diff --git a/examples/hello-world/hello-world.c b/examples/hello-world/hello-world.c
index 30724140e..e6d452d9e 100644
--- a/examples/hello-world/hello-world.c
+++ b/examples/hello-world/hello-world.c
@@ -46,10 +46,21 @@ AUTOSTART_PROCESSES(&hello_world_process);
 /*---------------------------------------------------------------------------*/
 PROCESS_THREAD(hello_world_process, ev, data)
 {
+  static struct etimer timer;
+
   PROCESS_BEGIN();
 
-  printf("Hello, world\n");
-  
+  /* Setup a periodic timer that expires after 10 seconds. */
+  etimer_set(&timer, CLOCK_SECOND * 10);
+
+  while(1) {
+    printf("Hello, world\n");
+
+    /* Wait for the periodic timer to expire and then restart the timer. */
+    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&timer));
+    etimer_reset(&timer);
+  }
+
   PROCESS_END();
 }
 /*---------------------------------------------------------------------------*/
diff --git a/examples/lwm2m-ipso-objects/Makefile b/examples/lwm2m-ipso-objects/Makefile
index d77f4200a..7fa79d1ee 100644
--- a/examples/lwm2m-ipso-objects/Makefile
+++ b/examples/lwm2m-ipso-objects/Makefile
@@ -12,16 +12,3 @@ MODULES += os/services/ipso-objects
 
 CONTIKI=../..
 include $(CONTIKI)/Makefile.include
-
-# border router rules
-$(CONTIKI)/tools/tunslip6:	$(CONTIKI)/tools/tunslip6.c
-	(cd $(CONTIKI)/tools && $(MAKE) tunslip6)
-
-connect-router:	$(CONTIKI)/tools/tunslip6
-	sudo $(CONTIKI)/tools/tunslip6 aaaa::1/64
-
-connect-router-cooja:	$(CONTIKI)/tools/tunslip6
-	sudo $(CONTIKI)/tools/tunslip6 -a 127.0.0.1 -p 60001 aaaa::1/64
-
-connect-router-native:	$(CONTIKI)/examples/native-border-router/border-router.native
-	sudo $(CONTIKI)/examples/native-border-router/border-router.native -a 127.0.0.1 -p 60001 aaaa::1/64
diff --git a/examples/lwm2m-ipso-objects/README.md b/examples/lwm2m-ipso-objects/README.md
index 30cc5832f..d31b3a844 100644
--- a/examples/lwm2m-ipso-objects/README.md
+++ b/examples/lwm2m-ipso-objects/README.md
@@ -3,8 +3,8 @@ LWM2M with IPSO Objects Example
 
 This is an OMA LWM2M example implementing IPSO Objects.
 It can connect to a Leshan server out-of-the-box.
-Important configuration paramters:
-* `LWM2M_SERVER_ADDRESS`: the address of the server to register to (or bosstrap from)
+Important configuration parameters:
+* `LWM2M_SERVER_ADDRESS`: the address of the server to register to (or bootstrap from)
 * `REGISTER_WITH_LWM2M_BOOTSTRAP_SERVER`: set to bootstrap via `LWM2M_SERVER_ADDRESS` and then obtain the registration server address
 
 A tutorial for setting up this example is provided on the wiki.
diff --git a/examples/lwm2m-ipso-objects/example-server.c b/examples/lwm2m-ipso-objects/example-server.c
index 658c8b24e..98e1fef9a 100644
--- a/examples/lwm2m-ipso-objects/example-server.c
+++ b/examples/lwm2m-ipso-objects/example-server.c
@@ -38,19 +38,23 @@
 
 #include "contiki.h"
 #include "net/ipv6/uip.h"
+#include "net/ipv6/uip-ds6.h"
 #include "net/netstack.h"
 #include "net/routing/routing.h"
-#include "coap-constants.h"
-#include "coap-engine.h"
+#include "coap-transport.h"
+#include "coap-blocking-api.h"
 #include "lwm2m-engine.h"
 #include "lwm2m-tlv.h"
 #include "dev/serial-line.h"
 #include "serial-protocol.h"
+#include <stdbool.h>
 
 #define DEBUG DEBUG_PRINT
 #include "net/ipv6/uip-debug.h"
 
-#define REMOTE_PORT     UIP_HTONS(COAP_DEFAULT_PORT)
+#define REMOTE_PORT                  UIP_HTONS(COAP_DEFAULT_PORT)
+
+#define EVENT_RUN_NOW                0
 
 #define URL_WELL_KNOWN               ".well-known/core"
 #define URL_DEVICE_MODEL             "/3/0/1"
@@ -63,8 +67,8 @@
 #define NODE_HAS_TYPE  (1 << 0)
 
 struct node {
-  uip_ipaddr_t ipaddr;
-  char type[32];
+  coap_endpoint_t endpoint;
+  char type[64];
   uint8_t flags;
   uint8_t retries;
 };
@@ -86,13 +90,15 @@ add_node(const uip_ipaddr_t *addr)
 {
   int i;
   for(i = 0; i < node_count; i++) {
-    if(uip_ipaddr_cmp(&nodes[i].ipaddr, addr)) {
+    if(uip_ipaddr_cmp(&nodes[i].endpoint.ipaddr, addr)) {
       /* Node already added */
       return &nodes[i];
     }
   }
   if(node_count < MAX_NODES) {
-    uip_ipaddr_copy(&nodes[node_count].ipaddr, addr);
+    memset(&nodes[node_count].endpoint, 0, sizeof(coap_endpoint_t));
+    uip_ipaddr_copy(&nodes[node_count].endpoint.ipaddr, addr);
+    nodes[node_count].endpoint.port = REMOTE_PORT;
     return &nodes[node_count++];
   }
   return NULL;
@@ -107,13 +113,13 @@ set_value(const uip_ipaddr_t *addr, char *uri, char *value)
   printf(" URI: %s Value: %s\n", uri, value);
 
   for(i = 0; i < node_count; i++) {
-    if(uip_ipaddr_cmp(&nodes[i].ipaddr, addr)) {
+    if(uip_ipaddr_cmp(&nodes[i].endpoint.ipaddr, addr)) {
       /* setup command */
       current_target = &nodes[i];
       current_request = COAP_PUT;
       strncpy(current_uri, uri, sizeof(current_uri) - 1);
       strncpy(current_value, value, sizeof(current_value) - 1);
-      process_poll(&router_process);
+      process_post(&router_process, EVENT_RUN_NOW, NULL);
       break;
     }
   }
@@ -128,13 +134,13 @@ get_value(const uip_ipaddr_t *addr, char *uri)
   printf(" URI: %s\n", uri);
 
   for(i = 0; i < node_count; i++) {
-    if(uip_ipaddr_cmp(&nodes[i].ipaddr, addr)) {
+    if(uip_ipaddr_cmp(&nodes[i].endpoint.ipaddr, addr)) {
       /* setup command */
       current_target = &nodes[i];
       current_request = COAP_GET;
       strncpy(current_uri, uri, sizeof(current_uri) - 1);
       current_value[0] = 0;
-      process_poll(&router_process);
+      process_post(&router_process, EVENT_RUN_NOW, NULL);
       break;
     }
   }
@@ -151,7 +157,7 @@ print_node_list(void)
         printf(";");
       }
       printf("%s,", nodes[i].type);
-      uip_debug_ipaddr_print(&nodes[i].ipaddr);
+      uip_debug_ipaddr_print(&nodes[i].endpoint.ipaddr);
     }
   }
   printf("\n");
@@ -162,7 +168,7 @@ print_node_list(void)
  * handle responses.
  */
 static void
-client_chunk_handler(void *response)
+client_chunk_handler(coap_message_t *response)
 {
   const uint8_t *chunk;
   unsigned int format;
@@ -172,7 +178,9 @@ client_chunk_handler(void *response)
   /* if(len > 0) { */
   /*   printf("|%.*s (%d,%d)", len, (char *)chunk, len, format); */
   /* } */
-  if(current_target != NULL && fetching_type) {
+  if(response->code >= BAD_REQUEST_4_00) {
+    PRINTF("\nReceived error %u: %.*s\n", response->code, len, (char *)chunk);
+  } else if(current_target != NULL && fetching_type) {
     if(len > sizeof(current_target->type) - 1) {
       len = sizeof(current_target->type) - 1;
     }
@@ -181,7 +189,7 @@ client_chunk_handler(void *response)
     current_target->flags |= NODE_HAS_TYPE;
 
     PRINTF("\nNODE ");
-    PRINT6ADDR(&current_target->ipaddr);
+    PRINT6ADDR(&current_target->endpoint.ipaddr);
     PRINTF(" HAS TYPE %s\n", current_target->type);
   } else {
     /* otherwise update the current value */
@@ -193,7 +201,9 @@ client_chunk_handler(void *response)
         /*        tlv.type, tlv.length, tlv.id, tlv.value[0]); */
 
         int value = lwm2m_tlv_get_int32(&tlv);
-        snprintf(current_value, sizeof(current_value), "%d", value);
+        snprintf(current_value, sizeof(current_value) - 1, "%d", value);
+      } else {
+        PRINTF("Failed to parse LWM2M TLV\n");
       }
     } else {
       if(len > sizeof(current_value) - 1) {
@@ -205,69 +215,81 @@ client_chunk_handler(void *response)
   }
 }
 /*---------------------------------------------------------------------------*/
-static void
-setup_network(void)
+#if UIP_CONF_IPV6_RPL
+static bool
+check_rpl_routes(void)
 {
-  uip_ipaddr_t ipaddr;
-  struct uip_ds6_addr *root_if;
-  rpl_dag_t *dag;
-  int i;
-  uint8_t state;
+  uip_sr_node_t *link;
+  uip_ipaddr_t child_ipaddr;
+  uip_ipaddr_t parent_ipaddr;
 
-#if UIP_CONF_ROUTER
-/**
- * The choice of server address determines its 6LoWPAN header compression.
- * Obviously the choice made here must also be selected in udp-client.c.
- *
- * For correct Wireshark decoding using a sniffer, add the /64 prefix to the 6LowPAN protocol preferences,
- * e.g. set Context 0 to fd00::.  At present Wireshark copies Context/128 and then overwrites it.
- * (Setting Context 0 to fd00::1111:2222:3333:4444 will report a 16 bit compressed address of fd00::1111:22ff:fe33:xxxx)
- * Note Wireshark's IPCMV6 checksum verification depends on the correct uncompressed addresses.
- */
-#if 0
-/* Mode 1 - 64 bits inline */
-   uip_ip6addr(&ipaddr, UIP_DS6_DEFAULT_PREFIX, 0, 0, 0, 0, 0, 0, 1);
-#elif 1
-/* Mode 2 - 16 bits inline */
-  uip_ip6addr(&ipaddr, UIP_DS6_DEFAULT_PREFIX, 0, 0, 0, 0, 0x00ff, 0xfe00, 1);
-#else
-/* Mode 3 - derived from link local (MAC) address */
-  uip_ip6addr(&ipaddr, UIP_DS6_DEFAULT_PREFIX, 0, 0, 0, 0, 0, 0, 0);
-  uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
-#endif
+  /* Our routing links */
+  for(link = uip_sr_node_head(); link != NULL; link = uip_sr_node_next(link)) {
+    NETSTACK_ROUTING.get_sr_node_ipaddr(&child_ipaddr, link);
 
-  NETSTACK_ROUTING.root_set_prefix(&ipaddr, &ipaddr);
-  NETSTACK_ROUTING.root_start();
-#endif /* UIP_CONF_ROUTER */
-
-  PRINTF("IPv6 addresses: ");
-  for(i = 0; i < UIP_DS6_ADDR_NB; i++) {
-    state = uip_ds6_if.addr_list[i].state;
-    if(state == ADDR_TENTATIVE || state == ADDR_PREFERRED) {
-      PRINT6ADDR(&uip_ds6_if.addr_list[i].ipaddr);
-      PRINTF("\n");
-      /* hack to make address "final" */
-      if (state == ADDR_TENTATIVE) {
-	uip_ds6_if.addr_list[i].state = ADDR_PREFERRED;
-      }
+    if(link->parent == NULL) {
+      /* Igore the DAG root */
+      continue;
     }
+
+    current_target = add_node(&child_ipaddr);
+    if(current_target == NULL ||
+       (current_target->flags & NODE_HAS_TYPE) != 0 ||
+       current_target->retries > 5) {
+      continue;
+    }
+
+    NETSTACK_ROUTING.get_sr_node_ipaddr(&parent_ipaddr, link->parent);
+    PRINTF("  ");
+    PRINT6ADDR(&child_ipaddr);
+    PRINTF("  ->  ");
+    PRINT6ADDR(&parent_ipaddr);
+    PRINTF("\n");
+    return true;
   }
+  return false;
 }
+#endif /* UIP_CONF_IPV6_RPL */
+/*---------------------------------------------------------------------------*/
+#if (UIP_MAX_ROUTES != 0)
+static bool
+check_routes(void)
+{
+  uip_ds6_route_t *r;
+
+  for(r = uip_ds6_route_head(); r != NULL; r = uip_ds6_route_next(r)) {
+    current_target = add_node(&r->ipaddr);
+    if(current_target == NULL ||
+       (current_target->flags & NODE_HAS_TYPE) != 0 ||
+       current_target->retries > 5) {
+      continue;
+    }
+    PRINTF("  ");
+    PRINT6ADDR(&r->ipaddr);
+    PRINTF("  ->  ");
+    nexthop = uip_ds6_route_nexthop(r);
+    if(nexthop != NULL) {
+      PRINT6ADDR(nexthop);
+    } else {
+      PRINTF("-");
+    }
+    PRINTF("\n");
+    return true;
+  }
+  return false;
+}
+#endif /* (UIP_MAX_ROUTES != 0) */
 /*---------------------------------------------------------------------------*/
 PROCESS_THREAD(router_process, ev, data)
 {
   /* This way the message can be treated as pointer as usual. */
   static coap_message_t request[1];
   static struct etimer timer;
-  uip_ds6_route_t *r;
-  uip_ipaddr_t *nexthop;
-  int n;
 
   PROCESS_BEGIN();
 
-  PROCESS_PAUSE();
-
-  setup_network();
+  /* Initialize DAG root */
+  NETSTACK_ROUTING.root_start();
 
   while(1) {
     etimer_set(&timer, CLOCK_SECOND * 5);
@@ -280,28 +302,15 @@ PROCESS_THREAD(router_process, ev, data)
 
     if(etimer_expired(&timer)) {
       current_target = NULL;
-      n = 0;
-      for(r = uip_ds6_route_head(); r != NULL; r = uip_ds6_route_next(r)) {
-        current_target = add_node(&r->ipaddr);
-        if(current_target == NULL ||
-           (current_target->flags & NODE_HAS_TYPE) != 0 ||
-           current_target->retries > 5) {
-          continue;
-        }
-        PRINTF("  ");
-        PRINT6ADDR(&r->ipaddr);
-        PRINTF("  ->  ");
-        nexthop = uip_ds6_route_nexthop(r);
-        if(nexthop != NULL) {
-          PRINT6ADDR(nexthop);
-          PRINTF("\n");
-        } else {
-          PRINTF("-");
-        }
-        PRINTF("\n");
-        n++;
-        break;
+#if UIP_CONF_IPV6_RPL
+      check_rpl_routes();
+#endif /* UIP_CONF_IPV6_RPL */
+
+#if (UIP_MAX_ROUTES != 0)
+      if(current_target == NULL) {
+        check_routes();
       }
+#endif /* (UIP_MAX_ROUTES != 0) */
     }
 
     /* This is a node type discovery */
@@ -316,15 +325,15 @@ PROCESS_THREAD(router_process, ev, data)
       current_target->retries++;
 
       PRINTF("CoAP request to [");
-      PRINT6ADDR(&current_target->ipaddr);
-      PRINTF("]:%u (%u tx)\n", UIP_HTONS(REMOTE_PORT),
+      PRINT6ADDR(&current_target->endpoint.ipaddr);
+      PRINTF("]:%u (%u tx)\n", UIP_HTONS(current_target->endpoint.port),
              current_target->retries);
 
       fetching_type = 1;
-      COAP_BLOCKING_REQUEST(&current_target->ipaddr, REMOTE_PORT, request,
+      COAP_BLOCKING_REQUEST(&current_target->endpoint, request,
                             client_chunk_handler);
       fetching_type = 0;
-      strncpy(current_uri, URL_LIGHT_CONTROL, sizeof(current_uri));
+      strncpy(current_uri, URL_LIGHT_CONTROL, sizeof(current_uri) - 1);
       printf("\n--Done--\n");
     }
 
@@ -341,10 +350,11 @@ PROCESS_THREAD(router_process, ev, data)
       }
 
       PRINTF("CoAP request to [");
-      PRINT6ADDR(&current_target->ipaddr);
-      PRINTF("]:%u %s\n", UIP_HTONS(REMOTE_PORT), current_uri);
+      PRINT6ADDR(&current_target->endpoint.ipaddr);
+      PRINTF("]:%u %s\n", UIP_HTONS(current_target->endpoint.port),
+             current_uri);
 
-      COAP_BLOCKING_REQUEST(&current_target->ipaddr, REMOTE_PORT, request,
+      COAP_BLOCKING_REQUEST(&current_target->endpoint, request,
                             client_chunk_handler);
 
       /* print out result of command */
@@ -353,13 +363,12 @@ PROCESS_THREAD(router_process, ev, data)
       } else {
         printf("g ");
       }
-      uip_debug_ipaddr_print(&current_target->ipaddr);
+      uip_debug_ipaddr_print(&current_target->endpoint.ipaddr);
       printf(" %s %s\n", current_uri, current_value);
 
       current_target = NULL;
       current_uri[0] = 0;
       current_value[0] = 0;
-
     }
   }
 
diff --git a/examples/lwm2m-ipso-objects/serial-protocol.c b/examples/lwm2m-ipso-objects/serial-protocol.c
index bc59294f6..00c7e0139 100644
--- a/examples/lwm2m-ipso-objects/serial-protocol.c
+++ b/examples/lwm2m-ipso-objects/serial-protocol.c
@@ -60,7 +60,7 @@ find_next_sep(const char *str, char sep, int pos)
 /*
  * l - list all discovered devices
  * s - set <IP> <URI> <value>
- * d - get <IP> <URI>
+ * g - get <IP> <URI>
  */
 void
 serial_protocol_input(char *data)
@@ -119,8 +119,12 @@ serial_protocol_input(char *data)
     }
     break;
   }
+  case '\0':
+    /* Ignore empty lines */
+    break;
   default:
     printf("Unknown command\n");
   }
+  printf("> ");
 }
 /*---------------------------------------------------------------------------*/
diff --git a/examples/multicast/project-conf.h b/examples/multicast/project-conf.h
index 45fe1309e..c1bb6910e 100644
--- a/examples/multicast/project-conf.h
+++ b/examples/multicast/project-conf.h
@@ -54,7 +54,12 @@
 #define UIP_MCAST6_ROUTE_CONF_ROUTES 1
 
 /* Code/RAM footprint savings so that things will fit on our device */
+#ifndef NETSTACK_MAX_ROUTE_ENTRIES
 #define NETSTACK_MAX_ROUTE_ENTRIES   10
+#endif
+
+#ifndef NBR_TABLE_CONF_MAX_NEIGHBORS
 #define NBR_TABLE_CONF_MAX_NEIGHBORS 10
+#endif
 
 #endif /* PROJECT_CONF_H_ */
diff --git a/examples/multicast/srf06-cc26xx/module-macros.h b/examples/multicast/srf06-cc26xx/module-macros.h
new file mode 100644
index 000000000..460688ebd
--- /dev/null
+++ b/examples/multicast/srf06-cc26xx/module-macros.h
@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) 2018, University of Bristol - http://www.bristol.ac.uk/
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the copyright holder nor the names of its
+ *    contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDER AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+/*---------------------------------------------------------------------------*/
+/* Code/RAM footprint savings so that things will fit on sensortags */
+#define NETSTACK_MAX_ROUTE_ENTRIES    4
+#define NBR_TABLE_CONF_MAX_NEIGHBORS  4
+#define QUEUEBUF_CONF_NUM             4
diff --git a/examples/platform-specific/cc26xx/cc26xx-web-demo/README.md b/examples/platform-specific/cc26xx/cc26xx-web-demo/README.md
index 315407fd8..9a4617b3c 100644
--- a/examples/platform-specific/cc26xx/cc26xx-web-demo/README.md
+++ b/examples/platform-specific/cc26xx/cc26xx-web-demo/README.md
@@ -54,33 +54,38 @@ tab, as per the image below.
 
 CoAP Server
 -----------
-For this functionality to work, you will need to install the
-[Copper (Cu)](https://addons.mozilla.org/en-US/firefox/addon/copper-270430/)
-addon to your browser.
+For this functionality to work, you will need to install a CoAP client.
+You can achieve this by following the guides on how to set up your system
+[in the wiki](https://github.com/contiki-ng/contiki-ng/wiki#setting-up-contiki-ng).
 
-From the sensors tab in the 6lbr web page, click the 'coap' link in the line
-corresponding to your CC26xx device. Once the addon fires up, select
-".well-known/core" in the left pane and then hit the 'Get' button at the top.
+You should start by sending a CoAP GET request for the `.well-known/core`
+resource. If you are using libcoap's CoAP client, this can be achieved by:
 
-![CoAP Resources](img/coap-resources.png)
+```
+coap-client -m get coap://[<device IPv6 address here>]/.well-known/core
+```
+
+Adjust the above command to match the command line arguments of your CoAP
+client.
 
 The Device will respond with a list of all available CoAP resources. This list
-will be different between the Srf and the SensorTag. The screenshot below shows
-a (partial) list of resources exported by the SensorTag CoAP server. Select
-a resource on the left pane and hit 'Get' to retrieve its value. Select
-`lt/g` and hit 'Post' to toggle the green LED, `lt/r` for the red one.
+will be different between the various CC13x0/CC26x0 boards.
 
-You can also use CoAP to enable/disable BLE advertisements! Select
-`dev/ble_advd` and then hit the "Outgoing" button in the payload panel. Type in
-the desired payload, which can be:
+Send a CoAP GET request for any of those resrouces to retrieve its value.
+
+Send a CoAP POST to the `lt/g` or `lt/r` to toggle the green/red LED
+respectively.
+
+You can also use CoAP to enable/disable BLE advertisements! This can be done
+by sending a PUT or POST request to the `dev/ble_advd` resource. Your request
+should contain the desired payload, which can be:
 
 * `mode=on|off`
 * `name=<name>`
 * `interval=<secs>`
 
-or a combination of both delimited with an amp. For example, you can set as
-payload `mode=on&name=My CC26xx Device 4&interval=5`. Once you have set the
-payload, hit either the POST or PUT button.
+or a combination of the above delimited with an amp. For example, you can set
+as payload `mode=on&name=My CC26xx Device 4&interval=5`.
 
 Bear in mind that you must set `name` at least once before enabling BLE
 advertisements. If you fail to do so, the RF will refuse to enter BLE mode and
diff --git a/examples/platform-specific/cc26xx/cc26xx-web-demo/img/coap-resources.png b/examples/platform-specific/cc26xx/cc26xx-web-demo/img/coap-resources.png
deleted file mode 100644
index c71c934fe..000000000
Binary files a/examples/platform-specific/cc26xx/cc26xx-web-demo/img/coap-resources.png and /dev/null differ
diff --git a/examples/platform-specific/cc26xx/cc26xx-web-demo/project-conf.h b/examples/platform-specific/cc26xx/cc26xx-web-demo/project-conf.h
index 2463a9e8f..ccd0bf8fb 100644
--- a/examples/platform-specific/cc26xx/cc26xx-web-demo/project-conf.h
+++ b/examples/platform-specific/cc26xx/cc26xx-web-demo/project-conf.h
@@ -33,7 +33,7 @@
 /*---------------------------------------------------------------------------*/
 /* Change to match your configuration */
 #define IEEE802154_CONF_PANID            0xABCD
-#define IEEE802154_CONF_DEFAULT_CHANNEL      25
+#define IEEE802154_CONF_DEFAULT_CHANNEL      26
 #define RF_BLE_CONF_ENABLED                   1
 /*---------------------------------------------------------------------------*/
 
diff --git a/examples/slip-radio/slip-radio.c b/examples/slip-radio/slip-radio.c
index 21779a3dc..b39032d96 100644
--- a/examples/slip-radio/slip-radio.c
+++ b/examples/slip-radio/slip-radio.c
@@ -187,8 +187,8 @@ slip_radio_cmd_handler(const uint8_t *data, int len)
       }
       return 1;
     }
-  } else if(uip_buf[0] == '?') {
-    LOG_DBG("Got request message of type %c\n", uip_buf[1]);
+  } else if(data[0] == '?') {
+    LOG_DBG("Got request message of type %c\n", data[1]);
     if(data[1] == 'M') {
       /* this is just a test so far... just to see if it works */
       uip_buf[0] = '!';
@@ -226,8 +226,9 @@ slip_radio_cmd_handler(const uint8_t *data, int len)
 static void
 slip_input_callback(void)
 {
-  LOG_DBG("SR-SIN: %u '%c%c'\n", uip_len, uip_buf[0], uip_buf[1]);
-  if(!cmd_input(uip_buf, uip_len)) {
+  LOG_DBG("SR-SIN: %u '%c%c'\n", uip_len,
+          uip_buf[UIP_LLH_LEN], uip_buf[UIP_LLH_LEN + 1]);
+  if(!cmd_input(&uip_buf[UIP_LLH_LEN], uip_len)) {
     cmd_send((uint8_t *)"EUnknown command", 16);
   }
   uip_clear_buf();
diff --git a/examples/storage/antelope-shell/Makefile b/examples/storage/antelope-shell/Makefile
index 3b3f7fd23..5eff3dcd3 100644
--- a/examples/storage/antelope-shell/Makefile
+++ b/examples/storage/antelope-shell/Makefile
@@ -3,7 +3,7 @@ CONTIKI = ../../..
 MODULES += os/storage/antelope os/services/unit-test
 
 # does not fit on Sky
-PLATFORMS_ONLY= cc2538
+PLATFORMS_ONLY= cc2538dk zoul
 
 CONTIKI_PROJECT = shell-db
 all: $(CONTIKI_PROJECT)
diff --git a/examples/storage/cfs-coffee/Makefile b/examples/storage/cfs-coffee/Makefile
index 10d6256fa..b6d22f5ac 100644
--- a/examples/storage/cfs-coffee/Makefile
+++ b/examples/storage/cfs-coffee/Makefile
@@ -1,6 +1,6 @@
 CONTIKI = ../../..
 
-PLATFORMS_ONLY= cc2538 sky
+PLATFORMS_ONLY= cc2538dk zoul sky
 
 MODULES += os/services/unit-test
 MODULES += os/storage/cfs
diff --git a/os/net/app-layer/coap/coap-block1.c b/os/net/app-layer/coap/coap-block1.c
index e08a321d1..600c09b27 100644
--- a/os/net/app-layer/coap/coap-block1.c
+++ b/os/net/app-layer/coap/coap-block1.c
@@ -49,7 +49,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "coap-block1"
+#define LOG_MODULE "coap"
 #define LOG_LEVEL  LOG_LEVEL_COAP
 
 /*---------------------------------------------------------------------------*/
diff --git a/os/net/app-layer/coap/coap-blocking-api.c b/os/net/app-layer/coap/coap-blocking-api.c
index 0d2c5dc58..1be7cbe7c 100644
--- a/os/net/app-layer/coap/coap-blocking-api.c
+++ b/os/net/app-layer/coap/coap-blocking-api.c
@@ -51,7 +51,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "coap-blocking-api"
+#define LOG_MODULE "coap"
 #define LOG_LEVEL  LOG_LEVEL_COAP
 
 /*---------------------------------------------------------------------------*/
diff --git a/os/net/app-layer/coap/coap-callback-api.c b/os/net/app-layer/coap/coap-callback-api.c
index 652856233..b1b05597e 100644
--- a/os/net/app-layer/coap/coap-callback-api.c
+++ b/os/net/app-layer/coap/coap-callback-api.c
@@ -51,7 +51,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "coap-callback-api"
+#define LOG_MODULE "coap"
 #define LOG_LEVEL  LOG_LEVEL_COAP
 
 /* These should go into the state struct so that we can have multiple
diff --git a/os/net/app-layer/coap/coap-observe-client.c b/os/net/app-layer/coap/coap-observe-client.c
index af1e89f14..a27308494 100644
--- a/os/net/app-layer/coap/coap-observe-client.c
+++ b/os/net/app-layer/coap/coap-observe-client.c
@@ -55,7 +55,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "coap-observe-client"
+#define LOG_MODULE "coap"
 #define LOG_LEVEL  LOG_LEVEL_COAP
 
 MEMB(obs_subjects_memb, coap_observee_t, COAP_MAX_OBSERVEES);
diff --git a/os/net/app-layer/coap/coap-observe.c b/os/net/app-layer/coap/coap-observe.c
index 676c4d1b3..83f5edf4a 100644
--- a/os/net/app-layer/coap/coap-observe.c
+++ b/os/net/app-layer/coap/coap-observe.c
@@ -50,7 +50,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "coap-observe"
+#define LOG_MODULE "coap"
 #define LOG_LEVEL  LOG_LEVEL_COAP
 
 /*---------------------------------------------------------------------------*/
diff --git a/os/net/app-layer/coap/coap-res-well-known-core.c b/os/net/app-layer/coap/coap-res-well-known-core.c
index 2893925c9..ebaae8fd4 100644
--- a/os/net/app-layer/coap/coap-res-well-known-core.c
+++ b/os/net/app-layer/coap/coap-res-well-known-core.c
@@ -47,7 +47,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "coap-res-well-known-core"
+#define LOG_MODULE "coap"
 #define LOG_LEVEL  LOG_LEVEL_COAP
 
 #define ADD_CHAR_IF_POSSIBLE(char) \
diff --git a/os/net/app-layer/coap/coap-separate.c b/os/net/app-layer/coap/coap-separate.c
index 318a4e53d..7eb5e5675 100644
--- a/os/net/app-layer/coap/coap-separate.c
+++ b/os/net/app-layer/coap/coap-separate.c
@@ -49,7 +49,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "coap-separate"
+#define LOG_MODULE "coap"
 #define LOG_LEVEL  LOG_LEVEL_COAP
 
 /*---------------------------------------------------------------------------*/
diff --git a/os/net/app-layer/coap/coap-timer-default.c b/os/net/app-layer/coap/coap-timer-default.c
index ad1b30d28..7da3dfb05 100644
--- a/os/net/app-layer/coap/coap-timer-default.c
+++ b/os/net/app-layer/coap/coap-timer-default.c
@@ -52,7 +52,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "coap-timer-default"
+#define LOG_MODULE "coap-timer"
 #define LOG_LEVEL  LOG_LEVEL_NONE
 
 PROCESS(coap_timer_process, "coap timer process");
diff --git a/os/net/app-layer/coap/coap-transactions.c b/os/net/app-layer/coap/coap-transactions.c
index 652737b94..7e34d22e4 100644
--- a/os/net/app-layer/coap/coap-transactions.c
+++ b/os/net/app-layer/coap/coap-transactions.c
@@ -50,7 +50,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "coap-transactions"
+#define LOG_MODULE "coap"
 #define LOG_LEVEL  LOG_LEVEL_COAP
 
 /*---------------------------------------------------------------------------*/
diff --git a/os/net/app-layer/coap/tinydtls-support/dtls-support.c b/os/net/app-layer/coap/tinydtls-support/dtls-support.c
index ad960b718..4675c76d0 100644
--- a/os/net/app-layer/coap/tinydtls-support/dtls-support.c
+++ b/os/net/app-layer/coap/tinydtls-support/dtls-support.c
@@ -42,7 +42,7 @@
 #include <stdarg.h>
 
 /* Log configuration */
-#define LOG_MODULE "dtls-support"
+#define LOG_MODULE "dtls"
 #define LOG_LEVEL  LOG_LEVEL_DTLS
 #include "dtls-log.h"
 #include "coap-log.h"
diff --git a/os/net/ipv6/uiplib.c b/os/net/ipv6/uiplib.c
index 693626c87..afe6de42b 100644
--- a/os/net/ipv6/uiplib.c
+++ b/os/net/ipv6/uiplib.c
@@ -250,9 +250,11 @@ uiplib_ipaddr_snprint(char *buf, size_t size, const uip_ipaddr_t *addr)
     }
   }
 
-  if(n >= size - 1) {
-    buf[size - 1] = '\0';
-  }
+  /*
+   * Make sure the output string is always null-terminated.
+   */
+  buf[MIN(n, size - 1)] = '\0';
+
   return n;
 }
 /*---------------------------------------------------------------------------*/
diff --git a/os/net/mac/csma/csma-output.c b/os/net/mac/csma/csma-output.c
index 59949c040..9c88d569d 100644
--- a/os/net/mac/csma/csma-output.c
+++ b/os/net/mac/csma/csma-output.c
@@ -50,10 +50,10 @@
 #include "lib/list.h"
 #include "lib/memb.h"
 
-#if CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64
+#if CONTIKI_TARGET_COOJA
 #include "lib/simEnvChange.h"
 #include "sys/cooja_mt.h"
-#endif /* CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64 */
+#endif /* CONTIKI_TARGET_COOJA */
 
 /* Log configuration */
 #include "sys/log.h"
@@ -207,10 +207,10 @@ send_one_packet(void *ptr)
           wt = RTIMER_NOW();
           watchdog_periodic();
           while(RTIMER_CLOCK_LT(RTIMER_NOW(), wt + CSMA_ACK_WAIT_TIME)) {
-#if CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64
+#if CONTIKI_TARGET_COOJA
             simProcessRunValue = 1;
             cooja_mt_yield();
-#endif /* CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64 */
+#endif /* CONTIKI_TARGET_COOJA */
           }
 
           ret = MAC_TX_NOACK;
@@ -225,10 +225,10 @@ send_one_packet(void *ptr)
               watchdog_periodic();
               while(RTIMER_CLOCK_LT(RTIMER_NOW(),
                                     wt + CSMA_AFTER_ACK_DETECTED_WAIT_TIME)) {
-#if CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64
+#if CONTIKI_TARGET_COOJA
                 simProcessRunValue = 1;
                 cooja_mt_yield();
-#endif /* CONTIKI_TARGET_COOJA || CONTIKI_TARGET_COOJA_IP64 */
+#endif /* CONTIKI_TARGET_COOJA */
               }
             }
 
diff --git a/os/net/mac/tsch/tsch-adaptive-timesync.h b/os/net/mac/tsch/tsch-adaptive-timesync.h
index be61b9514..c4ca20b7b 100644
--- a/os/net/mac/tsch/tsch-adaptive-timesync.h
+++ b/os/net/mac/tsch/tsch-adaptive-timesync.h
@@ -33,6 +33,8 @@
 /**
  * \addtogroup tsch
  * @{
+ * \file
+ *	TSCH adaptive time synchronization
 */
 
 #ifndef __TSCH_ADAPTIVE_TIMESYNC_H__
@@ -44,15 +46,30 @@
 
 /***** External Variables *****/
 
-/* The neighbor last used as our time source */
+/** \brief The neighbor last used as our time source */
 extern struct tsch_neighbor *last_timesource_neighbor;
 
 /********** Functions *********/
 
+/**
+ * \brief Updates timesync information for a given neighbor
+ * \param n The neighbor
+ * \param time_delta_asn ASN time delta since last synchronization, i.e. number of slots elapsed
+ * \param drift_correction The measured drift in ticks since last synchronization
+ */
 void tsch_timesync_update(struct tsch_neighbor *n, uint16_t time_delta_asn, int32_t drift_correction);
 
+/**
+ * \brief Computes time compensation for a given point in the future
+ * \param delta_ticks The number of ticks in the future we want to calculate compensation for
+ * \return The time compensation
+ */
 int32_t tsch_timesync_adaptive_compensate(rtimer_clock_t delta_ticks);
 
+/**
+ * \brief Gives the estimated clock drift w.r.t. the time source in PPM (parts per million)
+ * \return The time drift in PPM
+ */
 long int tsch_adaptive_timesync_get_drift_ppm(void);
 
 #endif /* __TSCH_ADAPTIVE_TIMESYNC_H__ */
diff --git a/os/net/mac/tsch/tsch-asn.h b/os/net/mac/tsch/tsch-asn.h
index 9895cdcf4..1db99b432 100644
--- a/os/net/mac/tsch/tsch-asn.h
+++ b/os/net/mac/tsch/tsch-asn.h
@@ -31,16 +31,12 @@
  */
 
 /**
+ * \addtogroup tsch
+ * @{
  * \file
  *         TSCH 5-Byte Absolute Slot Number (ASN) management
  * \author
  *         Simon Duquennoy <simonduq@sics.se>
- *
- */
-
-/**
- * \addtogroup tsch
- * @{
 */
 
 #ifndef __TSCH_ASN_H__
@@ -48,13 +44,13 @@
 
 /************ Types ***********/
 
-/* The ASN is an absolute slot number over 5 bytes. */
+/** \brief The ASN is an absolute slot number over 5 bytes. */
 struct tsch_asn_t {
   uint32_t ls4b; /* least significant 4 bytes */
   uint8_t  ms1b; /* most significant 1 byte */
 };
 
-/* For quick modulo operation on ASN */
+/** \brief For quick modulo operation on ASN */
 struct tsch_asn_divisor_t {
   uint16_t val; /* Divisor value */
   uint16_t asn_ms1b_remainder; /* Remainder of the operation 0x100000000 / val */
@@ -62,37 +58,37 @@ struct tsch_asn_divisor_t {
 
 /************ Macros **********/
 
-/* Initialize ASN */
+/** \brief Initialize ASN */
 #define TSCH_ASN_INIT(asn, ms1b_, ls4b_) do { \
     (asn).ms1b = (ms1b_); \
     (asn).ls4b = (ls4b_); \
 } while(0);
 
-/* Increment an ASN by inc (32 bits) */
+/** \brief Increment an ASN by inc (32 bits) */
 #define TSCH_ASN_INC(asn, inc) do { \
     uint32_t new_ls4b = (asn).ls4b + (inc); \
     if(new_ls4b < (asn).ls4b) { (asn).ms1b++; } \
     (asn).ls4b = new_ls4b; \
 } while(0);
 
-/* Decrement an ASN by inc (32 bits) */
+/** \brief Decrement an ASN by inc (32 bits) */
 #define TSCH_ASN_DEC(asn, dec) do { \
     uint32_t new_ls4b = (asn).ls4b - (dec); \
     if(new_ls4b > (asn).ls4b) { (asn).ms1b--; } \
     (asn).ls4b = new_ls4b; \
 } while(0);
 
-/* Returns the 32-bit diff between asn1 and asn2 */
+/** \brief Returns the 32-bit diff between asn1 and asn2 */
 #define TSCH_ASN_DIFF(asn1, asn2) \
   ((asn1).ls4b - (asn2).ls4b)
 
-/* Initialize a struct asn_divisor_t */
+/** \brief Initialize a struct asn_divisor_t */
 #define TSCH_ASN_DIVISOR_INIT(div, val_) do { \
     (div).val = (val_); \
     (div).asn_ms1b_remainder = ((0xffffffff % (val_)) + 1) % (val_); \
 } while(0);
 
-/* Returns the result (16 bits) of a modulo operation on ASN,
+/** \brief Returns the result (16 bits) of a modulo operation on ASN,
  * with divisor being a struct asn_divisor_t */
 #define TSCH_ASN_MOD(asn, div) \
   ((uint16_t)((asn).ls4b % (div).val) \
diff --git a/os/net/mac/tsch/tsch-conf.h b/os/net/mac/tsch/tsch-conf.h
index 8c94fbc9d..3ee47b9cb 100644
--- a/os/net/mac/tsch/tsch-conf.h
+++ b/os/net/mac/tsch/tsch-conf.h
@@ -31,17 +31,14 @@
  */
 
 /**
+* \addtogroup tsch
+* @{
  * \file
  *         TSCH configuration
  * \author
  *         Simon Duquennoy <simonduq@sics.se>
  */
 
-/**
- * \addtogroup tsch
- * @{
-*/
-
 #ifndef __TSCH_CONF_H__
 #define __TSCH_CONF_H__
 
diff --git a/os/net/mac/tsch/tsch-const.h b/os/net/mac/tsch/tsch-const.h
index 607bb3506..81ca7ffa8 100644
--- a/os/net/mac/tsch/tsch-const.h
+++ b/os/net/mac/tsch/tsch-const.h
@@ -31,17 +31,14 @@
  */
 
 /**
+* \addtogroup tsch
+* @{
  * \file
- *         TSCH configuration
+ *         TSCH constants
  * \author
  *         Simon Duquennoy <simonduq@sics.se>
  */
 
-/**
- * \addtogroup tsch
- * @{
-*/
-
 #ifndef __TSCH_CONST_H__
 #define __TSCH_CONST_H__
 
diff --git a/os/net/mac/tsch/tsch-log.h b/os/net/mac/tsch/tsch-log.h
index 198304b43..468eff869 100644
--- a/os/net/mac/tsch/tsch-log.h
+++ b/os/net/mac/tsch/tsch-log.h
@@ -33,6 +33,8 @@
 /**
  * \addtogroup tsch
  * @{
+ * \file
+ *	TSCH per-slot logging
 */
 
 #ifndef __TSCH_LOG_H__
@@ -70,7 +72,7 @@
 
 /************ Types ***********/
 
-/* Structure for a log. Union of different types of logs */
+/** \brief Structure for a log. Union of different types of logs */
 struct tsch_log_t {
   enum { tsch_log_tx,
          tsch_log_rx,
@@ -107,21 +109,31 @@ struct tsch_log_t {
 
 /********** Functions *********/
 
-/* Prepare addition of a new log.
- * Returns pointer to log structure if success, NULL otherwise */
+/**
+ * \brief Prepare addition of a new log.
+ * \return A pointer to log structure if success, NULL otherwise
+ */
 struct tsch_log_t *tsch_log_prepare_add(void);
-/* Actually add the previously prepared log */
+/**
+ * \brief Actually add the previously prepared log
+ */
 void tsch_log_commit(void);
-/* Initialize log module */
+/**
+ * \brief Initialize log module
+ */
 void tsch_log_init(void);
-/* Process pending log messages */
+/**
+ * \brief Process pending log messages
+ */
 void tsch_log_process_pending(void);
-/* Stop logging module */
+/**
+ * \brief Stop logging module
+ */
 void tsch_log_stop(void);
 
 /************ Macros **********/
 
-/* Use this macro to add a log to the queue (will be printed out
+/** \brief Use this macro to add a log to the queue (will be printed out
  * later, after leaving interrupt context) */
 #define TSCH_LOG_ADD(log_type, init_code) do { \
     struct tsch_log_t *log = tsch_log_prepare_add(); \
diff --git a/os/net/mac/tsch/tsch-packet.c b/os/net/mac/tsch/tsch-packet.c
index e0e253a3f..64f03b588 100644
--- a/os/net/mac/tsch/tsch-packet.c
+++ b/os/net/mac/tsch/tsch-packet.c
@@ -390,8 +390,7 @@ tsch_packet_update_eb(uint8_t *buf, int buf_size, uint8_t tsch_sync_ie_offset)
   struct ieee802154_ies ies;
   ies.ie_asn = tsch_current_asn;
   ies.ie_join_priority = tsch_join_priority;
-  frame80215e_create_ie_tsch_synchronization(buf+tsch_sync_ie_offset, buf_size-tsch_sync_ie_offset, &ies);
-  return 1;
+  return frame80215e_create_ie_tsch_synchronization(buf+tsch_sync_ie_offset, buf_size-tsch_sync_ie_offset, &ies) != -1;
 }
 /*---------------------------------------------------------------------------*/
 /* Parse a IEEE 802.15.4e TSCH Enhanced Beacon (EB) */
diff --git a/os/net/mac/tsch/tsch-packet.h b/os/net/mac/tsch/tsch-packet.h
index 4dfbcbe72..6b05d6653 100644
--- a/os/net/mac/tsch/tsch-packet.h
+++ b/os/net/mac/tsch/tsch-packet.h
@@ -33,6 +33,8 @@
 /**
  * \addtogroup tsch
  * @{
+ * \file
+ *	TSCH packet parsing and creation. EBs and EACKs.
 */
 
 #ifndef __TSCH_PACKET_H__
@@ -46,18 +48,56 @@
 
 /********** Functions *********/
 
-/* Construct enhanced ACK packet and return ACK length */
+/**
+ * \brief Construct Enhanced ACK packet
+ * \param buf The buffer where to build the EACK
+ * \param buf_size The buffer size
+ * \param dest_addr The link-layer address of the neighbor we are ACKing
+ * \param seqno The sequence number we are ACKing
+ * \param drift The time offset in usec measured at Rx of the packer we are ACKing
+ * \param nack Value of the NACK bit
+ * \return The length of the packet that was created. -1 if failure.
+ */
 int tsch_packet_create_eack(uint8_t *buf, uint16_t buf_size,
                             const linkaddr_t *dest_addr, uint8_t seqno,
                             int16_t drift, int nack);
-/* Parse enhanced ACK packet, extract drift and nack */
+/**
+ * \brief Parse enhanced ACK packet
+ * \param buf The buffer where to parse the EACK from
+ * \param buf_size The buffer size
+ * \param seqno The sequence number we are expecting
+ * \param frame The frame structure where to store parsed fields
+ * \param ies The IE structure where to store parsed IEs
+ * \param hdr_len A pointer where to store the length of the parsed header
+ * \return 1 if the EACK is correct and acknowledges the specified frame, 0 otherwise
+ */
 int tsch_packet_parse_eack(const uint8_t *buf, int buf_size,
     uint8_t seqno, frame802154_t *frame, struct ieee802154_ies *ies, uint8_t *hdr_len);
-/* Create an EB packet */
+/**
+ * \brief Create an EB packet directly in packetbuf
+ * \param hdr_len A pointer where to store the length of the created header
+ * \param tsch_sync_ie_ptr A pointer where to store the address of the TSCH synchronization IE
+ * \return The total length of the EB
+ */
 int tsch_packet_create_eb(uint8_t *hdr_len, uint8_t *tsch_sync_ie_ptr);
-/* Update ASN in EB packet */
+/**
+ * \brief Update ASN in EB packet
+ * \param buf The buffer that contains the EB
+ * \param buf_size The buffer size
+ * \param tsch_sync_ie_offset The offset of the TSCH synchronization IE, in which the ASN is to be written
+ * \return 1 if success, 0 otherwise
+ */
 int tsch_packet_update_eb(uint8_t *buf, int buf_size, uint8_t tsch_sync_ie_offset);
-/* Parse EB and extract ASN and join priority */
+/**
+ * \brief Parse EB
+ * \param buf The buffer where to parse the EB from
+ * \param buf_size The buffer sizecting
+ * \param frame The frame structure where to store parsed fields
+ * \param ies The IE structure where to store parsed IEs
+ * \param hdrlen A pointer where to store the length of the parsed header
+ * \param frame_without_mic When set, the security MIC will not be parsed
+ * \return The length of the parsed EB
+  */
 int tsch_packet_parse_eb(const uint8_t *buf, int buf_size,
     frame802154_t *frame, struct ieee802154_ies *ies,
     uint8_t *hdrlen, int frame_without_mic);
diff --git a/os/net/mac/tsch/tsch-queue.h b/os/net/mac/tsch/tsch-queue.h
index 8c7dceb37..b7edcf300 100644
--- a/os/net/mac/tsch/tsch-queue.h
+++ b/os/net/mac/tsch/tsch-queue.h
@@ -33,6 +33,8 @@
 /**
  * \addtogroup tsch
  * @{
+ * \file
+ *	TSCH queues
 */
 
 #ifndef __TSCH_QUEUE_H__
@@ -53,50 +55,128 @@ extern struct tsch_neighbor *n_eb;
 
 /********** Functions *********/
 
-/* Add a TSCH neighbor */
+/**
+ * \brief Add a TSCH neighbor queue
+ * \param addr The link-layer address of the neighbor to be added
+ */
 struct tsch_neighbor *tsch_queue_add_nbr(const linkaddr_t *addr);
-/* Get a TSCH neighbor */
+/**
+ * \brief Get a TSCH neighbor
+ * \param addr The link-layer address of the neighbor we are looking for
+ * \return A pointer to the neighbor queue, NULL if not found
+ */
 struct tsch_neighbor *tsch_queue_get_nbr(const linkaddr_t *addr);
-/* Get a TSCH time source (we currently assume there is only one) */
+/**
+ * \brief Get the TSCH time source (we currently assume there is only one)
+ * \return The neighbor queue associated to the time source
+ */
 struct tsch_neighbor *tsch_queue_get_time_source(void);
-/* Update TSCH time source */
+/**
+ * \brief Update TSCH time source
+ * \param new_addr The address of the new TSCH time source
+ */
 int tsch_queue_update_time_source(const linkaddr_t *new_addr);
-/* Add packet to neighbor queue. Use same lockfree implementation as ringbuf.c (put is atomic) */
+/**
+ * \brief Add packet to neighbor queue. Use same lockfree implementation as ringbuf.c (put is atomic)
+ * \param addr The address of the targetted neighbor, &tsch_broadcast_address for broadcast
+ * \param max_transmissions The number of MAC retries
+ * \param sent The MAC packet sent callback
+ * \param ptr The MAC packet send callback parameter
+ * \return The newly created packet if any, NULL otherwise
+ */
 struct tsch_packet *tsch_queue_add_packet(const linkaddr_t *addr, uint8_t max_transmissions,
                                           mac_callback_t sent, void *ptr);
-/* Returns the number of packets currently in any TSCH queue */
+/**
+ * \brief Returns the number of packets currently in all TSCH queues
+ * \return The number of packets currently in all TSCH queues
+ */
 int tsch_queue_global_packet_count(void);
-/* Returns the number of packets currently a given neighbor queue */
+/**
+ * \brief Returns the number of packets currently a given neighbor queue
+ * \param addr The link-layer address of the neighbor we are interested in
+ * \return The number of packets in the neighbor's queue
+ */
 int tsch_queue_packet_count(const linkaddr_t *addr);
-/* Remove first packet from a neighbor queue. The packet is stored in a separate
- * dequeued packet list, for later processing. Return the packet. */
+/**
+ * \brief Remove first packet from a neighbor queue. The packet is stored in a separate
+ * dequeued packet list, for later processing.
+ * \param n The neighbor queue
+ * \return The packet that was removed if any, NULL otherwise
+ */
 struct tsch_packet *tsch_queue_remove_packet_from_queue(struct tsch_neighbor *n);
-/* Free a packet */
+/**
+ * \brief Free a packet
+ * \param p The packet to be freed
+ */
 void tsch_queue_free_packet(struct tsch_packet *p);
-/* Updates neighbor queue state after a transmission */
+/**
+ * \brief Updates neighbor queue state after a transmission
+ * \param n The neighbor queue we just sent from
+ * \param p The packet that was just sent
+ * \param link The TSCH link used for Tx
+ * \param mac_tx_status The MAC status (see mac.h)
+ * \return 1 if the packet remains in queue after the call, 0 if it was removed
+ */
 int tsch_queue_packet_sent(struct tsch_neighbor *n, struct tsch_packet *p, struct tsch_link *link, uint8_t mac_tx_status);
-/* Reset neighbor queues */
+/**
+ * \brief Reset neighbor queues module
+ */
 void tsch_queue_reset(void);
-/* Deallocate neighbors with empty queue */
+/**
+ * \brief Deallocate all neighbors with empty queue
+ */
 void tsch_queue_free_unused_neighbors(void);
-/* Is the neighbor queue empty? */
+/**
+ * \brief Is the neighbor queue empty?
+ * \param n The neighbor queue
+ * \return 1 if empty, 0 otherwise
+ */
 int tsch_queue_is_empty(const struct tsch_neighbor *n);
-/* Returns the first packet from a neighbor queue */
+/**
+ * \brief Returns the first packet that can be sent from a queue on a given link
+ * \param n The neighbor queue
+ * \param link The link
+ * \return The next packet to be sent for the neighbor on the given link, if any, else NULL
+ */
 struct tsch_packet *tsch_queue_get_packet_for_nbr(const struct tsch_neighbor *n, struct tsch_link *link);
-/* Returns the head packet from a neighbor queue (from neighbor address) */
+/**
+ * \brief Returns the first packet that can be sent to a given address on a given link
+ * \param addr The target link-layer address
+ * \param link The link
+ * \return The next packet to be sent for to the given address on the given link, if any, else NULL
+ */
 struct tsch_packet *tsch_queue_get_packet_for_dest_addr(const linkaddr_t *addr, struct tsch_link *link);
-/* Returns the head packet of any neighbor queue with zero backoff counter.
- * Writes pointer to the neighbor in *n */
+/**
+ * \brief Gets the head packet of any neighbor queue with zero backoff counter.
+ * \param n A pointer where to store the neighbor queue to be used for Tx
+ * \param link The link to be used for Tx
+ * \return The packet if any, else NULL
+ */
 struct tsch_packet *tsch_queue_get_unicast_packet_for_any(struct tsch_neighbor **n, struct tsch_link *link);
-/* May the neighbor transmit over a share link? */
+/**
+ * \brief Is the neighbor backoff timer expired?
+ * \param n The neighbor queue
+ * \return 1 if the backoff has expired (neighbor ready to transmit on a shared link), 0 otherwise
+ */
 int tsch_queue_backoff_expired(const struct tsch_neighbor *n);
-/* Reset neighbor backoff */
+/**
+ * \brief Reset neighbor backoff
+ * \param n The neighbor queue
+ */
 void tsch_queue_backoff_reset(struct tsch_neighbor *n);
-/* Increment backoff exponent, pick a new window */
+/**
+ * \brief Increment backoff exponent of a given neighbor queue, pick a new window
+ * \param n The neighbor queue
+ */
 void tsch_queue_backoff_inc(struct tsch_neighbor *n);
-/* Decrement backoff window for all queues directed at dest_addr */
+/**
+ * \brief Decrement backoff window for the queue(s) able to Tx to a given address
+ * \param dest_addr The target address, &tsch_broadcast_address for broadcast
+ */
 void tsch_queue_update_all_backoff_windows(const linkaddr_t *dest_addr);
-/* Initialize TSCH queue module */
+/**
+ * \brief Initialize TSCH queue module
+ */
 void tsch_queue_init(void);
 
 #endif /* __TSCH_QUEUE_H__ */
diff --git a/os/net/mac/tsch/tsch-rpl.h b/os/net/mac/tsch/tsch-rpl.h
index 64e31166c..23a148db8 100644
--- a/os/net/mac/tsch/tsch-rpl.h
+++ b/os/net/mac/tsch/tsch-rpl.h
@@ -31,6 +31,8 @@
 /**
  * \addtogroup tsch
  * @{
+ * \file
+ *	TSCH-RPL interaction
 */
 
 #ifndef __TSCH_RPL_H__
@@ -47,20 +49,35 @@
 
 /********** Functions *********/
 
-/* Keep-alives packet sent callback.
- * To use, set #define TSCH_CALLBACK_KA_SENT tsch_rpl_callback_ka_sent */
+/**
+* \brief Report statiscs from KA packet sent in RPL.
+* To use, set TSCH_CALLBACK_KA_SENT to tsch_rpl_callback_ka_sent
+* \param status The packet sent status
+* \param transmissions The total number of transmissions
+*/
 void tsch_rpl_callback_ka_sent(int status, int transmissions);
-/* To use, set #define TSCH_CALLBACK_JOINING_NETWORK tsch_rpl_callback_joining_network */
+/**
+ * \brief Let RPL know that TSCH joined a new network.
+ * To use, set TSCH_CALLBACK_JOINING_NETWORK to tsch_rpl_callback_joining_network
+ */
 void tsch_rpl_callback_joining_network(void);
-/* Upon leaving a TSCH network, perform a local repair
- * (cleanup neighbor state, reset Trickle timer etc)
- * To use, set #define TSCH_CALLBACK_LEAVING_NETWORK tsch_rpl_callback_leaving_network */
+/**
+ * \brief Let RPL know that TSCH joined a new network. Triggers a local repair.
+ * To use, set TSCH_CALLBACK_LEAVING_NETWORK to tsch_rpl_callback_leaving_network
+ */
 void tsch_rpl_callback_leaving_network(void);
-/* Set TSCH EB period based on current RPL DIO period.
- * To use, set #define RPL_CALLBACK_NEW_DIO_INTERVAL tsch_rpl_callback_new_dio_interval */
+/**
+ * \brief Set TSCH EB period based on current RPL DIO period.
+ * To use, set RPL_CALLBACK_NEW_DIO_INTERVAL to tsch_rpl_callback_new_dio_interval
+ * \param dio_interval The new DIO interval in clock ticks
+ */
 void tsch_rpl_callback_new_dio_interval(clock_time_t dio_interval);
-/* Set TSCH time source based on current RPL preferred parent.
- * To use, set #define RPL_CALLBACK_PARENT_SWITCH tsch_rpl_callback_parent_switch */
+/**
+ * \brief Set TSCH time source based on current RPL preferred parent.
+ * To use, set RPL_CALLBACK_PARENT_SWITCH to tsch_rpl_callback_parent_switch
+ * \param old The old RPL parent
+ * \param new The new RPL parent
+ */
 void tsch_rpl_callback_parent_switch(rpl_parent_t *old, rpl_parent_t *new);
 
 #endif /* __TSCH_RPL_H__ */
diff --git a/os/net/mac/tsch/tsch-schedule.h b/os/net/mac/tsch/tsch-schedule.h
index 2a2cf5e25..d98a744f3 100644
--- a/os/net/mac/tsch/tsch-schedule.h
+++ b/os/net/mac/tsch/tsch-schedule.h
@@ -33,6 +33,8 @@
 /**
  * \addtogroup tsch
  * @{
+ * \file
+ *	TSCH scheduling engine
 */
 
 #ifndef __TSCH_SCHEDULE_H__
@@ -45,42 +47,115 @@
 
 /********** Functions *********/
 
-/* Module initialization, call only once at startup. Returns 1 is success, 0 if failure. */
+/**
+ * \brief Module initialization, call only once at init
+ * \return 1 if success, 0 if failure
+ */
 int tsch_schedule_init(void);
-/* Create a 6TiSCH minimal schedule */
+/**
+ * \brief Create a 6tisch minimal schedule with length TSCH_SCHEDULE_DEFAULT_LENGTH
+ */
 void tsch_schedule_create_minimal(void);
-/* Prints out the current schedule (all slotframes and links) */
+/**
+ * \brief Prints out the current schedule (all slotframes and links)
+ */
 void tsch_schedule_print(void);
 
-/* Adds and returns a slotframe (NULL if failure) */
+
+/**
+ * \brief Creates and adds a new slotframe
+ * \param handle the slotframe handle
+ * \param size the slotframe size
+ * \return the new slotframe, NULL if failure
+ */
 struct tsch_slotframe *tsch_schedule_add_slotframe(uint16_t handle, uint16_t size);
-/* Looks for a slotframe from a handle */
+
+/**
+ * \brief Looks up a slotframe by handle
+ * \param handle the slotframe handle
+ * \return the slotframe with required handle, if any. NULL otherwise.
+ */
 struct tsch_slotframe *tsch_schedule_get_slotframe_by_handle(uint16_t handle);
-/* Removes a slotframe Return 1 if success, 0 if failure */
+
+/**
+ * \brief Removes a slotframe
+ * \param slotframe The slotframe to be removed
+ * \return 1 if success, 0 if failure
+ */
 int tsch_schedule_remove_slotframe(struct tsch_slotframe *slotframe);
-/* Removes all slotframes, resulting in an empty schedule */
+
+/**
+ * \brief Removes all slotframes, resulting in an empty schedule
+ * \return 1 if success, 0 if failure
+ */
 int tsch_schedule_remove_all_slotframes(void);
 
-/* Returns next slotframe */
-struct tsch_slotframe *tsch_schedule_slotframes_next(struct tsch_slotframe *sf);
-/* Adds a link to a slotframe, return a pointer to it (NULL if failure) */
+/**
+ * \brief Adds a link to a slotframe
+ * \param slotframe The slotframe that will contain the new link
+ * \param link_options The link options, as a bitfield (LINK_OPTION_* flags)
+ * \param link_type The link type (advertising, normal)
+ * \param address The link address of the intended destination. Use &tsch_broadcast_address for a slot towards any neighbor
+ * \param timeslot The link timeslot within the slotframe
+ * \param channel_offset The link channel offset
+ * \return A pointer to the new link, NULL if failure
+ */
 struct tsch_link *tsch_schedule_add_link(struct tsch_slotframe *slotframe,
                                          uint8_t link_options, enum link_type link_type, const linkaddr_t *address,
                                          uint16_t timeslot, uint16_t channel_offset);
-/* Looks for a link from a handle */
+/**
+* \brief Looks for a link from a handle
+* \param handle The target handle
+* \return The link with required handle, if any. Otherwise, NULL
+*/
 struct tsch_link *tsch_schedule_get_link_by_handle(uint16_t handle);
-/* Looks within a slotframe for a link with a given timeslot */
+
+/**
+ * \brief Looks within a slotframe for a link with a given timeslot
+ * \param slotframe The desired slotframe
+ * \param timeslot The desired timeslot
+ * \return The link if found, NULL otherwise
+ */
 struct tsch_link *tsch_schedule_get_link_by_timeslot(struct tsch_slotframe *slotframe, uint16_t timeslot);
-/* Removes a link. Return 1 if success, 0 if failure */
+
+/**
+ * \brief Removes a link
+ * \param slotframe The slotframe the link belongs to
+ * \param l The link to be removed
+ * \return 1 if success, 0 if failure
+ */
 int tsch_schedule_remove_link(struct tsch_slotframe *slotframe, struct tsch_link *l);
-/* Removes a link from slotframe and timeslot. Return a 1 if success, 0 if failure */
+
+/**
+ * \brief Removes a link from a slotframe and timeslot
+ * \param slotframe The slotframe where to look for the link
+ * \param timeslot The timeslot where to look for the link within the target slotframe
+ * \return 1 if success, 0 if failure
+ */
 int tsch_schedule_remove_link_by_timeslot(struct tsch_slotframe *slotframe, uint16_t timeslot);
 
-/* Returns the next active link after a given ASN, and a backup link (for the same ASN, with Rx flag) */
+
+/**
+ * \brief Returns the next active link after a given ASN, and a backup link (for the same ASN, with Rx flag)
+ * \param asn The base ASN, from which we look for the next active link
+ * \param time_offset A pointer to uint16_t where to store the time offset between base ASN and link found
+ * \param backup_link A pointer where to write the address of a backup link, to be executed should the original be no longer active at wakeup
+ * \return The next active link if any, NULL otherwise
+ */
 struct tsch_link * tsch_schedule_get_next_active_link(struct tsch_asn_t *asn, uint16_t *time_offset,
     struct tsch_link **backup_link);
-/* Access to slotframe list */
+
+/**
+ * \brief Access the first item in the list of slotframes
+ * \return The first slotframe in the schedule if any, NULL otherwise
+ */
 struct tsch_slotframe *tsch_schedule_slotframe_head(void);
+
+/**
+ * \brief Access the next item in the list of slotframes
+ * \param sf The current slotframe (item in the list)
+ * \return The next slotframe if any, NULL otherwise
+ */
 struct tsch_slotframe *tsch_schedule_slotframe_next(struct tsch_slotframe *sf);
 
 #endif /* __TSCH_SCHEDULE_H__ */
diff --git a/os/net/mac/tsch/tsch-security.h b/os/net/mac/tsch/tsch-security.h
index 683bc6316..56c854414 100644
--- a/os/net/mac/tsch/tsch-security.h
+++ b/os/net/mac/tsch/tsch-security.h
@@ -33,6 +33,8 @@
 /**
  * \addtogroup tsch
  * @{
+ * \file
+ *	TSCH security
 */
 
 #ifndef __TSCH_SECURITY_H__
diff --git a/os/net/mac/tsch/tsch-slot-operation.h b/os/net/mac/tsch/tsch-slot-operation.h
index 1702ce199..1c71c5587 100644
--- a/os/net/mac/tsch/tsch-slot-operation.h
+++ b/os/net/mac/tsch/tsch-slot-operation.h
@@ -33,6 +33,8 @@
 /**
  * \addtogroup tsch
  * @{
+ * \file
+ *	TSCH runtime operation within timeslots
 */
 
 #ifndef __TSCH_SLOT_OPERATION_H__
@@ -58,19 +60,45 @@ extern clock_time_t last_sync_time;
 
 /********** Functions *********/
 
-/* Returns a 802.15.4 channel from an ASN and channel offset */
+/**
+ * Returns a 802.15.4 channel from an ASN and channel offset. Basically adds
+ * The offset to the ASN and performs a hopping sequence lookup.
+ *
+ * \param asn A given ASN
+ * \param channel_offset A given channel offset
+ * \return The resulting channel
+ */
 uint8_t tsch_calculate_channel(struct tsch_asn_t *asn, uint8_t channel_offset);
-/* Is TSCH locked? */
+/**
+ * Checks if the TSCH lock is set. Accesses to global structures outside of
+ * interrupts must be done through the lock, unless the sturcutre has
+ * atomic read/write
+ *
+ * \return 1 if the lock is taken, 0 otherwise
+ */
 int tsch_is_locked(void);
-/* Lock TSCH (no link operation) */
+/**
+ * Takes the TSCH lock. When the lock is taken, slot operation will be skipped
+ * until release.
+ *
+ * \return 1 if the lock was successfully taken, 0 otherwise
+ */
 int tsch_get_lock(void);
-/* Release TSCH lock */
+/**
+ * Releases the TSCH lock.
+ */
 void tsch_release_lock(void);
-/* Set global time before starting slot operation,
- * with a rtimer time and an ASN */
+/**
+ * Set global time before starting slot operation, with a rtimer time and an ASN
+ *
+ * \param next_slot_start the time to the start of the next slot, in rtimer ticks
+ * \param next_slot_asn the ASN of the next slot
+ */
 void tsch_slot_operation_sync(rtimer_clock_t next_slot_start,
     struct tsch_asn_t *next_slot_asn);
-/* Start actual slot operation */
+/**
+ * Start actual slot operation
+ */
 void tsch_slot_operation_start(void);
 
 #endif /* __TSCH_SLOT_OPERATION_H__ */
diff --git a/os/net/mac/tsch/tsch-types.h b/os/net/mac/tsch/tsch-types.h
index 6bc8895a2..20f9911f6 100644
--- a/os/net/mac/tsch/tsch-types.h
+++ b/os/net/mac/tsch/tsch-types.h
@@ -31,17 +31,14 @@
  */
 
 /**
+* \addtogroup tsch
+* @{
  * \file
  *         TSCH types
  * \author
  *         Simon Duquennoy <simonduq@sics.se>
  */
 
-/**
- * \addtogroup tsch
- * @{
-*/
-
 #ifndef __TSCH_TYPES_H__
 #define __TSCH_TYPES_H__
 
@@ -53,10 +50,10 @@
 
 /********** Data types **********/
 
-/* 802.15.4e link types.
- * LINK_TYPE_ADVERTISING_ONLY is an extra one: for EB-only links. */
+/** \brief 802.15.4e link types. LINK_TYPE_ADVERTISING_ONLY is an extra one: for EB-only links. */
 enum link_type { LINK_TYPE_NORMAL, LINK_TYPE_ADVERTISING, LINK_TYPE_ADVERTISING_ONLY };
 
+/** \brief An IEEE 802.15.4-2015 TSCH link (also called cell or slot) */
 struct tsch_link {
   /* Links are stored as a list: "next" must be the first field */
   struct tsch_link *next;
@@ -83,7 +80,7 @@ struct tsch_link {
   void *data;
 };
 
-/* 802.15.4e slotframe (contains links) */
+/** \brief 802.15.4e slotframe (contains links) */
 struct tsch_slotframe {
   /* Slotframes are stored as a list: "next" must be the first field */
   struct tsch_slotframe *next;
@@ -96,7 +93,7 @@ struct tsch_slotframe {
   LIST_STRUCT(links_list);
 };
 
-/* TSCH packet information */
+/** \brief TSCH packet information */
 struct tsch_packet {
   struct queuebuf *qb;  /* pointer to the queuebuf to be sent */
   mac_callback_t sent; /* callback for this packet */
@@ -108,7 +105,7 @@ struct tsch_packet {
   uint8_t tsch_sync_ie_offset; /* Offset within the frame used for quick update of EB ASN and join priority */
 };
 
-/* TSCH neighbor information */
+/** \brief TSCH neighbor information */
 struct tsch_neighbor {
   /* Neighbors are stored as a list: "next" must be the first field */
   struct tsch_neighbor *next;
@@ -127,7 +124,7 @@ struct tsch_neighbor {
   struct ringbufindex tx_ringbuf;
 };
 
-/* TSCH timeslot timing elements. Used to index timeslot timing
+/** \brief TSCH timeslot timing elements. Used to index timeslot timing
  * of different units, such as rtimer tick or micro-second */
 enum tsch_timeslot_timing_elements {
   tsch_ts_cca_offset,
@@ -145,7 +142,7 @@ enum tsch_timeslot_timing_elements {
   tsch_ts_elements_count, /* Not a timing element */
 };
 
-/* Stores data about an incoming packet */
+/** \brief Stores data about an incoming packet */
 struct input_packet {
   uint8_t payload[TSCH_PACKET_MAX_LEN]; /* Packet payload */
   struct tsch_asn_t rx_asn; /* ASN when the packet was received */
diff --git a/os/net/mac/tsch/tsch.h b/os/net/mac/tsch/tsch.h
index 5f2289c66..0f108bd93 100644
--- a/os/net/mac/tsch/tsch.h
+++ b/os/net/mac/tsch/tsch.h
@@ -37,6 +37,8 @@ The IEEE 802.15.4-2015 TimeSlotted Channel Hopping (TSCH) protocol. Provides
 scheduled communication on top of a globally-synchronized network. Performs
 frequency hopping for enhanced reliability.
 * @{
+* \file
+*	Main API declarations for TSCH.
 */
 
 #ifndef __TSCH_H__
@@ -180,21 +182,57 @@ PROCESS_NAME(tsch_pending_events_process);
 
 /********** Functions *********/
 
-/* The the TSCH join priority */
+/**
+ * Set the TSCH join priority (JP)
+ *
+ * \param jp the new join priority
+ */
 void tsch_set_join_priority(uint8_t jp);
-/* The period at which EBs are sent */
+/**
+ * Set the period at wich TSCH enhanced beacons (EBs) are sent. The period can
+ * not be set to exceed TSCH_MAX_EB_PERIOD. Set to 0 to stop sending EBs.
+ * Actual transmissions are jittered, spaced by a random number within
+ * [period*0.75, period[
+ *
+ * \param period The period in Clock ticks.
+ */
 void tsch_set_eb_period(uint32_t period);
-/* The keep-alive timeout */
+/**
+ * Set the desynchronization timeout after which a node sends a unicasst
+ * keep-alive (KA) to its time source. Set to 0 to stop sending KAs. The
+ * actual timeout is a random number within
+ * [timeout*0.9, timeout[
+ *
+ * \param timeout The timeout in Clock ticks.
+ */
 void tsch_set_ka_timeout(uint32_t timeout);
-/* Set the node as PAN coordinator */
+/**
+ * Set the node as PAN coordinator
+ *
+ * \param enable 1 to be coordinator, 0 to be a node
+ */
 void tsch_set_coordinator(int enable);
-/* Set the pan as secured or not */
+/**
+ * Enable/disable security. If done at the coordinator, the Information
+ * will be included in EBs, and all nodes will adopt the same security level.
+ * Enabling requires compilation with LLSEC802154_ENABLED set.
+ * Note: when LLSEC802154_ENABLED is set, nodes boot with security enabled.
+ *
+ * \param enable 1 to enable security, 0 to disable it
+ */
 void tsch_set_pan_secured(int enable);
-/* Set TSCH to send a keepalive message after TSCH_KEEPALIVE_TIMEOUT */
+/**
+  * Schedule a keep-alive transmission within [timeout*0.9, timeout[
+  * @see tsch_set_ka_timeout
+  */
 void tsch_schedule_keepalive(void);
-/* Set TSCH to send a keepalive message immediately */
+/**
+  * Schedule a keep-alive immediately
+  */
 void tsch_schedule_keepalive_immediately(void);
-/* Leave the TSCH network */
+/**
+  * Leave the TSCH network we are currently in
+  */
 void tsch_disassociate(void);
 
 #endif /* __TSCH_H__ */
diff --git a/os/net/routing/nullrouting/nullrouting.c b/os/net/routing/nullrouting/nullrouting.c
index a32e0804c..bb1399fbb 100644
--- a/os/net/routing/nullrouting/nullrouting.c
+++ b/os/net/routing/nullrouting/nullrouting.c
@@ -151,7 +151,7 @@ drop_route(uip_ds6_route_t *route)
 }
 /*---------------------------------------------------------------------------*/
 const struct routing_driver nullrouting_driver = {
-  "Null Routing",
+  "nullrouting",
   init,
   root_set_prefix,
   root_start,
diff --git a/os/services/ip64/ip64-slip-interface.c b/os/services/ip64/ip64-slip-interface.c
index 7ad4d4789..10422f2c7 100644
--- a/os/services/ip64/ip64-slip-interface.c
+++ b/os/services/ip64/ip64-slip-interface.c
@@ -57,24 +57,24 @@ static void
 input_callback(void)
 {
   /*PRINTF("SIN: %u\n", uip_len);*/
-  if(uip_buf[0] == '!') {
-    PRINTF("Got configuration message of type %c\n", uip_buf[1]);
+  if(uip_buf[UIP_LLH_LEN] == '!') {
+    PRINTF("Got configuration message of type %c\n", uip_buf[UIP_LLH_LEN + 1]);
     uip_clear_buf();
 #if 0
-    if(uip_buf[1] == 'P') {
+    if(uip_buf[UIP_LLH_LEN + 1] == 'P') {
       uip_ipaddr_t prefix;
       /* Here we set a prefix !!! */
       memset(&prefix, 0, 16);
-      memcpy(&prefix, &uip_buf[2], 8);
+      memcpy(&prefix, &uip_buf[UIP_LLH_LEN + 2], 8);
       PRINTF("Setting prefix ");
       PRINT6ADDR(&prefix);
       PRINTF("\n");
       set_prefix_64(&prefix);
     }
 #endif
-  } else if(uip_buf[0] == '?') {
-    PRINTF("Got request message of type %c\n", uip_buf[1]);
-    if(uip_buf[1] == 'M') {
+  } else if(uip_buf[UIP_LLH_LEN] == '?') {
+    PRINTF("Got request message of type %c\n", uip_buf[UIP_LLH_LEN + 1]);
+    if(uip_buf[UIP_LLH_LEN + 1] == 'M') {
       const char *hexchar = "0123456789abcdef";
       int j;
       /* this is just a test so far... just to see if it works */
@@ -84,8 +84,7 @@ input_callback(void)
         uip_buf[3 + j * 2] = hexchar[uip_lladdr.addr[j] & 15];
       }
       uip_len = 18;
-      slip_send();
-      
+      slip_write(uip_buf, uip_len);
     }
     uip_clear_buf();
   } else {
@@ -147,6 +146,3 @@ const struct uip_fallback_interface ip64_slip_interface = {
   init, output
 };
 /*---------------------------------------------------------------------------*/
-
-
-
diff --git a/os/services/lwm2m/lwm2m-device.c b/os/services/lwm2m/lwm2m-device.c
index 9e91b37fd..4183c59ca 100644
--- a/os/services/lwm2m/lwm2m-device.c
+++ b/os/services/lwm2m/lwm2m-device.c
@@ -48,7 +48,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "lwm2m-device"
+#define LOG_MODULE "lwm2m-dev"
 #define LOG_LEVEL  LOG_LEVEL_LWM2M
 
 static const lwm2m_resource_id_t resources[] =
diff --git a/os/services/lwm2m/lwm2m-engine.c b/os/services/lwm2m/lwm2m-engine.c
index d40154bfa..6f2aeefd8 100644
--- a/os/services/lwm2m/lwm2m-engine.c
+++ b/os/services/lwm2m/lwm2m-engine.c
@@ -63,7 +63,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "lwm2m-engine"
+#define LOG_MODULE "lwm2m-eng"
 #define LOG_LEVEL  LOG_LEVEL_LWM2M
 
 #ifndef LWM2M_ENGINE_CLIENT_ENDPOINT_PREFIX
diff --git a/os/services/lwm2m/lwm2m-firmware.c b/os/services/lwm2m/lwm2m-firmware.c
index e89c3dab4..87815d684 100644
--- a/os/services/lwm2m/lwm2m-firmware.c
+++ b/os/services/lwm2m/lwm2m-firmware.c
@@ -44,7 +44,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "lwm2m-firmware"
+#define LOG_MODULE "lwm2m-fw"
 #define LOG_LEVEL  LOG_LEVEL_LWM2M
 
 #define UPDATE_PACKAGE     0
diff --git a/os/services/lwm2m/lwm2m-plain-text.c b/os/services/lwm2m/lwm2m-plain-text.c
index bbd293aa0..3dc816ddc 100644
--- a/os/services/lwm2m/lwm2m-plain-text.c
+++ b/os/services/lwm2m/lwm2m-plain-text.c
@@ -49,7 +49,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "lwm2m-plain-text"
+#define LOG_MODULE "lwm2m-text"
 #define LOG_LEVEL  LOG_LEVEL_NONE
 
 /*---------------------------------------------------------------------------*/
diff --git a/os/services/lwm2m/lwm2m-rd-client.c b/os/services/lwm2m/lwm2m-rd-client.c
index 0f904ee4d..03d21e33e 100644
--- a/os/services/lwm2m/lwm2m-rd-client.c
+++ b/os/services/lwm2m/lwm2m-rd-client.c
@@ -64,7 +64,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "lwm2m-rd-client"
+#define LOG_MODULE "lwm2m-rd"
 #define LOG_LEVEL  LOG_LEVEL_LWM2M
 
 #ifndef LWM2M_DEFAULT_CLIENT_LIFETIME
diff --git a/os/services/lwm2m/lwm2m-security.c b/os/services/lwm2m/lwm2m-security.c
index 5fe0c31cb..e4275f280 100644
--- a/os/services/lwm2m/lwm2m-security.c
+++ b/os/services/lwm2m/lwm2m-security.c
@@ -54,7 +54,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "lwm2m-security"
+#define LOG_MODULE "lwm2m-sec"
 #define LOG_LEVEL  LOG_LEVEL_LWM2M
 
 #define MAX_COUNT LWM2M_SERVER_MAX_COUNT
diff --git a/os/services/lwm2m/lwm2m-server.c b/os/services/lwm2m/lwm2m-server.c
index 67b2c45ba..bf0398b4f 100644
--- a/os/services/lwm2m/lwm2m-server.c
+++ b/os/services/lwm2m/lwm2m-server.c
@@ -51,7 +51,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "lwm2m-server"
+#define LOG_MODULE "lwm2m-srv"
 #define LOG_LEVEL  LOG_LEVEL_LWM2M
 
 #define MAX_COUNT LWM2M_SERVER_MAX_COUNT
diff --git a/os/services/lwm2m/lwm2m-tlv-writer.c b/os/services/lwm2m/lwm2m-tlv-writer.c
index 6df16447e..41bdc2f6c 100644
--- a/os/services/lwm2m/lwm2m-tlv-writer.c
+++ b/os/services/lwm2m/lwm2m-tlv-writer.c
@@ -47,7 +47,7 @@
 
 /* Log configuration */
 #include "coap-log.h"
-#define LOG_MODULE "lwm2m-tlv-writer"
+#define LOG_MODULE "lwm2m-tlv"
 #define LOG_LEVEL  LOG_LEVEL_NONE
 
 /*---------------------------------------------------------------------------*/
diff --git a/os/services/rpl-border-router/embedded/slip-bridge.c b/os/services/rpl-border-router/embedded/slip-bridge.c
index cb85793f0..c40447d7f 100644
--- a/os/services/rpl-border-router/embedded/slip-bridge.c
+++ b/os/services/rpl-border-router/embedded/slip-bridge.c
@@ -62,7 +62,7 @@ request_prefix(void)
   uip_buf[0] = '?';
   uip_buf[1] = 'P';
   uip_len = 2;
-  slip_send();
+  slip_write(uip_buf, uip_len);
   uip_clear_buf();
 }
 /*---------------------------------------------------------------------------*/
@@ -70,22 +70,27 @@ static void
 slip_input_callback(void)
 {
   LOG_DBG("SIN: %u\n", uip_len);
-  if(uip_buf[0] == '!') {
-    LOG_INFO("Got configuration message of type %c\n", uip_buf[1]);
-    uip_clear_buf();
-    if(uip_buf[1] == 'P') {
+  if(uip_buf[UIP_LLH_LEN] == '!') {
+    LOG_INFO("Got configuration message of type %c\n",
+             uip_buf[UIP_LLH_LEN + 1]);
+    if(uip_buf[UIP_LLH_LEN + 1] == 'P') {
       uip_ipaddr_t prefix;
       /* Here we set a prefix !!! */
       memset(&prefix, 0, 16);
-      memcpy(&prefix, &uip_buf[2], 8);
+      memcpy(&prefix, &uip_buf[UIP_LLH_LEN + 2], 8);
+
+      uip_clear_buf();
+
       LOG_INFO("Setting prefix ");
       LOG_INFO_6ADDR(&prefix);
       LOG_INFO_("\n");
       set_prefix_64(&prefix);
     }
-  } else if(uip_buf[0] == '?') {
-    LOG_INFO("Got request message of type %c\n", uip_buf[1]);
-    if(uip_buf[1] == 'M') {
+    uip_clear_buf();
+
+  } else if(uip_buf[UIP_LLH_LEN] == '?') {
+    LOG_INFO("Got request message of type %c\n", uip_buf[UIP_LLH_LEN + 1]);
+    if(uip_buf[UIP_LLH_LEN + 1] == 'M') {
       char *hexchar = "0123456789abcdef";
       int j;
       /* this is just a test so far... just to see if it works */
@@ -95,13 +100,14 @@ slip_input_callback(void)
         uip_buf[3 + j * 2] = hexchar[uip_lladdr.addr[j] & 15];
       }
       uip_len = 18;
-      slip_send();
+      slip_write(uip_buf, uip_len);
     }
     uip_clear_buf();
+  } else {
+    /* Save the last sender received over SLIP to avoid bouncing the
+       packet back if no route is found */
+    uip_ipaddr_copy(&last_sender, &UIP_IP_BUF->srcipaddr);
   }
-  /* Save the last sender received over SLIP to avoid bouncing the
-     packet back if no route is found */
-  uip_ipaddr_copy(&last_sender, &UIP_IP_BUF->srcipaddr);
 }
 /*---------------------------------------------------------------------------*/
 static void
diff --git a/os/services/shell/shell-commands.c b/os/services/shell/shell-commands.c
index 7920fb086..3dbce09f2 100644
--- a/os/services/shell/shell-commands.c
+++ b/os/services/shell/shell-commands.c
@@ -173,8 +173,12 @@ PT_THREAD(cmd_rpl_status(struct pt *pt, shell_output_func output, char *args))
 
     SHELL_OUTPUT(output, "-- State: %s\n", rpl_state_to_str(curr_instance.dag.state));
     SHELL_OUTPUT(output, "-- Preferred parent: ");
-    shell_output_6addr(output, rpl_neighbor_get_ipaddr(curr_instance.dag.preferred_parent));
-    SHELL_OUTPUT(output, " (last DTSN: %u)\n", curr_instance.dag.preferred_parent->dtsn);
+    if(curr_instance.dag.preferred_parent) {
+      shell_output_6addr(output, rpl_neighbor_get_ipaddr(curr_instance.dag.preferred_parent));
+      SHELL_OUTPUT(output, " (last DTSN: %u)\n", curr_instance.dag.preferred_parent->dtsn);
+    } else {
+      SHELL_OUTPUT(output, "None\n");
+    }
     SHELL_OUTPUT(output, "-- Rank: %u\n", curr_instance.dag.rank);
     SHELL_OUTPUT(output, "-- Lowest rank: %u (%u)\n", curr_instance.dag.lowest_rank, curr_instance.max_rankinc);
     SHELL_OUTPUT(output, "-- DTSN out: %u\n", curr_instance.dtsn_out);
@@ -413,6 +417,7 @@ PT_THREAD(cmd_rpl_local_repair(struct pt *pt, shell_output_func output, char *ar
   PT_END(pt);
 }
 /*---------------------------------------------------------------------------*/
+#if ROUTING_CONF_RPL_LITE
 static
 PT_THREAD(cmd_rpl_refresh_routes(struct pt *pt, shell_output_func output, char *args))
 {
@@ -423,6 +428,7 @@ PT_THREAD(cmd_rpl_refresh_routes(struct pt *pt, shell_output_func output, char *
 
   PT_END(pt);
 }
+#endif /* ROUTING_CONF_RPL_LITE */
 #endif /* UIP_CONF_IPV6_RPL */
 /*---------------------------------------------------------------------------*/
 static
@@ -732,7 +738,9 @@ struct shell_command_t shell_commands[] = {
 #if UIP_CONF_IPV6_RPL
   { "rpl-set-root",         cmd_rpl_set_root,         "'> rpl-set-root 0/1 [prefix]': Sets node as root (1) or not (0). A /64 prefix can be optionally specified." },
   { "rpl-local-repair",     cmd_rpl_local_repair,     "'> rpl-local-repair': Triggers a RPL local repair" },
+#if ROUTING_CONF_RPL_LITE
   { "rpl-refresh-routes",   cmd_rpl_refresh_routes,   "'> rpl-refresh-routes': Refreshes all routes through a DTSN increment" },
+#endif /* ROUTING_CONF_RPL_LITE */
   { "rpl-global-repair",    cmd_rpl_global_repair,    "'> rpl-global-repair': Triggers a RPL global repair" },
 #endif /* UIP_CONF_IPV6_RPL */
 #if ROUTING_CONF_RPL_LITE
diff --git a/os/storage/antelope/db-options.h b/os/storage/antelope/db-options.h
index f82c72edc..2be415f4e 100644
--- a/os/storage/antelope/db-options.h
+++ b/os/storage/antelope/db-options.h
@@ -38,6 +38,7 @@
 #define DB_OPTIONS_H
 
 #include "contiki.h"
+#include "cfs-coffee-arch.h"
 
 /*----------------------------------------------------------------------------*/
 
@@ -143,9 +144,17 @@
 
 /* The default relation file size to reserve when using Coffee. */
 #ifndef DB_COFFEE_RESERVE_SIZE
-#define DB_COFFEE_RESERVE_SIZE          (128 * 1024UL)
+#define DB_COFFEE_RESERVE_SIZE          (COFFEE_SIZE / 8)
 #endif /* DB_COFFEE_RESERVE_SIZE */
 
+/*
+ * Ensure that the default size of Coffee file reservations is suitable
+ * for the file system size.
+ */
+#if DB_COFFEE_RESERVE_SIZE > (COFFEE_SIZE / 2)
+#error DB_COFFEE_RESERVE_SIZE is too large for the file system.
+#endif
+
 /* The maximum size of the physical storage of a tuple (labelled a "row" 
    in Antelope's terminology. */
 #ifndef DB_MAX_CHAR_SIZE_PER_ROW
diff --git a/tests/01-compile-base/Makefile b/tests/01-compile-base/Makefile
index 7184d69ac..eae930138 100644
--- a/tests/01-compile-base/Makefile
+++ b/tests/01-compile-base/Makefile
@@ -17,6 +17,7 @@ lwm2m-ipso-objects/native \
 lwm2m-ipso-objects/native:MAKE_WITH_DTLS=1 \
 rpl-udp/sky \
 rpl-border-router/native \
+rpl-border-router/native:MAKE_ROUTING=MAKE_ROUTING_RPL_CLASSIC \
 rpl-border-router/sky \
 slip-radio/sky \
 libs/ipv6-hooks/sky \
diff --git a/tools/ip64/jool-start.sh b/tools/ip64/jool-start.sh
new file mode 100755
index 000000000..b9c0c9850
--- /dev/null
+++ b/tools/ip64/jool-start.sh
@@ -0,0 +1,14 @@
+#!/bin/sh
+
+defaultInterface=$(route | grep default | awk '{print $(NF)}')
+myIP=$(ifconfig $defaultInterface | grep 'inet addr:' | cut -d: -f2 |  awk '{ print $1}')
+echo "Configuring jool for $myIP"
+
+sudo sysctl -w net.ipv4.conf.all.forwarding=1
+sudo sysctl -w net.ipv6.conf.all.forwarding=1
+
+sudo /sbin/modprobe jool pool6=64:ff9b::/96 disabled
+
+# Assuming that we are on this IP
+sudo jool -4 --add $myIP 15000-25000
+sudo jool --enable