diff --git a/cmake/nuttx_add_library.cmake b/cmake/nuttx_add_library.cmake
index 9290083d1a..71b57c97aa 100644
--- a/cmake/nuttx_add_library.cmake
+++ b/cmake/nuttx_add_library.cmake
@@ -37,9 +37,8 @@ function(nuttx_add_library_internal target)
 
   # add main include directories
   target_include_directories(
-    ${target} SYSTEM
-    PRIVATE ${CMAKE_SOURCE_DIR}/include ${CMAKE_BINARY_DIR}/include
-            ${CMAKE_BINARY_DIR}/include_arch)
+    ${target} SYSTEM PRIVATE ${CMAKE_SOURCE_DIR}/include
+                             ${CMAKE_BINARY_DIR}/include)
 
   # Set global compile options & definitions We use the "nuttx" target to hold
   # these properties so that libraries added after this property is set can read
diff --git a/cmake/nuttx_allsyms.cmake b/cmake/nuttx_allsyms.cmake
index beeec799e9..c4ce271c42 100644
--- a/cmake/nuttx_allsyms.cmake
+++ b/cmake/nuttx_allsyms.cmake
@@ -54,8 +54,7 @@ macro(define_allsyms_link_target inter_target dep_target allsyms_file)
       )
     endif()
     target_sources(nuttx PRIVATE ${ALLSYMS_SOURCE})
-    set(ALLSYMS_INCDIR ${CMAKE_SOURCE_DIR}/include ${CMAKE_BINARY_DIR}/include
-                       ${CMAKE_BINARY_DIR}/include_arch)
+    set(ALLSYMS_INCDIR ${CMAKE_SOURCE_DIR}/include ${CMAKE_BINARY_DIR}/include)
     set_source_files_properties(
       ${ALLSYMS_SOURCE} PROPERTIES INCLUDE_DIRECTORIES "${ALLSYMS_INCDIR}")
   else()
@@ -76,9 +75,8 @@ macro(define_allsyms_link_target inter_target dep_target allsyms_file)
 
     # relink target and nuttx have exactly the same configuration
     target_include_directories(
-      ${inter_target} SYSTEM
-      PUBLIC ${CMAKE_SOURCE_DIR}/include ${CMAKE_BINARY_DIR}/include
-             ${CMAKE_BINARY_DIR}/include_arch)
+      ${inter_target} SYSTEM PUBLIC ${CMAKE_SOURCE_DIR}/include
+                                    ${CMAKE_BINARY_DIR}/include)
     target_compile_definitions(
       ${inter_target} PRIVATE $<TARGET_PROPERTY:nuttx,NUTTX_KERNEL_DEFINITIONS>)
     target_compile_options(
diff --git a/cmake/nuttx_generate_headers.cmake b/cmake/nuttx_generate_headers.cmake
index 8c7523f8c7..8cb290f9d1 100644
--- a/cmake/nuttx_generate_headers.cmake
+++ b/cmake/nuttx_generate_headers.cmake
@@ -35,42 +35,40 @@ include(nuttx_mkversion)
 
 # Setup symbolic link generation
 
-if(NOT EXISTS ${CMAKE_BINARY_DIR}/include_arch/arch)
-  execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory
-                          ${CMAKE_BINARY_DIR}/include_arch/arch)
-endif()
-
 if(NOT EXISTS ${CMAKE_BINARY_DIR}/include_apps)
   execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory
                           ${CMAKE_BINARY_DIR}/include_apps)
 endif()
 
 if(NOT EXISTS ${CMAKE_BINARY_DIR}/include/arch)
-  nuttx_create_symlink(${NUTTX_DIR}/arch/${CONFIG_ARCH}/include
-                       ${CMAKE_BINARY_DIR}/include/arch)
+  execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory
+                          ${CMAKE_BINARY_DIR}/include/arch)
+  file(GLOB CONTENTS ${NUTTX_DIR}/arch/${CONFIG_ARCH}/include/*)
+  foreach(ARCH_INCDIR ${CONTENTS})
+    get_filename_component(SUB_ELEMENT ${ARCH_INCDIR} NAME)
+    nuttx_create_symlink(${NUTTX_DIR}/arch/${CONFIG_ARCH}/include/${SUB_ELEMENT}
+                         ${CMAKE_BINARY_DIR}/include/arch/${SUB_ELEMENT})
+  endforeach()
 endif()
 
-if(NOT EXISTS ${CMAKE_BINARY_DIR}/include_arch/arch/board)
+if(NOT EXISTS ${CMAKE_BINARY_DIR}/include/arch/board)
   if(EXISTS ${NUTTX_BOARD_DIR}/include)
     nuttx_create_symlink(${NUTTX_BOARD_DIR}/include
-                         ${CMAKE_BINARY_DIR}/include_arch/arch/board)
+                         ${CMAKE_BINARY_DIR}/include/arch/board)
   elseif(EXISTS ${NUTTX_BOARD_DIR}/../common/include)
     nuttx_create_symlink(${NUTTX_BOARD_DIR}/../common/include
-                         ${CMAKE_BINARY_DIR}/include_arch/arch/board)
+                         ${CMAKE_BINARY_DIR}/include/arch/board)
   endif()
 endif()
 
-if(NOT EXISTS ${CMAKE_BINARY_DIR}/include_arch/arch/chip)
+if(NOT EXISTS ${CMAKE_BINARY_DIR}/include/arch/chip)
   if(CONFIG_ARCH_CHIP_CUSTOM)
-    execute_process(
-      COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CHIP_ABS_DIR}/include
-              ${CMAKE_BINARY_DIR}/include_arch/arch/chip)
+    nuttx_create_symlink(${NUTTX_CHIP_ABS_DIR}/include
+                         ${CMAKE_BINARY_DIR}/include/arch/chip)
   else()
-    execute_process(
-      COMMAND
-        ${CMAKE_COMMAND} -E copy_directory
-        ${NUTTX_DIR}/arch/${CONFIG_ARCH}/include/${CONFIG_ARCH_CHIP}
-        ${CMAKE_BINARY_DIR}/include_arch/arch/chip)
+    nuttx_create_symlink(
+      ${NUTTX_DIR}/arch/${CONFIG_ARCH}/include/${CONFIG_ARCH_CHIP}
+      ${CMAKE_BINARY_DIR}/include/arch/chip)
   endif()
 endif()