diff --git a/arch/arm/src/cmake/elf.cmake b/arch/arm/src/cmake/elf.cmake
index c199c9a6fc2..57deeba4de3 100644
--- a/arch/arm/src/cmake/elf.cmake
+++ b/arch/arm/src/cmake/elf.cmake
@@ -22,6 +22,8 @@
 
 nuttx_elf_compile_options(-fvisibility=hidden -mlong-calls)
 
+nuttx_mod_compile_options(-fvisibility=hidden -mlong-calls)
+
 nuttx_elf_compile_options_ifdef(CONFIG_UNWINDER_ARM -fno-unwind-tables
                                 -fno-asynchronous-unwind-tables)
 
@@ -32,6 +34,8 @@ nuttx_elf_link_options_ifdef(
 
 nuttx_elf_link_options_ifdef(CONFIG_BINFMT_ELF_RELOCATABLE -r)
 
+nuttx_mod_link_options(-r)
+
 nuttx_elf_link_options_ifdef(CONFIG_BUILD_KERNEL -Bstatic)
 
 nuttx_elf_link_options_ifdef(CONFIG_DEBUG_OPT_UNUSED_SECTIONS --gc-sections)
diff --git a/arch/arm64/src/cmake/elf.cmake b/arch/arm64/src/cmake/elf.cmake
index d0ce0a6db85..2e54432f5dc 100644
--- a/arch/arm64/src/cmake/elf.cmake
+++ b/arch/arm64/src/cmake/elf.cmake
@@ -22,8 +22,12 @@
 
 nuttx_elf_compile_options(-fvisibility=hidden)
 
+nuttx_mod_compile_options(-fvisibility=hidden)
+
 nuttx_elf_link_options_ifdef(CONFIG_BINFMT_ELF_RELOCATABLE -r)
 
+nuttx_mod_link_options(-r)
+
 nuttx_elf_link_options_ifdef(CONFIG_BUILD_KERNEL -Bstatic)
 
 nuttx_elf_link_options_ifdef(CONFIG_DEBUG_OPT_UNUSED_SECTIONS --gc-sections)
diff --git a/arch/x86_64/src/cmake/elf.cmake b/arch/x86_64/src/cmake/elf.cmake
index a5bcaa5e9f5..302688f9e19 100644
--- a/arch/x86_64/src/cmake/elf.cmake
+++ b/arch/x86_64/src/cmake/elf.cmake
@@ -22,8 +22,12 @@
 
 nuttx_elf_compile_options(-fvisibility=hidden -fno-pic -mcmodel=large)
 
+nuttx_mod_compile_options(-fvisibility=hidden)
+
 nuttx_elf_link_options(-r)
 
+nuttx_mod_link_options(-r)
+
 nuttx_elf_link_options_ifdef(CONFIG_DEBUG_OPT_UNUSED_SECTIONS --gc-sections)
 
 nuttx_elf_link_options(-e __start)
diff --git a/cmake/nuttx_add_application.cmake b/cmake/nuttx_add_application.cmake
index 1fd342bbfa0..058b00bf2b0 100644
--- a/cmake/nuttx_add_application.cmake
+++ b/cmake/nuttx_add_application.cmake
@@ -65,6 +65,8 @@ endif()
 #                         CONFIG_<app> value)
 #   SRCS                : source files
 #   NO_MAIN_ALIAS       : do not add a main=<app>_main alias(*)
+#   DYNLIB              : if "y", build as dynamic loadable library
+#   LINK_FLAGS          : link flags only for elf or loadable link
 #
 # (*) This is only really needed in convoluted cases where a single .c file
 # contains differently named <app>_main() entries for different <app>. This
@@ -92,8 +94,10 @@ function(nuttx_add_application)
     PRIORITY
     STACKSIZE
     MODULE
+    DYNLIB
     MULTI_VALUE
     COMPILE_FLAGS
+    LINK_FLAGS
     INCLUDE_DIRECTORIES
     SRCS
     DEPENDS
@@ -114,7 +118,8 @@ function(nuttx_add_application)
   if(SRCS_EXIST)
     if(MODULE
        AND ("${MODULE}" STREQUAL "m")
-       OR CONFIG_BUILD_KERNEL)
+       OR CONFIG_BUILD_KERNEL
+       OR "${DYNLIB}" STREQUAL "y")
       # create as standalone executable (loadable application or "module")
       set(TARGET "${NAME}")
 
@@ -125,18 +130,24 @@ function(nuttx_add_application)
         set(TARGET "ELF_${TARGET}")
         add_library(${TARGET} ${SRCS})
         add_dependencies(${TARGET} apps_post)
+        if(NOT "${CMAKE_LD}" MATCHES "gcc$")
+          set(USE_LINKER True)
+        endif()
         add_custom_command(
           TARGET ${TARGET}
           POST_BUILD
           COMMAND
             ${CMAKE_LD}
-            $<GENEX_EVAL:$<TARGET_PROPERTY:nuttx_global,NUTTX_ELF_APP_LINK_OPTIONS>>
-            -T ${CMAKE_BINARY_DIR}/gnu-elf.ld
-            $<$<TARGET_EXISTS:STARTUP_OBJS>:$<TARGET_OBJECTS:STARTUP_OBJS>>
-            --start-group
-            $<$<BOOL:${CONFIG_BUILD_KERNEL}>:$<GENEX_EVAL:$<TARGET_PROPERTY:nuttx_global,NUTTX_ELF_LINK_LIBRARIES>>>
+            $<IF:$<STREQUAL:"${DYNLIB}","y">,$<TARGET_PROPERTY:nuttx_global,NUTTX_MOD_APP_LINK_OPTIONS>,$<TARGET_PROPERTY:nuttx_global,NUTTX_ELF_APP_LINK_OPTIONS>>
+            ${LINK_FLAGS} -T ${CMAKE_BINARY_DIR}/gnu-elf.ld
+            $<$<AND:$<TARGET_EXISTS:STARTUP_OBJS>,$<STREQUAL:"${DYNLIB}","y">>:$<TARGET_OBJECTS:STARTUP_OBJS>>
+            $<$<NOT:$<BOOL:${USE_LINKER}>>:-Wl,>--start-group
+            $<GENEX_EVAL:$<TARGET_PROPERTY:nuttx_global,NUTTX_ELF_LINK_LIBRARIES>>
             $<GENEX_EVAL:$<TARGET_PROPERTY:nuttx_global,NUTTX_ELF_LINK_EXTRA_LIBRARIES>>
-            $<TARGET_FILE:${TARGET}> --end-group -o
+            $<$<NOT:$<BOOL:${USE_LINKER}>>:-Wl,>--whole-archive
+            $<TARGET_FILE:${TARGET}>
+            $<$<NOT:$<BOOL:${USE_LINKER}>>:-Wl,>--no-whole-archive
+            $<$<NOT:$<BOOL:${USE_LINKER}>>:-Wl,>--end-group -o
             ${CMAKE_BINARY_DIR}/bin_debug/${ELF_NAME}
           COMMAND
             ${CMAKE_COMMAND} -E copy ${CMAKE_BINARY_DIR}/bin_debug/${ELF_NAME}
@@ -170,6 +181,14 @@ function(nuttx_add_application)
         )
       endif()
 
+      if("${DYNLIB}" STREQUAL "y")
+        target_compile_options(
+          ${TARGET}
+          PRIVATE
+            $<GENEX_EVAL:$<TARGET_PROPERTY:nuttx_global,NUTTX_MOD_APP_COMPILE_OPTIONS>>
+        )
+      endif()
+
       install(TARGETS ${TARGET})
       set_property(
         TARGET nuttx
diff --git a/cmake/nuttx_extensions.cmake b/cmake/nuttx_extensions.cmake
index 9b6807a56a9..4bb8314fd88 100644
--- a/cmake/nuttx_extensions.cmake
+++ b/cmake/nuttx_extensions.cmake
@@ -329,6 +329,78 @@ function(nuttx_elf_link_options_ifndef cond)
   endif()
 endfunction()
 
+# Function: nuttx_mod_compile_options
+#
+# Adds compile options to mod targets
+#
+# Usage: nuttx_mod_compile_options("-O2" "-Wall")
+function(nuttx_mod_compile_options)
+  set_property(
+    TARGET nuttx_global
+    APPEND
+    PROPERTY NUTTX_MOD_APP_COMPILE_OPTIONS ${ARGN})
+endfunction()
+
+# Function: nuttx_mod_compile_options_ifdef
+#
+# Conditionally adds compile options to the mod target if the given condition is
+# true.
+#
+# Usage: nuttx_mod_compile_options_ifdef(MY_CONDITION "-O2" "-Wall")
+function(nuttx_mod_compile_options_ifdef cond)
+  if(${cond})
+    nuttx_mod_compile_options(${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_mod_compile_options_ifndef
+#
+# Conditionally adds compile options to the mod target if the given condition is
+# false.
+#
+# Usage: nuttx_mod_compile_options_ifndef(MY_CONDITION "-O2" "-Wall")
+function(nuttx_mod_compile_options_ifndef cond)
+  if(NOT ${cond})
+    nuttx_mod_compile_options(${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_mod_link_options
+#
+# Adds link options to mod targets
+#
+# Usage: nuttx_mod_link_options("-r")
+function(nuttx_mod_link_options)
+  set_property(
+    TARGET nuttx_global
+    APPEND
+    PROPERTY NUTTX_MOD_APP_LINK_OPTIONS ${ARGN})
+endfunction()
+
+# Function: nuttx_mod_link_options_ifdef
+#
+# Conditionally adds link options to the mod target if the given condition is
+# true.
+#
+# Usage: nuttx_mod_link_options_ifdef(MY_CONDITION "-r")
+function(nuttx_mod_link_options_ifdef cond)
+  if(${cond})
+    nuttx_mod_link_options(${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_mod_link_options_ifndef
+#
+# Conditionally adds link options to the mod target if the given condition is
+# false.
+#
+# Usage: nuttx_mod_link_options_ifndef(MY_CONDITION "-r")
+function(nuttx_mod_link_options_ifndef cond)
+  if(NOT ${cond})
+    nuttx_mod_link_options(${ARGN})
+  endif()
+endfunction()
+
 # the visible scope is all the APPS include search path
 function(nuttx_include_directories_for_all_apps)
   set_property(