<?php
$myArray = array(
    'key1' => 'value1',
    'key2' => array(
        'subkey' => 'subkeyval'
    ),
    'key3' => 'value3',
    'key4' => array(
        'subkey4' => array(
            'subsubkey4' => 'subsubkeyval4',
            'subsubkey5' => 'subsubkeyval5',
        ),
        'subkey5' => 'subkeyval5'
    )
);



$ritit = new RecursiveIteratorIterator(new RecursiveArrayIterator($myArray));
$result = array();
foreach ($ritit as $leafValue) {
    $keys = array();
    foreach (range(0, $ritit->getDepth()) as $depth) {
        $keys[] = $ritit->getSubIterator($depth)->key();
    }
    $result[ join('.', $keys) ] = $leafValue;
}


print_r($result);

Array
(
    [key1] => value1
    [key2.subkey] => subkeyval
    [key3] => value3
    [key4.subkey4.subsubkey4] => subsubkeyval4
    [key4.subkey4.subsubkey5] => subsubkeyval5
    [key4.subkey5] => subkeyval5
)