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"