diff --git a/.murdock b/.murdock
index 14923a59ba..83c3673d5e 100755
--- a/.murdock
+++ b/.murdock
@@ -10,6 +10,7 @@
 : ${TEST_KCONFIG_BOARDS_AVAILABLE:="
 native
 samr21-xpro
+nucleo-f103rb
 "}
 
 : ${TEST_KCONFIG_ENFORCE_APP_GROUPS:="
diff --git a/Makefile.base b/Makefile.base
index 88cb367043..58124cc1e5 100644
--- a/Makefile.base
+++ b/Makefile.base
@@ -67,9 +67,14 @@ ifeq ($(strip $(ASSMSRC))$(NO_AUTO_SRC),)
   ASSMSRC := $(wildcard *.S)
 endif
 
+
 ifneq (,$(SRCXX))
-  ifeq (,$(filter cpp,$(FEATURES_USED)))
-    $(error Found C++ source, but feature "cpp" is not used. Add "FEATURES_REQUIRED += cpp")
+  ifeq (,$(filter cpp,$(USEMODULE)))
+    ifneq (1,$(TEST_KCONFIG))
+      $(error Found C++ source, but feature "cpp" is not used. Add "FEATURES_REQUIRED += cpp")
+    else
+      $(error Found C++ source, but "cpp" module is not used. Enable the MODULE_CPP in Kconfig)
+    endif
   endif
 endif
 
diff --git a/Makefile.dep b/Makefile.dep
index 4c57278ff1..8a8adb2116 100644
--- a/Makefile.dep
+++ b/Makefile.dep
@@ -104,7 +104,13 @@ FEATURES_OPTIONAL += no_idle_thread
 
 ifneq (,$(filter libstdcpp,$(FEATURES_USED)))
   # Also use C++ if libstdc++ is used
-  FEATURES_REQUIRED += cpp
+  USEMODULE += cpp
+  USEMODULE += libstdcpp
+endif
+
+ifneq (,$(filter cpp,$(FEATURES_USED)))
+  # Also use C++ if libstdc++ is used
+  USEMODULE += cpp
 endif
 
 ifneq (,$(filter test_utils_interactive_sync,$(USEMODULE)))
diff --git a/Makefile.include b/Makefile.include
index fe01d56056..365a3a32df 100644
--- a/Makefile.include
+++ b/Makefile.include
@@ -623,7 +623,7 @@ else
 endif
 
 # variables used to compile and link c++
-ifneq (,$(filter cpp,$(FEATURES_USED)))
+ifneq (,$(filter cpp,$(USEMODULE)))
   CPPMIX ?= 1
 endif
 
diff --git a/boards/common/nucleo/Kconfig b/boards/common/nucleo/Kconfig
new file mode 100644
index 0000000000..62dc8f8f61
--- /dev/null
+++ b/boards/common/nucleo/Kconfig
@@ -0,0 +1,17 @@
+# 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_BOARDS_COMMON_NUCLEO
+    bool
+    default y
+    select MODULE_SAUL_GPIO if MODULE_SAUL_DEFAULT && HAS_PERIPH_GPIO
+    help
+        stm32 common nucleo code.
+
+endif # TEST_KCONFIG
diff --git a/boards/common/nucleo144/Kconfig b/boards/common/nucleo144/Kconfig
index b6ef23e689..ead4e3fe18 100644
--- a/boards/common/nucleo144/Kconfig
+++ b/boards/common/nucleo144/Kconfig
@@ -13,4 +13,5 @@ config BOARD_COMMON_NUCLEO144
     select BOARD_HAS_HSE if !CPU_FAM_L4 && !CPU_FAM_L5
     select BOARD_HAS_LSE
 
+source "$(RIOTBOARD)/common/nucleo/Kconfig"
 source "$(RIOTBOARD)/common/stm32/Kconfig"
diff --git a/boards/common/nucleo32/Kconfig b/boards/common/nucleo32/Kconfig
index 0d05550a33..bebcefa25e 100644
--- a/boards/common/nucleo32/Kconfig
+++ b/boards/common/nucleo32/Kconfig
@@ -12,4 +12,5 @@ config BOARD_COMMON_NUCLEO32
     # Clock configuration
     select BOARD_HAS_LSE if (CPU_FAM_L0 || CPU_FAM_L4) && !BOARD_NUCLEO_L011K4
 
+source "$(RIOTBOARD)/common/nucleo/Kconfig"
 source "$(RIOTBOARD)/common/stm32/Kconfig"
diff --git a/boards/common/nucleo64/Kconfig b/boards/common/nucleo64/Kconfig
index 705fd28cd1..a718be7db0 100644
--- a/boards/common/nucleo64/Kconfig
+++ b/boards/common/nucleo64/Kconfig
@@ -13,4 +13,5 @@ config BOARD_COMMON_NUCLEO64
     select BOARD_HAS_HSE if !CPU_FAM_G0 && !CPU_FAM_L0 && !CPU_FAM_L1 && !CPU_FAM_L4
     select BOARD_HAS_LSE if !BOARD_NUCLE0_L152RE
 
+source "$(RIOTBOARD)/common/nucleo/Kconfig"
 source "$(RIOTBOARD)/common/stm32/Kconfig"
diff --git a/cpu/stm32/Kconfig b/cpu/stm32/Kconfig
index 16572c18dc..8ab8c6e5f1 100644
--- a/cpu/stm32/Kconfig
+++ b/cpu/stm32/Kconfig
@@ -36,4 +36,12 @@ orsource "kconfigs/*/Kconfig"
 orsource "kconfigs/*/Kconfig.lines"
 orsource "kconfigs/*/Kconfig.models"
 
+if TEST_KCONFIG
+
+rsource "periph/Kconfig"
+rsource "stmclk/Kconfig"
+rsource "vectors/Kconfig"
+
+endif # TEST_KCONFIG
+
 source "$(RIOTCPU)/cortexm_common/Kconfig"
diff --git a/cpu/stm32/Makefile.features b/cpu/stm32/Makefile.features
index bcb562bec4..030649304f 100644
--- a/cpu/stm32/Makefile.features
+++ b/cpu/stm32/Makefile.features
@@ -51,4 +51,11 @@ ifneq (,$(filter $(CPU_MODEL),$(STM32_WITH_MPU)))
   FEATURES_PROVIDED += cortexm_mpu
 endif
 
+# Add stm32 configs after including cortexm_common so stm32 takes precendence
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1, $(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(RIOTCPU)/stm32/stm32.config
+endif
+
 include $(RIOTCPU)/cortexm_common/Makefile.features
diff --git a/cpu/stm32/periph/Kconfig b/cpu/stm32/periph/Kconfig
new file mode 100644
index 0000000000..24c613286f
--- /dev/null
+++ b/cpu/stm32/periph/Kconfig
@@ -0,0 +1,28 @@
+# 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_PERIPH
+    bool
+    default y
+    select MODULE_XTIMER if MODULE_PERIPH_USBDEV
+    help
+        stm32 common peripheral code.
+
+config MODULE_PERIPH_UART_NONBLOCKING
+    depends on HAS_PERIPH_UART_NONBLOCKING
+    depends on MODULE_PERIPH_UART
+    select MODULE_TSRB
+
+config MODULE_PERIPH_CAN
+    bool
+    depends on HAS_PERIPH_CAN
+    depends on HAS_PERIPH_GPIO
+    depends on HAS_PERIPH_GPIO_IRQ
+    select MODULE_PERIPH_GPIO_IRQ
+    select MODULE_PERIPH_I2C
+    help
+        STM32 CAN peripheral controller.
diff --git a/cpu/stm32/stm32.config b/cpu/stm32/stm32.config
new file mode 100644
index 0000000000..811b1f3712
--- /dev/null
+++ b/cpu/stm32/stm32.config
@@ -0,0 +1 @@
+CONFIG_MODULE_PM_LAYERED=y
diff --git a/cpu/stm32/stmclk/Kconfig b/cpu/stm32/stmclk/Kconfig
new file mode 100644
index 0000000000..846db93c84
--- /dev/null
+++ b/cpu/stm32/stmclk/Kconfig
@@ -0,0 +1,10 @@
+# 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_STM32_CLK
+    bool
+    default y
diff --git a/cpu/stm32/vectors/Kconfig b/cpu/stm32/vectors/Kconfig
new file mode 100644
index 0000000000..93c7ab1081
--- /dev/null
+++ b/cpu/stm32/vectors/Kconfig
@@ -0,0 +1,10 @@
+# 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_STM32_VECTORS
+    bool
+    default y
diff --git a/makefiles/pseudomodules.inc.mk b/makefiles/pseudomodules.inc.mk
index 05c8fe7ee7..7340f2b864 100644
--- a/makefiles/pseudomodules.inc.mk
+++ b/makefiles/pseudomodules.inc.mk
@@ -20,6 +20,7 @@ PSEUDOMODULES += cord_ep_standalone
 PSEUDOMODULES += core_%
 PSEUDOMODULES += cortexm_fpu
 PSEUDOMODULES += cortexm_svc
+PSEUDOMODULES += cpp
 PSEUDOMODULES += cpu_check_address
 PSEUDOMODULES += dbgpin
 PSEUDOMODULES += devfs_%
@@ -75,6 +76,7 @@ PSEUDOMODULES += ieee802154_submac
 PSEUDOMODULES += ina3221_alerts
 PSEUDOMODULES += l2filter_blacklist
 PSEUDOMODULES += l2filter_whitelist
+PSEUDOMODULES += libstdcpp
 PSEUDOMODULES += lis2dh12_i2c
 PSEUDOMODULES += lis2dh12_int
 PSEUDOMODULES += lis2dh12_spi
diff --git a/sys/Kconfig b/sys/Kconfig
index 3c768062d6..94626af3b9 100644
--- a/sys/Kconfig
+++ b/sys/Kconfig
@@ -58,6 +58,18 @@ rsource "usb/Kconfig"
 rsource "xtimer/Kconfig"
 rsource "ztimer/Kconfig"
 
+config MODULE_CPP
+    bool "Use CPP compiler"
+    depends on TEST_KCONFIG
+    depends on HAS_CPP
+
+config MODULE_LIBSTDCPP
+    bool "Use the CPP standard library"
+    depends on TEST_KCONFIG
+    depends on HAS_LIBSTDCPP
+    depends on HAS_CPP
+    select MODULE_CPP
+
 config MODULE_SYS
     bool
     default y
diff --git a/sys/Makefile.dep b/sys/Makefile.dep
index d953708583..a3e96ab080 100644
--- a/sys/Makefile.dep
+++ b/sys/Makefile.dep
@@ -6,8 +6,7 @@ ifneq (,$(filter arduino,$(USEMODULE)))
   FEATURES_REQUIRED += cpp
   FEATURES_REQUIRED += periph_gpio
   FEATURES_REQUIRED += periph_uart
-  SKETCH_MODULE ?= arduino_sketches
-  USEMODULE += $(SKETCH_MODULE)
+  USEMODULE += arduino_sketches
   USEMODULE += fmt
   USEMODULE += ztimer_usec
   USEMODULE += ztimer_msec
diff --git a/sys/arduino/Kconfig b/sys/arduino/Kconfig
index e14b23759b..876b852313 100644
--- a/sys/arduino/Kconfig
+++ b/sys/arduino/Kconfig
@@ -5,14 +5,26 @@
 # directory for more details.
 #
 
+config MODULE_ARDUINO_SKETCHES
+    bool
+
 menuconfig MODULE_ARDUINO
     bool "Arduino support"
     imply MODULE_ARDUINO_PWM
     imply MODULE_PERIPH_ADC
+    imply MODULE_PERIPH_I2C
+    imply MODULE_PERIPH_SPI
     depends on HAS_ARDUINO
     depends on HAS_PERIPH_GPIO
+    depends on HAS_CPP
     depends on TEST_KCONFIG
     select MODULE_PERIPH_GPIO
+    select MODULE_CPP
+    select MODULE_ARDUINO_SKETCHES
+    select MODULE_FMT
+    select MODULE_ZTIMER
+    select MODULE_ZTIMER_MSEC
+    select MODULE_ZTIMER_USEC
 
 config MODULE_ARDUINO_PWM
     bool "PWM support for Arduino"
diff --git a/sys/arduino/Makefile.include b/sys/arduino/Makefile.include
index 16e404ff14..fba73396d7 100644
--- a/sys/arduino/Makefile.include
+++ b/sys/arduino/Makefile.include
@@ -1,6 +1,7 @@
 # Add Arduino sketches to the application as a module
 
 SKETCHES = $(wildcard $(APPDIR)/*.sketch)
+SKETCH_MODULE = arduino_sketches
 
 ifneq (,$(SKETCHES))
   # Define application sketches module, it will be generated into $(BINDIR)
diff --git a/sys/ztimer/Kconfig b/sys/ztimer/Kconfig
index e01bc61e5e..c6720f6b13 100644
--- a/sys/ztimer/Kconfig
+++ b/sys/ztimer/Kconfig
@@ -77,7 +77,7 @@ choice
     default ZTIMER_SEC_BACKEND_RTC if !BOARD_NATIVE && \
                                       !CPU_COMMON_SAM0 && \
                                       !CPU_COMMON_EFM32 && \
-                                      !CPU_COMMON_STM32F1
+                                      !CPU_FAM_F1
     default ZTIMER_SEC_BACKEND_RTT
 
 config ZTIMER_SEC_BACKEND_TIMER
diff --git a/tests/periph_gpio_arduino/app.config.test b/tests/periph_gpio_arduino/app.config.test
index 8aa13b683f..7b56244a34 100644
--- a/tests/periph_gpio_arduino/app.config.test
+++ b/tests/periph_gpio_arduino/app.config.test
@@ -3,4 +3,3 @@
 CONFIG_MODULE_PERIPH_GPIO=y
 CONFIG_MODULE_SHELL=y
 CONFIG_MODULE_ARDUINO=y
-CONFIG_MODULE_XTIMER=y