diff --git a/Tools/completion/bash/_waf b/Tools/completion/bash/_waf
index b5db0e0ea9..ca76cec583 100644
--- a/Tools/completion/bash/_waf
+++ b/Tools/completion/bash/_waf
@@ -51,14 +51,14 @@ _waf()
         fi
     done
 
-    # TODO: generate for waf help
     case $prev in 
-	--board)
-		opts="CubeBlack bbbmini fmuv2 fmuv3 fmuv4 iomcu sitl"
-	    COMPREPLY=($(compgen -W "${opts}" -- ${cur}))
-	    return 0
-	    ;;
-	esac
+      --board)
+        # get options between board and debug, remove everything before "are", remove everything after "--debug", remove final dot, remove all comma
+        opts=$(./waf --help | sed -n '/--board=/,/--debug/p' | sed -e 's/.*are //g' -e 's/\(--debug.*\)//g' -e 's/[.]//g' -e 's/[,]//g')
+        COMPREPLY=($(compgen -W "${opts}" -- ${cur}))
+        return 0
+        ;;
+    esac
 
     COMPREPLY=( $(compgen -W "${opts}" -- ${cur}) )
 }
diff --git a/Tools/completion/zsh/_waf b/Tools/completion/zsh/_waf
index dc79e6d224..c791a5145e 100644
--- a/Tools/completion/zsh/_waf
+++ b/Tools/completion/zsh/_waf
@@ -37,18 +37,10 @@ _waf() {
     esac
 }
 
-# TODO : generate with regex from waf help
 (( $+functions[_waf_boards] )) ||
 _waf_boards() {
-  local boards; boards=(
-    'CubeBlack:builds CubeBlack' \
-    'bbbmini:build bbbmini' \
-    'fmuv2:build fmuv2' \
-    'fmuv3:build fmuv3' \
-    'fmuv4:build fmuv4' \
-    'iomcu:build iomcu' \
-    'sitl:build sitl'
-  )
+  # get option between board and debug, remove everything before "are", remove everything after "--debug", remove final dot, remove all comma
+  local boards; boards=( $(./waf --help | sed -n '/--board=/,/--debug/p' | sed -e 's/.*are //g' -e 's/\(--debug.*\)//g' -e 's/[.]//g' -e 's/[,]//g') )
   _describe -t boards 'board' boards "$@" && ret=0
 }