diff --git a/CMakeLists.txt b/CMakeLists.txt
index 35ff09df1f..0ef56adfab 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -372,6 +372,9 @@ include(menuconfig)
 include(ExternalProject)
 include(FetchContent)
 
+# add NuttX CMake extenstion at last
+include(nuttx_extensions)
+
 set(FETCHCONTENT_QUIET OFF)
 
 # Board common directory #####################################################
diff --git a/cmake/nuttx_add_application.cmake b/cmake/nuttx_add_application.cmake
index d6f3ad592a..5e31f6e3c2 100644
--- a/cmake/nuttx_add_application.cmake
+++ b/cmake/nuttx_add_application.cmake
@@ -95,9 +95,13 @@ function(nuttx_add_application)
     ARGN
     ${ARGN})
 
+  # check if SRCS exist
+  if(SRCS)
+    file(GLOB SRCS_EXIST ${SRCS})
+  endif()
   # create target
 
-  if(SRCS)
+  if(SRCS_EXIST)
     if(MODULE
        AND ("${MODULE}" STREQUAL "m")
        OR CONFIG_BUILD_KERNEL)
@@ -169,6 +173,8 @@ function(nuttx_add_application)
     set(TARGET "apps_${NAME}")
     add_custom_target(${TARGET})
     set_property(GLOBAL APPEND PROPERTY NUTTX_APPS_ONLY_REGISTER ${TARGET})
+    set_target_properties(${TARGET} PROPERTIES NO_COMPILABLE_TARGET True)
+    set(NO_COMPILABLE_TARGET True)
   endif()
 
   # apps applications need to depends on apps_context by default
@@ -194,22 +200,25 @@ function(nuttx_add_application)
                                                ${CONFIG_DEFAULT_TASK_STACKSIZE})
   endif()
 
-  # compile options
+  # call target_ options only target is compilable
+  if(NOT NO_COMPILABLE_TARGET)
+    # compile options
 
-  if(COMPILE_FLAGS)
-    target_compile_options(${TARGET} PRIVATE ${COMPILE_FLAGS})
-  endif()
+    if(COMPILE_FLAGS)
+      target_compile_options(${TARGET} PRIVATE ${COMPILE_FLAGS})
+    endif()
 
-  # compile definitions
+    # compile definitions
 
-  if(DEFINITIONS)
-    target_compile_definitions(${TARGET} PRIVATE ${DEFINITIONS})
-  endif()
+    if(DEFINITIONS)
+      target_compile_definitions(${TARGET} PRIVATE ${DEFINITIONS})
+    endif()
 
-  if(INCLUDE_DIRECTORIES)
-    foreach(inc ${INCLUDE_DIRECTORIES})
-      target_include_directories(${TARGET} PRIVATE ${inc})
-    endforeach()
+    if(INCLUDE_DIRECTORIES)
+      foreach(inc ${INCLUDE_DIRECTORIES})
+        target_include_directories(${TARGET} PRIVATE ${inc})
+      endforeach()
+    endif()
   endif()
 
   # add supplied dependencies
diff --git a/cmake/nuttx_add_dependencies.cmake b/cmake/nuttx_add_dependencies.cmake
index 8355412d5b..46aeea9a5f 100644
--- a/cmake/nuttx_add_dependencies.cmake
+++ b/cmake/nuttx_add_dependencies.cmake
@@ -55,6 +55,11 @@ function(nuttx_add_dependencies)
     ARGN
     ${ARGN})
 
+  get_target_property(NO_COMPILABLE_TARGET ${TARGET} NO_COMPILABLE_TARGET)
+  if(NO_COMPILABLE_TARGET)
+    return()
+  endif()
+
   foreach(dep ${DEPENDS})
     # add dependencies
     add_dependencies(${TARGET} ${dep})
diff --git a/cmake/nuttx_extensions.cmake b/cmake/nuttx_extensions.cmake
new file mode 100644
index 0000000000..09251b5061
--- /dev/null
+++ b/cmake/nuttx_extensions.cmake
@@ -0,0 +1,224 @@
+# ##############################################################################
+# cmake/nuttx_extensions.cmake
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements.  See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership.  The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License.  You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+# This is NuttX's enhancement of various native CMake operations.
+
+include(nuttx_parse_function_args)
+
+# Macro: nuttx_library
+#
+# Creates a library target with the given name and mode. If MODE is "KERNEL", it
+# calls nuttx_add_kernel_library instead.
+#
+# Usage: nuttx_library(mylib) nuttx_library(mylib MODE "KERNEL")
+macro(nuttx_library name)
+  cmake_parse_arguments(ARGS "" MODE "" ${ARGN})
+
+  set(NX_CURRENT_LIBRARY ${name})
+
+  if(NOT ARGS_MODE)
+    nuttx_add_library(${name} STATIC)
+  elseif("${ARGS_MODE}" STREQUAL "KERNEL")
+    nuttx_add_kernel_library(${name})
+  endif()
+endmacro()
+
+# Macro: nuttx_library_ifdef
+#
+# Conditionally creates a library target if the given condition is true.
+#
+# Usage: nuttx_library_ifdef(MY_CONDITION mylib)
+macro(nuttx_library_ifdef cond name)
+  if(${cond})
+    nuttx_library(${name} ${ARGN})
+  endif()
+endmacro()
+
+# Macro: nuttx_library_ifndef
+#
+# Conditionally creates a library target if the given condition is false.
+#
+# Usage: nuttx_library_ifndef(MY_CONDITION mylib)
+macro(nuttx_library_ifndef cond name)
+  if(NOT ${cond})
+    nuttx_library(${name} ${ARGN})
+  endif()
+endmacro()
+
+# Function: nuttx_sources
+#
+# Adds source files to the current library target.
+#
+# Usage: nuttx_sources(source1.cpp source2.cpp)
+function(nuttx_sources)
+  if(TARGET ${NX_CURRENT_LIBRARY})
+    target_sources(${NX_CURRENT_LIBRARY} PRIVATE ${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_sources_ifdef
+#
+# Conditionally adds source files to the current library target if the given
+# condition is true.
+#
+# Usage: nuttx_sources_ifdef(MY_CONDITION source1.cpp source2.cpp)
+function(nuttx_sources_ifdef cond)
+  if(${cond})
+    nuttx_sources(${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_sources_ifndef
+#
+# Conditionally adds source files to the current library target if the given
+# condition is false.
+#
+# Usage: nuttx_sources_ifndef(MY_CONDITION source1.cpp source2.cpp)
+function(nuttx_sources_ifndef cond)
+  if(NOT ${cond})
+    nuttx_sources(${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_wildcard_sources
+#
+# Adds source files matching a wildcard pattern to the current library target,
+# excluding those matching the exclude pattern.
+#
+# Usage: nuttx_wildcard_sources("*.c" EXCLUDE "exclude_me.c")
+function(nuttx_wildcard_sources)
+  cmake_parse_arguments(ARGS "" "" EXCLUDE ${ARGN})
+
+  file(GLOB SRCS ${ARGN})
+  if(ARGS_EXCLUDE)
+    file(GLOB RM_SRCS ${ARGS_EXCLUDE})
+    list(REMOVE_ITEM SRCS ${RM_SRCS})
+  endif()
+  nuttx_sources(${SRCS})
+endfunction()
+
+# Function: nuttx_include_directories
+#
+# Adds include directories to the current library target.
+#
+# Usage: nuttx_include_directories("include/path1" "include/path2")
+function(nuttx_include_directories)
+  if(TARGET ${NX_CURRENT_LIBRARY})
+    target_include_directories(${NX_CURRENT_LIBRARY} PRIVATE ${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_include_directories_ifdef
+#
+# Conditionally adds include directories to the current library target if the
+# given condition is true.
+#
+# Usage: nuttx_include_directories_ifdef(MY_CONDITION "include/path1"
+# "include/path2")
+function(nuttx_include_directories_ifdef cond)
+  if(${cond})
+    nuttx_include_directories(${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_include_directories_ifndef
+#
+# Conditionally adds include directories to the current library target if the
+# given condition is false.
+#
+# Usage: nuttx_include_directories_ifndef(MY_CONDITION "include/path1"
+# "include/path2")
+function(nuttx_include_directories_ifndef cond)
+  if(NOT ${cond})
+    nuttx_include_directories(${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_compile_definitions
+#
+# Adds compile definitions to the current library target.
+#
+# Usage: nuttx_compile_definitions("DEF1" "DEF2")
+function(nuttx_compile_definitions)
+  if(TARGET ${NX_CURRENT_LIBRARY})
+    target_compile_definitions(${NX_CURRENT_LIBRARY} PRIVATE ${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_compile_definitions_ifdef
+#
+# Conditionally adds compile definitions to the current library target if the
+# given condition is true.
+#
+# Usage: nuttx_compile_definitions_ifdef(MY_CONDITION "DEF1" "DEF2")
+function(nuttx_compile_definitions_ifdef cond)
+  if(${cond})
+    nuttx_compile_definitions(${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_compile_definitions_ifndef
+#
+# Conditionally adds compile definitions to the current library target if the
+# given condition is false.
+#
+# Usage: nuttx_compile_definitions_ifndef(MY_CONDITION "DEF1" "DEF2")
+function(nuttx_compile_definitions_ifndef cond)
+  if(NOT ${cond})
+    nuttx_compile_definitions(${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_compile_options
+#
+# Adds compile options to the current library target.
+#
+# Usage: nuttx_compile_options("-O2" "-Wall")
+function(nuttx_compile_options)
+  if(TARGET ${NX_CURRENT_LIBRARY})
+    target_compile_options(${NX_CURRENT_LIBRARY} PRIVATE ${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_compile_options_ifdef
+#
+# Conditionally adds compile options to the current library target if the given
+# condition is true.
+#
+# Usage: nuttx_compile_options_ifdef(MY_CONDITION "-O2" "-Wall")
+function(nuttx_compile_options_ifdef cond)
+  if(${cond})
+    nuttx_compile_options(${ARGN})
+  endif()
+endfunction()
+
+# Function: nuttx_compile_options_ifndef
+#
+# Conditionally adds compile options to the current library target if the given
+# condition is false.
+#
+# Usage: nuttx_compile_options_ifndef(MY_CONDITION "-O2" "-Wall")
+function(nuttx_compile_options_ifndef cond)
+  if(NOT ${cond})
+    nuttx_compile_options(${ARGN})
+  endif()
+endfunction()