensor is present.
+
 menuconfig KCONFIG_USEMODULE_TCS37727
     bool "Configure TCS37727 driver"
     depends on USEMODULE_TCS37727
diff --git a/drivers/tmp00x/Kconfig b/drivers/tmp00x/Kconfig
index 6f24023d4a..55905238b0 100644
--- a/drivers/tmp00x/Kconfig
+++ b/drivers/tmp00x/Kconfig
@@ -6,30 +6,45 @@
 # directory for more details.
 #
 
-if TEST_KCONFIG
-
-choice
-    bool "TMP006/TMP007 Infrared Thermopile sensors"
-    optional
-    depends on HAS_PERIPH_I2C
-
-config MODULE_TMP006
-    bool "TMP006"
-    select MODULE_TMP00X
-
-config MODULE_TMP007
-    bool "TMP007"
-    select MODULE_TMP00X
-
-endchoice
-
-config MODULE_TMP00X
+menuconfig MODULE_TMP00X
     bool
+    prompt "TMP006/TMP007 Infrared Thermopile sensors" if !(HAVE_TMP00X && MODULE_SAUL_DEFAULT)
+    default y if (HAVE_TMP00X && MODULE_SAUL_DEFAULT)
+    depends on TEST_KCONFIG
     depends on HAS_PERIPH_I2C
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
 
-endif # TEST_KCONFIG
+choice
+    bool "Sensor variant"
+    default MODULE_TMP006 if HAVE_TMP006
+    default MODULE_TMP007 if HAVE_TMP007
+    depends on MODULE_TMP00X
+
+config MODULE_TMP006
+    bool "TMP006"
+
+config MODULE_TMP007
+    bool "TMP007"
+
+endchoice
+
+config HAVE_TMP006
+    bool
+    select HAVE_TMP00X
+    help
+      Indicates that a tmp006 infrared sensor is present.
+
+config HAVE_TMP007
+    bool
+    select HAVE_TMP00X
+    help
+      Indicates that a tmp007 infrared sensor is present.
+
+config HAVE_TMP00X
+    bool
+    help
+      Indicates that a tmp00x infrared sensor is present.
 
 menuconfig KCONFIG_USEMODULE_TMP00X
     bool "Configure TMP00X driver"
diff --git a/makefiles/features_modules.inc.mk b/makefiles/features_modules.inc.mk
index 0860a797f9..14b0c72705 100644
--- a/makefiles/features_modules.inc.mk
+++ b/makefiles/features_modules.inc.mk
@@ -17,6 +17,8 @@ ifneq (,$(filter periph_init, $(USEMODULE)))
     periph_flexcomm \
     periph_gpio_mux \
     periph_rtc_ms \
+    periph_mcg \
+    periph_wdog \
     periph_rtc_rtt \
     periph_clic \
     periph_coretimer \
diff --git a/sys/Kconfig b/sys/Kconfig
index 7e95f913ef..24e208eabe 100644
--- a/sys/Kconfig
+++ b/sys/Kconfig
@@ -28,6 +28,7 @@ rsource "event/Kconfig"
 rsource "fido2/Kconfig"
 rsource "fmt/Kconfig"
 rsource "frac/Kconfig"
+rsource "fs/Kconfig"
 rsource "hashes/Kconfig"
 rsource "iolist/Kconfig"
 rsource "isrpipe/Kconfig"
diff --git a/sys/fs/Kconfig b/sys/fs/Kconfig
new file mode 100644
index 0000000000..f8c58f6b77
--- /dev/null
+++ b/sys/fs/Kconfig
@@ -0,0 +1,9 @@
+# Copyright (c) 2021 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+rsource "constfs/Kconfig"
+rsource "devfs/Kconfig"
diff --git a/sys/fs/constfs/Kconfig b/sys/fs/constfs/Kconfig
new file mode 100644
index 0000000000..546c6388d5
--- /dev/null
+++ b/sys/fs/constfs/Kconfig
@@ -0,0 +1,11 @@
+# Copyright (c) 2021 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+config MODULE_CONSTFS
+    bool "ConstFS support"
+    help
+      ConstFS static file system.
diff --git a/sys/fs/devfs/Kconfig b/sys/fs/devfs/Kconfig
new file mode 100644
index 0000000000..ae980c8135
--- /dev/null
+++ b/sys/fs/devfs/Kconfig
@@ -0,0 +1,32 @@
+# Copyright (c) 2021 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+menuconfig MODULE_DEVFS
+    bool "DevFS support"
+    depends on MODULE_VFS
+    help
+        This file system implementation allows devices to register file names
+        for easier access to device drivers from shell commands etc. The idea is
+        similar to the /dev directory on Unix.
+
+if MODULE_DEVFS
+
+config MODULE_DEVFS_HWRNG
+    bool "Add HWRNG device"
+    depends on HAS_PERIPH_HWRNG
+    select MODULE_PERIPH_HWRNG
+    help
+      Adds the hardware random number generator (HWRNG) as a device
+      (/dev/hwrng).
+
+config MODULE_DEVFS_RANDOM
+    bool "Add random device"
+    select MODULE_RANDOM
+    help
+      Adds a device to generate random (/dev/urandom).
+
+endif # MODULE_DEVFS
diff --git a/tests/driver_tmp00x/app.config.test b/tests/driver_tmp00x/app.config.test
index c80016ae6b..d5334f04be 100644
--- a/tests/driver_tmp00x/app.config.test
+++ b/tests/driver_tmp00x/app.config.test
@@ -1,4 +1,5 @@
 # this file enables modules defined in Kconfig. Do not use this file for
 # application configuration. This is only needed during migration.
+CONFIG_MODULE_TMP00X=y
 CONFIG_MODULE_TMP006=y
 CONFIG_MODULE_XTIMER=y