diff --git a/examples/twr_aloha/app.config.test b/examples/twr_aloha/app.config.test
new file mode 100644
index 000000000000..ada0fffae12c
--- /dev/null
+++ b/examples/twr_aloha/app.config.test
@@ -0,0 +1,12 @@
+CONFIG_PACKAGE_UWB-CORE=y
+CONFIG_PACKAGE_UWB-DW1000=y
+CONFIG_MODULE_UWB-CORE_TWR_SS=y
+CONFIG_MODULE_UWB-CORE_TWR_SS_ACK=y
+CONFIG_MODULE_UWB-CORE_TWR_SS_EXT=y
+CONFIG_MODULE_UWB-CORE_TWR_DS=y
+CONFIG_MODULE_UWB-CORE_TWR_DS_EXT=y
+CONFIG_MODULE_SHELL=y
+CONFIG_MODULE_PS=y
+CONFIG_MODULE_SHELL_COMMANDS=y
+CONFIG_MODULE_ZTIMER=y
+CONFIG_MODULE_ZTIMER_USEC=y
diff --git a/pkg/Kconfig b/pkg/Kconfig
index 04a9f4999666..ed769acc0ee6 100644
--- a/pkg/Kconfig
+++ b/pkg/Kconfig
@@ -28,6 +28,7 @@ rsource "micro-ecc/Kconfig"
 rsource "microcoap/Kconfig"
 rsource "minmea/Kconfig"
 rsource "monocypher/Kconfig"
+rsource "mynewt-core/Kconfig"
 rsource "nanocbor/Kconfig"
 rsource "nanopb/Kconfig"
 rsource "qcbor/Kconfig"
@@ -47,6 +48,8 @@ rsource "ubasic/Kconfig"
 rsource "ucglib/Kconfig"
 rsource "umorse/Kconfig"
 rsource "utensor/Kconfig"
+rsource "uwb-core/Kconfig"
+rsource "uwb-dw1000/Kconfig"
 rsource "wakaama/Kconfig"
 rsource "yxml/Kconfig"
 
diff --git a/pkg/mynewt-core/Kconfig b/pkg/mynewt-core/Kconfig
new file mode 100644
index 000000000000..11fc88a87c06
--- /dev/null
+++ b/pkg/mynewt-core/Kconfig
@@ -0,0 +1,41 @@
+# Copyright (c) 2021 INRIA
+#
+# 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 PACKAGE_MYNEWT-CORE
+    bool "Apache MyNewt mynewt-core Package"
+    depends on TEST_KCONFIG
+    select MODULE_MYNEWT-CORE
+    select MODULE_SEMA
+    select MODULE_ZTIMER
+    select MODULE_ZTIMER_MSEC
+    select MODULE_EVENT
+    select MODULE_EVENT_CALLBACK
+    depends on HAS_PERIPH_GPIO
+    select MODULE_PERIPH_GPIO
+    depends on !HAS_ARCH_ESP
+
+
+if PACKAGE_MYNEWT-CORE
+
+config MODULE_MYNEWT-CORE
+    bool
+
+config MODULE_AUTO_INIT_MYNEWT-CORE
+    bool "Auto-initialize the mynewt-core package"
+    default y
+    depends on MODULE_AUTO_INIT
+
+config MODULE_MYNEWT-CORE_OS
+    bool "mynewt-core kernel module"
+
+config MODULE_MYNEWT-CORE_UTIL
+    bool "mynewt-core utilities modules"
+
+config MODULE_MYNEWT-CORE_NRF5X_HAL
+    bool "mynewt-core nrf52 and nrf51 timer hal"
+
+endif # PACKAGE_MYNEWT-CORE
diff --git a/pkg/mynewt-core/Makefile.dep b/pkg/mynewt-core/Makefile.dep
index 31480b59b3f3..8131c0359511 100644
--- a/pkg/mynewt-core/Makefile.dep
+++ b/pkg/mynewt-core/Makefile.dep
@@ -1,17 +1,9 @@
 USEMODULE += event_callback
 USEMODULE += sema
-USEMODULE += ztimer
 USEMODULE += ztimer_msec
-
 USEMODULE += mynewt-core
 
 DEFAULT_MODULE += auto_init_mynewt-core
 
-# MyNewt `os_hw_is_in_critical` function needs to know whether ISR are masked
-# of if the function is being called in ISR context. There is no such function
-# in RIOT except for arm (__get_PRIMASK), therefore unless a similar function
-# is provided for other arch, this port is currently only enabled for those arch.
-# Note: that this should not be a hindrance since nimble only works on nordic
-# and uwb-core breakouts are all arm.
-FEATURES_REQUIRED += arch_arm
-FEATURES_BLACKLIST += arch_arm7
+# esp frequency is not pow2 so is incompatible with os_cputime
+FEATURES_BLACKLIST += arch_esp
diff --git a/pkg/mynewt-core/include/os/os.h b/pkg/mynewt-core/include/os/os.h
index e39c1e81ace3..0de55584df3f 100644
--- a/pkg/mynewt-core/include/os/os.h
+++ b/pkg/mynewt-core/include/os/os.h
@@ -117,7 +117,7 @@ static inline void os_hw_exit_critical(uint32_t ctx)
  */
 static inline bool os_hw_is_in_critical(void)
 {
-    return (irq_is_in() || __get_PRIMASK());
+    return (irq_is_in() || !irq_is_enabled());
 }
 
 /* Mynewt components (not abstracted in NPL or DPL) */
diff --git a/pkg/uwb-core/Kconfig b/pkg/uwb-core/Kconfig
new file mode 100644
index 000000000000..13d69aa280d9
--- /dev/null
+++ b/pkg/uwb-core/Kconfig
@@ -0,0 +1,80 @@
+# Copyright (c) 2021 INRIA
+#
+# 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 PACKAGE_UWB-CORE
+    bool "Decawave uwb-core package"
+    select MODULE_UWB-CORE_DPL
+    select MODULE_UWB-CORE_CONTRIB
+    select MODULE_FMT
+    depends on HAS_PERIPH_GPIO
+    select MODULE_PERIPH_GPIO
+    depends on HAS_PERIPH_GPIO_IRQ
+    select MODULE_PERIPH_GPIO_IRQ
+    depends on HAS_PERIPH_SPI
+    select MODULE_PERIPH_SPI
+    depends on !HAS_ARCH_NATIVE
+    depends on !HAS_ARCH_AVR8
+
+if PACKAGE_UWB-CORE
+
+config MODULE_AUTO_INIT_UWB-CORE
+    bool "Auto-initialize the usb-core package"
+    default y
+    depends on MODULE_AUTO_INIT
+
+config MODULE_UWB-CORE_CONTRIB
+    bool
+
+config MODULE_UWB-CORE_DPL
+    bool
+    select PACKAGE_MYNEWT-CORE
+    select MODULE_MYNEWT-CORE_OS
+    select MODULE_MYNEWT-CORE_NRF5X_HAL if HAS_CPU_NRF52 || HAS_CPU_NRF51
+
+config MODULE_UWB-CORE_TWR_SS
+    bool "uwb-core two-way-ranging single sided"
+    select MODULE_UWB-CORE_RNG
+
+config MODULE_UWB-CORE_TWR_SS_ACK
+    bool "uwb-core two-way-ranging single sided using hardware generated ack as response"
+    select MODULE_UWB-CORE_RNG
+
+config MODULE_UWB-CORE_TWR_SS_EXT
+    bool "uwb-core two-way-ranging single sided with extended frames"
+    select MODULE_UWB-CORE_RNG
+
+config MODULE_UWB-CORE_TWR_DS
+    bool "uwb-core two-way-ranging double sided"
+    select MODULE_UWB-CORE_RNG
+
+config MODULE_UWB-CORE_TWR_DS_EXT
+    bool "uwb-core two-way-ranging double sided with extended frames"
+    select MODULE_UWB-CORE_RNG
+
+config MODULE_UWB-CORE_RNG
+    bool "uwb-core ranging module"
+    select MODULE_UWB-CORE_RNG_MATH
+    select MODULE_UWB-CORE_DSP
+    select MODULE_UWB-CORE_UWB_JSON
+
+config MODULE_UWB-CORE_UWB_JSON
+    bool "uwb-core JSON utilities"
+
+config MODULE_UWB-CORE_DSP
+    bool "uwb-core DSP module"
+
+config MODULE_UWB-CORE_RNG_MATH
+    bool "uwb-core ranging math utilities"
+
+config MODULE_UWB-CORE_UWBCFG
+    bool "uwb-core configuration module"
+    select MODULE_UWB-CORE_CONFIG
+
+config MODULE_UWB-CORE_CONFIG
+    bool
+
+endif # PACKAGE_UWB-CORE
diff --git a/pkg/uwb-dw1000/Kconfig b/pkg/uwb-dw1000/Kconfig
new file mode 100644
index 000000000000..539e7d9a1890
--- /dev/null
+++ b/pkg/uwb-dw1000/Kconfig
@@ -0,0 +1,29 @@
+# Copyright (c) 2021 INRIA
+#
+# 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 PACKAGE_UWB-DW1000
+    bool "Decawave dw1000 driver package"
+    select MODULE_UWB-DW1000_HAL
+    depends on HAS_PERIPH_GPIO
+    select MODULE_PERIPH_GPIO
+    depends on HAS_PERIPH_GPIO_IRQ
+    select MODULE_PERIPH_GPIO_IRQ
+    depends on HAS_PERIPH_SPI
+    select MODULE_PERIPH_SPI
+    depends on HAS_ARCH_32BIT
+
+if PACKAGE_UWB-DW1000
+
+config MODULE_AUTO_INIT_UWB-DW1000
+    bool "Auto-initialize the uwb-dw1000 package"
+    default y
+    depends on MODULE_AUTO_INIT
+
+config MODULE_UWB-DW1000_HAL
+    bool
+
+endif # PACKAGE_UWB-DW1000
diff --git a/sys/sema/Kconfig b/sys/sema/Kconfig
index 49b7e903f544..c05c224fd151 100644
--- a/sys/sema/Kconfig
+++ b/sys/sema/Kconfig
@@ -8,4 +8,4 @@
 config MODULE_SEMA
     bool "Semaphore"
     depends on TEST_KCONFIG
-    select MODULE_XTIMER
+    depends on MODULE_XTIMER || MODULE_ZTIMER