diff --git a/.travis.yml b/.travis.yml
index fb01368c9..9094189c8 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,93 +1,33 @@
-# Workaround for the issue found in the stable image promoted on Dec 1, 2016.
-# See https://github.com/travis-ci/travis-ci/issues/6928#issuecomment-264227708
-group: deprecated
-
-before_install:
-  - sudo sysctl -w net.ipv6.conf.all.disable_ipv6=0
+# Setup environment for Docker
+language: generic
+services: docker
 
 notifications:
-  email: false
-language: c #NOTE: this will set CC=gcc which might cause trouble
-before_script:
-  - WGET="travis_retry wget --continue --tries=20 --waitretry=10 --retry-connrefused --no-dns-cache --timeout 300"
-  - sudo apt-get -qq update
+  - email: false
 
-  ## Support building a binary that is identical to the CI
-  - echo -n "Contiki-NG will be compiled with RELSTR=" ; git --git-dir .git describe --tags --always
+before_install:
+  # Environment setup before test script
+  - export CNG_HOST_PATH=`pwd`
+  - export DOCKER_IMG='simonduq/contiki-ng:latest'
+  - sudo chgrp -hR 1000 $CNG_HOST_PATH
+  - docker pull $DOCKER_IMG
+  - ant -q -f $CNG_HOST_PATH/tools/cooja/build.xml jar
 
-  ## Install 32-bit compatibility libraries
-  - sudo apt-get -qq install libc6:i386 libgcc1:i386 gcc-4.6-base:i386
-      libstdc++5:i386 libstdc++6:i386 lib32z1
-
-  ## Install doxygen
-  - if [ ${BUILD_CATEGORY:-0} = doxygen ] ; then
-      sudo add-apt-repository ppa:libreoffice/ppa -y && sudo apt-get -qq update &&
-      sudo apt-get --no-install-suggests --no-install-recommends -qq install doxygen  &&
-      doxygen --version ;
-    fi
-
-  ## Install msp430 toolchain
-  - if [ ${BUILD_ARCH:-0} = msp430 ] ; then
-      $WGET http://simonduq.github.io/resources/mspgcc-4.7.2-compiled.tar.bz2 &&
-      tar xjf mspgcc*.tar.bz2 -C /tmp/ &&
-      sudo cp -f -r /tmp/msp430/* /usr/local/ &&
-      rm -rf /tmp/msp430 mspgcc*.tar.bz2 &&
-      msp430-gcc --version ;
-    fi
-
-  ## Install mainline ARM toolchain, srecord and nRF52 SDK
-  - if [ ${BUILD_ARCH:-0} = arm-aapcs ] ; then
-      sudo apt-get -qq install srecord &&
-      $WGET https://launchpad.net/gcc-arm-embedded/5.0/5-2015-q4-major/+download/gcc-arm-none-eabi-5_2-2015q4-20151219-linux.tar.bz2 &&
-      tar xjf gcc-arm-none-eabi-5_2-2015q4-20151219-linux.tar.bz2 -C /tmp/ &&
-      sudo cp -f -r /tmp/gcc-arm-none-eabi-5_2-2015q4/* /usr/local/ &&
-      rm -rf /tmp/gcc-arm-none-eabi-* gcc-arm-none-eabi-*-linux.tar.bz2 &&
-      arm-none-eabi-gcc --version &&
-      $WGET https://developer.nordicsemi.com/nRF5_IoT_SDK/nRF5_IoT_SDK_v0.9.x/nrf5_iot_sdk_3288530.zip &&
-      mkdir /tmp/nrf52-sdk &&
-      unzip nrf5_iot_sdk_3288530.zip -d /tmp/nrf52-sdk &&
-      export NRF52_SDK_ROOT=/tmp/nrf52-sdk ;
-    fi
-
-  ## Install NXP toolchain
-  - if [ ${BUILD_ARCH:-0} = jn516x ] ; then
-      $WGET http://simonduq.github.io/resources/ba-elf-gcc-4.7.4-part1.tar.bz2 &&
-      $WGET http://simonduq.github.io/resources/ba-elf-gcc-4.7.4-part2.tar.bz2 &&
-      $WGET http://simonduq.github.io/resources/jn516x-sdk-4163-1416.tar.bz2 &&
-      mkdir /tmp/jn516x-sdk /tmp/ba-elf-gcc &&
-      tar xjf jn516x-sdk-*.tar.bz2 -C /tmp/jn516x-sdk &&
-      tar xjf ba-elf-gcc-*part1.tar.bz2 -C /tmp/ba-elf-gcc &&
-      tar xjf ba-elf-gcc-*part2.tar.bz2 -C /tmp/ba-elf-gcc &&
-      sudo cp -f -r /tmp/jn516x-sdk /usr/ &&
-      sudo cp -f -r /tmp/ba-elf-gcc /usr/ &&
-      export PATH=/usr/ba-elf-gcc/bin:$PATH &&
-      rm -rf /tmp/ba-elf-gcc* /tmp/jn516x-sdk* &&
-      ba-elf-gcc --version ;
-    fi
-
-  ## Compile cooja.jar only when it's going to be needed
-  - if [ ${BUILD_CATEGORY:-0} = sim ] ; then
-      java -version &&
-      ant -q -f tools/cooja/build.xml jar &&
-      sudo java -Xshare:dump -version ;
-    fi
-
-script:
-  ## tests/Makefile handles most of generic logic
-  - "make -C tests/??-$BUILD_TYPE"
-  - "tests/check-test.sh tests/??-$BUILD_TYPE; exit $?"
+script: # The test script for each build.
+  - docker run --privileged -v $CNG_HOST_PATH:/home/user/contiki-ng -ti $DOCKER_IMG bash -c "make -C tests/??-$TEST_NAME";
+  # Check outcome of the test
+  - $CNG_HOST_PATH/tests/check-test.sh $CNG_HOST_PATH/tests/??-$TEST_NAME; exit $?;
 
 env:
-  ## This magically kick-off parallel jobs for each of the for the sets
-  ## of environment variable defined below
-  - BUILD_TYPE='compile-base' BUILD_CATEGORY='compile' BUILD_ARCH='msp430'
-  - BUILD_TYPE='compile-arm-ports-01' BUILD_CATEGORY='compile' BUILD_ARCH='arm-aapcs'
-  - BUILD_TYPE='compile-arm-ports-02' BUILD_CATEGORY='compile' BUILD_ARCH='arm-aapcs'
-  - BUILD_TYPE='compile-nxp-ports' BUILD_CATEGORY='compile' BUILD_ARCH='jn516x'
-  - BUILD_TYPE='compile-tools' BUILD_CATEGORY='compile'
-  - BUILD_TYPE='rpl-lite' BUILD_CATEGORY='sim'
-  - BUILD_TYPE='rpl-classic' BUILD_CATEGORY='sim'
-  - BUILD_TYPE='tun-rpl-br' BUILD_CATEGORY='sim' BUILD_ARCH='msp430'
-  - BUILD_TYPE='simulation-base' BUILD_CATEGORY='sim' BUILD_ARCH='msp430'
-  - BUILD_TYPE='ieee802154' BUILD_CATEGORY='sim'
-  - BUILD_TYPE='doxygen' BUILD_CATEGORY='doxygen'
+  # Parallel builds
+  - TEST_NAME='compile-base'
+  - TEST_NAME='compile-arm-ports-01'
+  - TEST_NAME='compile-arm-ports-02'
+  - TEST_NAME='rpl-lite'
+  - TEST_NAME='rpl-classic'
+  - TEST_NAME='tun-rpl-br'
+  - TEST_NAME='simulation-base'
+  - TEST_NAME='ieee802154'
+  - TEST_NAME='compile-nxp-ports'
+  - TEST_NAME='doxygen'
+  - TEST_NAME='compile-tools'
diff --git a/arch/cpu/arm/Makefile.arm b/arch/cpu/arm/Makefile.arm
new file mode 100644
index 000000000..ba93b82a0
--- /dev/null
+++ b/arch/cpu/arm/Makefile.arm
@@ -0,0 +1,54 @@
+CC       = arm-none-eabi-gcc
+CPP      = arm-none-eabi-cpp
+LD       = arm-none-eabi-gcc
+AR       = arm-none-eabi-ar
+OBJCOPY  = arm-none-eabi-objcopy
+OBJDUMP  = arm-none-eabi-objdump
+NM       = arm-none-eabi-nm
+SIZE     = arm-none-eabi-size
+SREC_CAT = srec_cat
+
+CFLAGS += -mthumb -mabi=aapcs -mlittle-endian
+CFLAGS += -Werror -Wall
+CFLAGS += -std=c99
+CFLAGS += -ffunction-sections -fdata-sections -fno-strict-aliasing
+CFLAGS += -fshort-enums -fomit-frame-pointer -fno-builtin
+
+LDFLAGS += -mthumb -mlittle-endian
+
+OBJDUMP_FLAGS += --disassemble --source --disassembler-options=force-thumb
+
+### Are we building with code size optimisations?
+SMALL ?= 1
+ifeq ($(SMALL),1)
+  CFLAGS += -Os
+else
+  CFLAGS += -O2
+endif
+
+### Use CMSIS and the existing dbg-io from arch/cpu/arm/common
+CONTIKI_ARM_DIRS += . common/dbg-io
+CONTIKI_CPU_DIRS += $(addprefix ../arm/, $(CONTIKI_ARM_DIRS))
+
+### CPU-dependent cleanup files
+CLEAN += *.d *.elf *.hex
+
+### Don't treat the following files as intermediate
+.PRECIOUS: %.elf %.hex %.bin
+
+%.i16hex: %.elf
+	$(OBJCOPY) -O ihex $< $@
+
+%.hex: %.i16hex
+	$(SREC_CAT) $< -intel -o $@ -intel
+
+%.bin: %.elf
+	$(OBJCOPY) -O binary $(OBJCOPY_FLAGS) $< $@
+
+%.lst: %.elf
+	$(OBJDUMP) $(OBJDUMP_FLAGS) $< > $@
+
+### We don't really need the .hex and .bin for the .$(TARGET) but let's make
+### sure they get built
+%.$(TARGET): %.elf %.hex %.bin
+	cp $< $@
diff --git a/arch/cpu/arm/arm.txt b/arch/cpu/arm/arm.txt
deleted file mode 100644
index 526486662..000000000
--- a/arch/cpu/arm/arm.txt
+++ /dev/null
@@ -1,19 +0,0 @@
-/**
- * \defgroup cmsis CMSIS (Cortex Microcontroller Software Interface Standard)
- * \ingroup arm
- */
-
-/**
- * \defgroup aducrf101 ADUCRF101
- * \ingroup arm
- */
-
-/**
- * \defgroup at91sam7s AT91SAM7S
- * \ingroup arm
- */
-
-/**
- * \defgroup stm32f103 STM32F103
- * \ingroup arm
- */
diff --git a/arch/cpu/arm/common/CMSIS/cmsis_armcc.h b/arch/cpu/arm/cortex-m/CMSIS/cmsis_armcc.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/cmsis_armcc.h
rename to arch/cpu/arm/cortex-m/CMSIS/cmsis_armcc.h
diff --git a/arch/cpu/arm/common/CMSIS/cmsis_armcc_V6.h b/arch/cpu/arm/cortex-m/CMSIS/cmsis_armcc_V6.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/cmsis_armcc_V6.h
rename to arch/cpu/arm/cortex-m/CMSIS/cmsis_armcc_V6.h
diff --git a/arch/cpu/arm/common/CMSIS/cmsis_gcc.h b/arch/cpu/arm/cortex-m/CMSIS/cmsis_gcc.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/cmsis_gcc.h
rename to arch/cpu/arm/cortex-m/CMSIS/cmsis_gcc.h
diff --git a/arch/cpu/arm/common/CMSIS/core_cm0.h b/arch/cpu/arm/cortex-m/CMSIS/core_cm0.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/core_cm0.h
rename to arch/cpu/arm/cortex-m/CMSIS/core_cm0.h
diff --git a/arch/cpu/arm/common/CMSIS/core_cm0plus.h b/arch/cpu/arm/cortex-m/CMSIS/core_cm0plus.h
similarity index 99%
rename from arch/cpu/arm/common/CMSIS/core_cm0plus.h
rename to arch/cpu/arm/cortex-m/CMSIS/core_cm0plus.h
index ee5eec184..773eec6ee 100644
--- a/arch/cpu/arm/common/CMSIS/core_cm0plus.h
+++ b/arch/cpu/arm/cortex-m/CMSIS/core_cm0plus.h
@@ -66,7 +66,7 @@
  *                 CMSIS definitions
  ******************************************************************************/
 /**
-  \ingroup Cortex-M0+
+  \ingroup Cortex_M0_plus
   @{
  */
 
diff --git a/arch/cpu/arm/common/CMSIS/core_cm3.h b/arch/cpu/arm/cortex-m/CMSIS/core_cm3.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/core_cm3.h
rename to arch/cpu/arm/cortex-m/CMSIS/core_cm3.h
diff --git a/arch/cpu/arm/common/CMSIS/core_cm4.h b/arch/cpu/arm/cortex-m/CMSIS/core_cm4.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/core_cm4.h
rename to arch/cpu/arm/cortex-m/CMSIS/core_cm4.h
diff --git a/arch/cpu/arm/common/CMSIS/core_cm7.h b/arch/cpu/arm/cortex-m/CMSIS/core_cm7.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/core_cm7.h
rename to arch/cpu/arm/cortex-m/CMSIS/core_cm7.h
diff --git a/arch/cpu/arm/common/CMSIS/core_cmFunc.h b/arch/cpu/arm/cortex-m/CMSIS/core_cmFunc.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/core_cmFunc.h
rename to arch/cpu/arm/cortex-m/CMSIS/core_cmFunc.h
diff --git a/arch/cpu/arm/common/CMSIS/core_cmInstr.h b/arch/cpu/arm/cortex-m/CMSIS/core_cmInstr.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/core_cmInstr.h
rename to arch/cpu/arm/cortex-m/CMSIS/core_cmInstr.h
diff --git a/arch/cpu/arm/common/CMSIS/core_cmSimd.h b/arch/cpu/arm/cortex-m/CMSIS/core_cmSimd.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/core_cmSimd.h
rename to arch/cpu/arm/cortex-m/CMSIS/core_cmSimd.h
diff --git a/arch/cpu/arm/common/CMSIS/core_sc000.h b/arch/cpu/arm/cortex-m/CMSIS/core_sc000.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/core_sc000.h
rename to arch/cpu/arm/cortex-m/CMSIS/core_sc000.h
diff --git a/arch/cpu/arm/common/CMSIS/core_sc300.h b/arch/cpu/arm/cortex-m/CMSIS/core_sc300.h
similarity index 100%
rename from arch/cpu/arm/common/CMSIS/core_sc300.h
rename to arch/cpu/arm/cortex-m/CMSIS/core_sc300.h
diff --git a/arch/cpu/arm/common/CMSIS/core.txt b/arch/cpu/arm/cortex-m/CMSIS/doxygen-group.txt
similarity index 84%
rename from arch/cpu/arm/common/CMSIS/core.txt
rename to arch/cpu/arm/cortex-m/CMSIS/doxygen-group.txt
index 1426a8a6a..4b4bdd0eb 100644
--- a/arch/cpu/arm/common/CMSIS/core.txt
+++ b/arch/cpu/arm/cortex-m/CMSIS/doxygen-group.txt
@@ -1,3 +1,8 @@
+/**
+ * \defgroup cmsis CMSIS (Cortex Microcontroller Software Interface Standard)
+ * \ingroup arm
+ */
+
 /**
  * \addtogroup  CMSIS_Core_FunctionInterface
  * \ingroup     cmsis
@@ -39,7 +44,7 @@
  */
 
 /**
- * \defgroup Cortex-M0+ Cortex-M0+
+ * \defgroup Cortex_M0_plus Cortex-M0+
  * \ingroup cmsis
  */
 
diff --git a/arch/cpu/arm/cortex-m/Makefile.cortex-m b/arch/cpu/arm/cortex-m/Makefile.cortex-m
new file mode 100644
index 000000000..444df05cd
--- /dev/null
+++ b/arch/cpu/arm/cortex-m/Makefile.cortex-m
@@ -0,0 +1,3 @@
+CONTIKI_ARM_DIRS += cortex-m cortex-m/CMSIS
+
+include $(CONTIKI)/arch/cpu/arm/Makefile.arm
diff --git a/arch/cpu/arm/cortex-m/cm3/Makefile.cm3 b/arch/cpu/arm/cortex-m/cm3/Makefile.cm3
new file mode 100644
index 000000000..8baf1651d
--- /dev/null
+++ b/arch/cpu/arm/cortex-m/cm3/Makefile.cm3
@@ -0,0 +1,24 @@
+CONTIKI_ARM_DIRS += cortex-m/cm3
+
+CFLAGS += -mcpu=cortex-m3
+
+LDFLAGS += -mcpu=cortex-m3 -nostartfiles
+LDFLAGS += -T $(LDSCRIPT)
+LDFLAGS += -Wl,--gc-sections,--sort-section=alignment
+LDFLAGS += -Wl,-Map=$(@:.elf=-$(TARGET).map),--cref,--no-warn-mismatch
+
+OBJCOPY_FLAGS += --gap-fill 0xff
+
+### Build syscalls for newlib
+MODULES += os/lib/newlib
+
+CPU_STARTFILES = ${addprefix $(OBJECTDIR)/,${call oname, $(CPU_START_SOURCEFILES)}}
+
+### Compilation rules
+CUSTOM_RULE_LINK = 1
+
+%.elf: $(CPU_STARTFILES) %.co $(PROJECT_OBJECTFILES) $(PROJECT_LIBRARIES) contiki-$(TARGET).a $(LDSCRIPT)
+	$(TRACE_LD)
+	$(Q)$(LD) $(LDFLAGS) ${filter-out $(LDSCRIPT) %.a,$^} ${filter %.a,$^} $(TARGET_LIBFILES) -lm -o $@
+
+include $(CONTIKI)/arch/cpu/arm/cortex-m/Makefile.cortex-m
diff --git a/arch/cpu/arm/cortex-m/cm4/Makefile.cm4 b/arch/cpu/arm/cortex-m/cm4/Makefile.cm4
new file mode 100644
index 000000000..ca79428f1
--- /dev/null
+++ b/arch/cpu/arm/cortex-m/cm4/Makefile.cm4
@@ -0,0 +1,13 @@
+CONTIKI_ARM_DIRS += cortex-m/cm4
+
+CFLAGS += -mcpu=cortex-m4
+LDFLAGS += -mcpu=cortex-m4
+
+### Compilation rules
+CUSTOM_RULE_LINK=1
+
+%.elf: $(TARGET_STARTFILES) %.co $(PROJECT_OBJECTFILES) $(PROJECT_LIBRARIES) contiki-$(TARGET).a $(TARGET_LIBS)
+	$(TRACE_LD)
+	$(Q)$(CC) $(LDFLAGS) ${filter %o %.co %.a,$^} -o $@
+
+include $(CONTIKI)/arch/cpu/arm/cortex-m/Makefile.cortex-m
diff --git a/arch/cpu/arm/doxygen-group.txt b/arch/cpu/arm/doxygen-group.txt
new file mode 100644
index 000000000..8e6f29468
--- /dev/null
+++ b/arch/cpu/arm/doxygen-group.txt
@@ -0,0 +1,4 @@
+/**
+ * \defgroup arm Support for Arm CPUs
+ * \ingroup cpu
+ */
diff --git a/arch/cpu/cc2538/Makefile.cc2538 b/arch/cpu/cc2538/Makefile.cc2538
index e1b522443..f4c77c15d 100644
--- a/arch/cpu/cc2538/Makefile.cc2538
+++ b/arch/cpu/cc2538/Makefile.cc2538
@@ -1,52 +1,17 @@
-CC      = arm-none-eabi-gcc
-CPP     = arm-none-eabi-cpp
-LD      = arm-none-eabi-gcc
-AR      = arm-none-eabi-ar
-OBJCOPY = arm-none-eabi-objcopy
-OBJDUMP = arm-none-eabi-objdump
-NM      = arm-none-eabi-nm
-
 ifndef SOURCE_LDSCRIPT
 SOURCE_LDSCRIPT = $(CONTIKI_CPU)/cc2538.lds
 endif
 LDSCRIPT = $(OBJECTDIR)/cc2538.ld
 
-CFLAGS += -mcpu=cortex-m3 -mthumb -mlittle-endian
-CFLAGS += -ffunction-sections -fdata-sections
-CFLAGS += -fshort-enums -fomit-frame-pointer -fno-strict-aliasing
-CFLAGS += -Wall -DCMSIS_DEV_HDR=\"cc2538_cm3.h\"
-LDFLAGS += -mcpu=cortex-m3 -mthumb -nostartfiles
-LDFLAGS += -T $(LDSCRIPT)
-LDFLAGS += -Wl,--gc-sections,--sort-section=alignment
-LDFLAGS += -Wl,-Map=$(@:.elf=-$(TARGET).map),--cref,--no-warn-mismatch
-OBJCOPY_FLAGS += -O binary --gap-fill 0xff
-OBJDUMP_FLAGS += --disassemble --source --disassembler-options=force-thumb
-
-ifeq ($(WERROR),1)
-CFLAGS += -Werror
-endif
-
-### Are we building with code size optimisations?
-SMALL ?= 1
-ifeq ($(SMALL),1)
-  CFLAGS += -Os
-else
-  CFLAGS += -O2
-endif
+CFLAGS += -DCMSIS_DEV_HDR=\"cc2538_cm3.h\"
 
 ### If the user-specified a Node ID, pass a define
 ifdef NODEID
   CFLAGS += -DIEEE_ADDR_NODE_ID=$(NODEID)
 endif
 
-### CPU-dependent cleanup files
-CLEAN += *.d *.elf *.hex
-
 ### CPU-dependent directories
-CONTIKI_CPU_DIRS = ../arm/common/CMSIS . dev usb usb/common usb/common/cdc-acm
-
-### Use the existing debug I/O in arch/cpu/arm/common
-CONTIKI_CPU_DIRS += ../arm/common/dbg-io
+CONTIKI_CPU_DIRS = . dev usb usb/common usb/common/cdc-acm
 
 ### CPU-dependent source files
 CONTIKI_CPU_SOURCEFILES += soc.c clock.c rtimer-arch.c uart.c watchdog.c
@@ -66,23 +31,13 @@ DEBUG_IO_SOURCEFILES += dbg-printf.c dbg-snprintf.c dbg-sprintf.c strformat.c
 
 USB_SOURCEFILES += usb-core.c cdc-acm.c usb-arch.c usb-serial.c cdc-acm-descriptors.c
 
-ifneq ($(TARGET_START_SOURCEFILES),)
-  CPU_START_SOURCEFILES = TARGET_START_SOURCEFILES
-else
-  CPU_START_SOURCEFILES = startup-gcc.c
-endif
-CPU_STARTFILES = ${addprefix $(OBJECTDIR)/,${call oname, $(CPU_START_SOURCEFILES)}}
+CPU_START_SOURCEFILES = startup-gcc.c
 
 CONTIKI_SOURCEFILES += $(CONTIKI_CPU_SOURCEFILES) $(DEBUG_IO_SOURCEFILES)
 CONTIKI_SOURCEFILES += $(USB_SOURCEFILES)
 
-MODULES += os/lib/newlib
-
 .SECONDEXPANSION:
 
-### Don't treat the .elf as intermediate
-.PRECIOUS: %.elf %.hex %.bin
-
 ### Always re-build ieee-addr.o in case the command line passes a new NODEID
 FORCE:
 
@@ -90,27 +45,6 @@ $(OBJECTDIR)/ieee-addr.o: ieee-addr.c FORCE | $(OBJECTDIR)
 	$(TRACE_CC)
 	$(Q)$(CC) $(CFLAGS) -c $< -o $@
 
-### Compilation rules
-CUSTOM_RULE_LINK=1
-
-%.elf: $(CPU_STARTFILES) $$(CONTIKI_OBJECTFILES) %.co $(PROJECT_OBJECTFILES) $(PROJECT_LIBRARIES) $(LDSCRIPT)
-	$(TRACE_LD)
-	$(Q)$(LD) $(LDFLAGS) ${filter-out $(LDSCRIPT) %.a,$^} ${filter %.a,$^} $(TARGET_LIBFILES) -o $@
-
-%.hex: %.elf
-	$(OBJCOPY) -O ihex $< $@
-
-%.bin: %.elf
-	$(OBJCOPY) $(OBJCOPY_FLAGS) $< $@
-
-%.lst: %.elf
-	$(OBJDUMP) $(OBJDUMP_FLAGS) $< > $@
-
-### We don't really need the .hex and .bin for the .$(TARGET) but let's make
-### sure they get built
-%.$(TARGET): %.elf %.hex %.bin
-	cp $< $@
-
 ### This rule is used to generate the correct linker script
 LDGENFLAGS += $(CFLAGS)
 LDGENFLAGS += -imacros "contiki-conf.h" -imacros "dev/cc2538-dev.h"
@@ -121,3 +55,5 @@ LDGENFLAGS += -x c -P -E
 $(LDSCRIPT): $(SOURCE_LDSCRIPT) FORCE | $(OBJECTDIR)
 	$(TRACE_CC)
 	$(Q)$(CC) $(LDGENFLAGS) $< | grep -v '^\s*#\s*pragma\>' > $@
+
+include $(CONTIKI)/arch/cpu/arm/cortex-m/cm3/Makefile.cm3
diff --git a/arch/cpu/cc2538/cpu.h b/arch/cpu/cc2538/cpu.h
index eb86e6655..4ed9aa56f 100644
--- a/arch/cpu/cc2538/cpu.h
+++ b/arch/cpu/cc2538/cpu.h
@@ -29,16 +29,7 @@
  * OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 /**
- * \addtogroup platform
- * @{
- *
- * \defgroup cc2538-platforms TI cc2538-powered platforms
- *
- * Documentation for all platforms powered by the TI cc2538 System-on-Chip
- * @{
- *
- * \defgroup cc2538 The TI cc2538 System-on-Chip
- * CPU-Specific functionality - available to all cc2538-based platforms
+ * \addtogroup cc2538
  * @{
  *
  * \defgroup cc2538-cpu cc2538 CPU
@@ -65,8 +56,6 @@
 #endif /* CPU_H_ */
 
 /**
- * @}
- * @}
  * @}
  * @}
  */
diff --git a/arch/cpu/cc2538/doxygen-group.txt b/arch/cpu/cc2538/doxygen-group.txt
new file mode 100644
index 000000000..6e88228b1
--- /dev/null
+++ b/arch/cpu/cc2538/doxygen-group.txt
@@ -0,0 +1,14 @@
+/**
+ * \defgroup cc2538 The TI CC2538 System-on-Chip
+ *
+ * CPU-Specific functionality - available to all cc2538-based platforms
+ *
+ * \ingroup cpu
+ */
+
+/**
+ * \defgroup cc2538-platforms TI CC2538-powered platforms
+ *
+ * Documentation for all platforms powered by the TI cc2538 System-on-Chip
+ * \ingroup platform
+ */
diff --git a/arch/cpu/cc2538/lpm.c b/arch/cpu/cc2538/lpm.c
index 7892ff204..68cb42ae4 100644
--- a/arch/cpu/cc2538/lpm.c
+++ b/arch/cpu/cc2538/lpm.c
@@ -61,7 +61,7 @@
 #define DEEP_SLEEP_PM1_THRESHOLD    10
 #define DEEP_SLEEP_PM2_THRESHOLD    100
 /*---------------------------------------------------------------------------*/
-#define assert_wfi() do { asm("wfi"::); } while(0)
+#define assert_wfi() do { __asm("wfi"::); } while(0)
 /*---------------------------------------------------------------------------*/
 #if LPM_CONF_STATS
 rtimer_clock_t lpm_stats[3];
diff --git a/arch/cpu/cc26xx-cc13xx/Makefile.cc26xx-cc13xx b/arch/cpu/cc26xx-cc13xx/Makefile.cc26xx-cc13xx
index 8a3efd07f..48c08235d 100644
--- a/arch/cpu/cc26xx-cc13xx/Makefile.cc26xx-cc13xx
+++ b/arch/cpu/cc26xx-cc13xx/Makefile.cc26xx-cc13xx
@@ -1,13 +1,3 @@
-CC      = arm-none-eabi-gcc
-CPP     = arm-none-eabi-cpp
-LD      = arm-none-eabi-gcc
-AR      = arm-none-eabi-ar
-OBJCOPY = arm-none-eabi-objcopy
-OBJDUMP = arm-none-eabi-objdump
-NM      = arm-none-eabi-nm
-SIZE    = arm-none-eabi-size
-SREC_CAT = srec_cat
-
 CPU_ABS_PATH       = arch/cpu/cc26xx-cc13xx
 TI_XXWARE = $(CONTIKI_CPU)/$(TI_XXWARE_PATH)
 
@@ -29,44 +19,14 @@ MODULES += $(TI_XXWARE_SRC)
 
 LDSCRIPT = $(CONTIKI_CPU)/cc26xx.ld
 
-CFLAGS += -mcpu=cortex-m3 -mthumb -mlittle-endian
-CFLAGS += -ffunction-sections -fdata-sections
-CFLAGS += -fshort-enums -fomit-frame-pointer -fno-strict-aliasing
-CFLAGS += -Wall -std=c99 -DCMSIS_DEV_HDR=\"cc13x0-cc26x0-cm3.h\"
-
-LDFLAGS += -mcpu=cortex-m3 -mthumb -mlittle-endian -nostartfiles
-LDFLAGS += -T $(LDSCRIPT)
-LDFLAGS += -Wl,--gc-sections,--sort-section=alignment
-LDFLAGS += -Wl,-Map=$(@:.elf=-$(TARGET).map),--cref,--no-warn-mismatch
-OBJCOPY_FLAGS += -O binary --gap-fill 0xff
-OBJDUMP_FLAGS += --disassemble --source --disassembler-options=force-thumb
-
-ifeq ($(WERROR),1)
-CFLAGS += -Werror
-endif
-
-### Are we building with code size optimisations?
-SMALL ?= 1
-ifeq ($(SMALL),1)
-  CFLAGS += -Os
-else
-  CFLAGS += -O2
-endif
-
 ### If the user-specified a Node ID, pass a define
 ifdef NODEID
   CFLAGS += -DIEEE_ADDR_NODE_ID=$(NODEID)
 endif
 
-### CPU-dependent cleanup files
-CLEAN += *.d *.elf *.hex
-
 ### CPU-dependent directories
 CONTIKI_CPU_DIRS += . dev rf-core rf-core/api $(TI_XXWARE_STARTUP_DIR)
 
-### Use CMSIS and the existing debug I/O in arch/cpu/arm/common
-CONTIKI_CPU_DIRS += ../arm/common/dbg-io ../arm/common/CMSIS
-
 ### CPU-dependent source files
 CONTIKI_CPU_SOURCEFILES += clock.c rtimer-arch.c soc-rtc.c uart.c
 CONTIKI_CPU_SOURCEFILES += contiki-watchdog.c aux-ctrl.c
@@ -80,8 +40,7 @@ DEBUG_IO_SOURCEFILES += dbg-printf.c dbg-snprintf.c dbg-sprintf.c strformat.c
 
 CONTIKI_SOURCEFILES += $(CONTIKI_CPU_SOURCEFILES) $(DEBUG_IO_SOURCEFILES)
 
-TARGET_START_SOURCEFILES += fault-handlers.c $(TI_XXWARE_STARTUP_SRCS)
-TARGET_STARTFILES = $(addprefix $(OBJECTDIR)/,$(call oname, $(TARGET_START_SOURCEFILES)))
+CPU_START_SOURCEFILES += fault-handlers.c $(TI_XXWARE_STARTUP_SRCS)
 
 PYTHON = python
 BSL_FLAGS += -e -w -v
@@ -92,9 +51,6 @@ endif
 
 BSL = $(CONTIKI)/tools/cc2538-bsl/cc2538-bsl.py
 
-### Don't treat the .elf as intermediate
-.PRECIOUS: %.elf %.hex %.bin
-
 ### Always re-build ieee-addr.o in case the command line passes a new NODEID
 FORCE:
 
@@ -108,30 +64,6 @@ $(OBJECTDIR)/ccfg.o: ccfg.c FORCE | $(OBJECTDIR)
 	$(TRACE_CC)
 	$(Q)$(CC) $(CFLAGS) -include "ccxxware-conf.h" -c $< -o $@
 
-### Compilation rules
-CUSTOM_RULE_LINK=1
-
-%.elf: $(TARGET_STARTFILES) %.co $(PROJECT_OBJECTFILES) $(PROJECT_LIBRARIES) contiki-$(TARGET).a $(LDSCRIPT)
-	$(TRACE_LD)
-	$(Q)$(LD) $(LDFLAGS) ${filter-out $(LDSCRIPT) %.a,$^} ${filter %.a,$^} $(TARGET_LIBFILES) -lm -o $@
-
-%.i16hex: %.elf
-	$(OBJCOPY) -O ihex $< $@
-
-%.hex: %.i16hex
-	$(SREC_CAT) $< -intel -o $@ -intel
-
-%.bin: %.elf
-	$(OBJCOPY) $(OBJCOPY_FLAGS) $< $@
-
-%.lst: %.elf
-	$(OBJDUMP) $(OBJDUMP_FLAGS) $< > $@
-
-### We don't really need the .hex and .bin for the .$(TARGET) but let's make
-### sure they get built
-%.$(TARGET): %.elf %.hex %.bin
-	cp $< $@
-
 # a target that gives a user-friendly memory profile, taking into account the RAM
 # that is statically occupied by the stack as defined in the linker script
 # see $(LDSCRIPT)
@@ -170,3 +102,5 @@ UART_BAUDRATE = 115200
 
 login:
 	$(SERIALDUMP) -b$(UART_BAUDRATE) $(PORT)
+
+include $(CONTIKI)/arch/cpu/arm/cortex-m/cm3/Makefile.cm3
diff --git a/arch/cpu/cc26xx-cc13xx/clock.c b/arch/cpu/cc26xx-cc13xx/clock.c
index 98d18e653..981bbb4b2 100644
--- a/arch/cpu/cc26xx-cc13xx/clock.c
+++ b/arch/cpu/cc26xx-cc13xx/clock.c
@@ -29,22 +29,6 @@
  */
 /*---------------------------------------------------------------------------*/
 /**
- * \addtogroup platform
- * @{
- *
- * \defgroup cc26xx-platforms TI CC26xx-powered platforms
- * @{
- *
- * \defgroup cc26xx The TI CC26xx and CC13xx CPUs
- *
- * This group documents the TI CC26xx and CC13xx CPUs. The two CPU families are
- * very similar, with the main difference being related to radio capability.
- *
- * Documentation in this group should be considered to be applicable to both
- * families, unless explicitly stated otherwise.
- *
- * @{
- *
  * \addtogroup cc26xx-clocks
  * @{
  *
@@ -228,9 +212,6 @@ clock_delay(unsigned int i)
 }
 /*---------------------------------------------------------------------------*/
 /**
- * @}
- * @}
- * @}
  * @}
  * @}
  */
diff --git a/arch/cpu/cc26xx-cc13xx/doxygen-group.txt b/arch/cpu/cc26xx-cc13xx/doxygen-group.txt
new file mode 100644
index 000000000..6dd3cd1f0
--- /dev/null
+++ b/arch/cpu/cc26xx-cc13xx/doxygen-group.txt
@@ -0,0 +1,16 @@
+/**
+ * \defgroup cc26xx The TI CC13xx and CC26xx Systems-on-Chip
+ *
+ * This group documents the TI CC26xx and CC13xx CPUs. The two CPU families are
+ * very similar, with the main difference being related to radio capability.
+ *
+ * Documentation in this group should be considered to be applicable to both
+ * families, unless explicitly stated otherwise.
+ *
+ * \ingroup cpu
+ */
+
+/**
+ * \defgroup cc26xx-platforms TI CC26xx-powered platforms
+ * \ingroup platform
+ */
diff --git a/arch/cpu/nrf52832/Makefile.nrf52832 b/arch/cpu/nrf52832/Makefile.nrf52832
index f6752ef8c..6f35abcd5 100644
--- a/arch/cpu/nrf52832/Makefile.nrf52832
+++ b/arch/cpu/nrf52832/Makefile.nrf52832
@@ -46,19 +46,6 @@ OBJECT_DIRECTORY = $(OBJECTDIR)
 LISTING_DIRECTORY := $(OBJECTDIR)
 OUTPUT_BINARY_DIRECTORY := bin_$(TARGET)
 
-MK := mkdir
-RM := rm -rf
-
-# Toolchain commands
-CC := arm-none-eabi-gcc
-AS := arm-none-eabi-as
-AR := arm-none-eabi-ar
-LD := arm-none-eabi-ld
-NM := arm-none-eabi-nm
-OBJDUMP := arm-none-eabi-objdump
-OBJCOPY := arm-none-eabi-objcopy
-SIZE := arm-none-eabi-size
-
 # JLink
 JLINK := $(NRF52_JLINK_PATH)/JLinkExe
 JLINK_OPTS = -Device NRF52 -if swd -speed 1000
@@ -141,44 +128,24 @@ EXTERNALDIRS += $(addprefix $(NRF52_SDK_ROOT)/, $(INC_PATHS))
 # Sorting removes duplicates
 BUILD_DIRECTORIES := $(sort $(OUTPUT_BINARY_DIRECTORY) $(LISTING_DIRECTORY))
 
-# Clean files and directories
-CLEAN += bin_$(TARGET) lst_$(TARGET) nrf52832.a *.elf *.hex
-
 #flags common to all targets
 ifneq ($(NRF52_WITHOUT_SOFTDEVICE),1)
 CFLAGS += -DSOFTDEVICE_PRESENT
 CFLAGS += -DS132
 endif
 
-SMALL ?= 1
-ifeq ($(SMALL),1)
-CFLAGS += -Os
-else
-CFLAGS += -O2
-endif
-
 CFLAGS += -DNRF52
 CFLAGS += -DBOARD_$(shell echo $(NRF52_DK_REVISION) | tr a-z A-Z)
 CFLAGS += -D__HEAP_SIZE=512
 CFLAGS += -DSWI_DISABLE0
 CFLAGS += -DCONFIG_GPIO_AS_PINRESET
 CFLAGS += -DBLE_STACK_SUPPORT_REQD
-CFLAGS += -mcpu=cortex-m4
-CFLAGS += -mthumb -mabi=aapcs --std=gnu99
-CFLAGS += -Wall
-ifeq ($(WERROR),1)
-CFLAGS += -Werror
-endif
 CFLAGS += -ggdb
 CFLAGS += -mfloat-abi=hard -mfpu=fpv4-sp-d16
-# keep every function in separate section. This will allow linker to dump unused functions
-CFLAGS += -ffunction-sections -fdata-sections -fno-strict-aliasing
-CFLAGS += -fno-builtin --short-enums
 
 # keep every function in separate section. This will allow linker to dump unused functions
 LDFLAGS += -Xlinker -Map=$(LISTING_DIRECTORY)/$(OUTPUT_FILENAME).map
-LDFLAGS += -mthumb -mabi=aapcs -L $(TEMPLATE_PATH) -T$(LINKER_SCRIPT)
-LDFLAGS += -mcpu=cortex-m4
+LDFLAGS += -mabi=aapcs -L $(TEMPLATE_PATH) -T$(LINKER_SCRIPT)
 LDFLAGS += -mfloat-abi=hard -mfpu=fpv4-sp-d16
 # let linker to dump unused sections
 LDFLAGS += -Wl,--gc-sections
@@ -212,41 +179,15 @@ OBJECTS = $(C_OBJECTS) $(ASM_OBJECTS)
 
 TARGET_LIBS= nrf52832.a $(NRF52_SDK_ROOT)/components/iot/ble_6lowpan/lib/ble_6lowpan.a
 
-### Don't treat the .elf as intermediate
-.PRECIOUS: %.hex %.bin
-
 nrf52832.a: $(OBJECTS)
 	$(TRACE_AR)
 	$(Q)$(AR) $(AROPTS) $@ $^
 
-### Compilation rules
-CUSTOM_RULE_LINK=1
-
-%.elf: $(TARGET_STARTFILES) %.co $(PROJECT_OBJECTFILES) $(PROJECT_LIBRARIES) contiki-$(TARGET).a $(TARGET_LIBS)
-	$(TRACE_LD)
-	$(Q)$(CC) $(LDFLAGS) ${filter %o %.co %.a,$^} -o $@
-
 # Assemble files
 $(OBJECT_DIRECTORY)/%.o: %.s
 	@echo Compiling file: $(notdir $<)
 	$(Q)$(CC) $(ASMFLAGS) $(addprefix -I$(NRF52_SDK_ROOT)/, $(INC_PATHS)) -c -o $@ $<
 
-# Create binary file from the .out file
-%.bin: %.elf
-	@echo Preparing: $@
-	$(Q)$(OBJCOPY) -O binary $^ $@
-
-# Create binary .hex file from the .out file
-%.hex: %.elf
-	@echo Preparing: $@
-	$(Q)$(OBJCOPY) -O ihex $^ $@
-
-### We don't really need the .hex and .bin for the .$(TARGET) but let's make
-### sure they get built
-%.$(TARGET): %.elf %.hex %.bin
-	cp $*.elf $@
-	$(Q)$(SIZE) $@
-
 %.jlink:
 	sed -e 's/#OUTPUT_FILENAME#/$*.hex/' $(CONTIKI_CPU)/flash.jlink > $@
 
@@ -265,3 +206,5 @@ erase:
 	$(JLINK) $(JLINK_OPTS) -CommanderScript $(CONTIKI_CPU)/erase.jlink
 
 .PHONY: softdevice.jlink
+
+include $(CONTIKI)/arch/cpu/arm/cortex-m/cm4/Makefile.cm4
diff --git a/arch/cpu/nrf52832/ble/ble-core.c b/arch/cpu/nrf52832/ble/ble-core.c
index 8466cf8ab..9f1acdfc2 100644
--- a/arch/cpu/nrf52832/ble/ble-core.c
+++ b/arch/cpu/nrf52832/ble/ble-core.c
@@ -28,13 +28,7 @@
  *
  */
 /**
- * \addtogroup dev
- * @{
- *
- * \addtogroup nrf52832
- * @{
- *
- * \addtogroup nrf52832-ble Bluetooth Low Energy drivers
+ * \addtogroup nrf52832-ble
  * @{
  *
  * \file
@@ -231,8 +225,4 @@ ble_evt_dispatch(ble_evt_t *p_ble_evt)
   on_ble_evt(p_ble_evt);
 }
 /*---------------------------------------------------------------------------*/
-/**
- * @}
- * @}
- * @}
- */
+/** @} */
diff --git a/arch/cpu/nrf52832/ble/ble-core.h b/arch/cpu/nrf52832/ble/ble-core.h
index 12c678d42..1e7b6127c 100644
--- a/arch/cpu/nrf52832/ble/ble-core.h
+++ b/arch/cpu/nrf52832/ble/ble-core.h
@@ -28,13 +28,10 @@
  *
  */
 /**
- * \addtogroup dev
- * @{
- *
  * \addtogroup nrf52832
  * @{
  *
- * \addtogroup nrf52832-ble Bluetooth Low Energy drivers
+ * \defgroup nrf52832-ble Bluetooth Low Energy drivers
  * @{
  *
  * \file
@@ -55,7 +52,6 @@ void ble_get_mac(uint8_t addr[8]);
 #endif /* DEV_BLE_H_ */
 
 /**
- * @}
  * @}
  * @}
  */
diff --git a/arch/cpu/nrf52832/doxygen-group.txt b/arch/cpu/nrf52832/doxygen-group.txt
new file mode 100644
index 000000000..fad2067d6
--- /dev/null
+++ b/arch/cpu/nrf52832/doxygen-group.txt
@@ -0,0 +1,4 @@
+/**
+ * \defgroup nrf52832 nrf52832 SoC
+ * \ingroup cpu
+ */
diff --git a/arch/cpu/nrf52832/erase.jlink b/arch/cpu/nrf52832/erase.jlink
new file mode 100644
index 000000000..5f08d8d86
--- /dev/null
+++ b/arch/cpu/nrf52832/erase.jlink
@@ -0,0 +1,2 @@
+erase
+q
\ No newline at end of file
diff --git a/arch/cpu/nrf52832/flash.jlink b/arch/cpu/nrf52832/flash.jlink
new file mode 100644
index 000000000..787670d55
--- /dev/null
+++ b/arch/cpu/nrf52832/flash.jlink
@@ -0,0 +1,4 @@
+loadfile #OUTPUT_FILENAME#
+r
+g
+q
\ No newline at end of file
diff --git a/arch/platform/cc2538dk/contiki-conf.h b/arch/platform/cc2538dk/contiki-conf.h
index 0c956efff..4f7f6dc0a 100644
--- a/arch/platform/cc2538dk/contiki-conf.h
+++ b/arch/platform/cc2538dk/contiki-conf.h
@@ -1,3 +1,34 @@
+/*
+ * Copyright (c) 2012, Texas Instruments Incorporated - http://www.ti.com/
+ * 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 HOLDERS 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.
+ */
+/*---------------------------------------------------------------------------*/
 /**
  * \addtogroup cc2538dk
  * @{
diff --git a/arch/platform/cc2538dk/platform.c b/arch/platform/cc2538dk/platform.c
index 3a504c315..3897c6292 100644
--- a/arch/platform/cc2538dk/platform.c
+++ b/arch/platform/cc2538dk/platform.c
@@ -83,11 +83,11 @@ fade(unsigned char l)
 
     leds_on(l);
     for(i = 0; i < j; ++i) {
-      asm("nop");
+      __asm("nop");
     }
     leds_off(l);
     for(i = 0; i < 400 - j; ++i) {
-      asm("nop");
+      __asm("nop");
     }
   }
 }
diff --git a/arch/platform/cooja/doxygen-group.txt b/arch/platform/cooja/doxygen-group.txt
new file mode 100644
index 000000000..ce6c60b0d
--- /dev/null
+++ b/arch/platform/cooja/doxygen-group.txt
@@ -0,0 +1,4 @@
+/**
+ * \defgroup cooja COOJA network simulator node
+ * \ingroup platform
+ */
diff --git a/arch/platform/jn516x/doxygen-group.txt b/arch/platform/jn516x/doxygen-group.txt
new file mode 100644
index 000000000..11e5a702c
--- /dev/null
+++ b/arch/platform/jn516x/doxygen-group.txt
@@ -0,0 +1,4 @@
+/**
+ * \defgroup jn516x The JN516x Board
+ * \ingroup platform
+ */
diff --git a/arch/platform/native/doxygen-group.txt b/arch/platform/native/doxygen-group.txt
new file mode 100644
index 000000000..705d2b8fa
--- /dev/null
+++ b/arch/platform/native/doxygen-group.txt
@@ -0,0 +1,4 @@
+/**
+ * \defgroup native_platform Native platform
+ * \ingroup platform
+ */
diff --git a/arch/platform/nrf52dk/config/nrf_drv_config.h b/arch/platform/nrf52dk/config/nrf_drv_config.h
index cfc3595b2..dd9e9b5de 100644
--- a/arch/platform/nrf52dk/config/nrf_drv_config.h
+++ b/arch/platform/nrf52dk/config/nrf_drv_config.h
@@ -195,7 +195,7 @@
 #if (UART0_ENABLED == 1)
 #define UART0_CONFIG_HWFC         NRF_UART_HWFC_DISABLED
 #define UART0_CONFIG_PARITY       NRF_UART_PARITY_EXCLUDED
-#define UART0_CONFIG_BAUDRATE     NRF_UART_BAUDRATE_38400
+#define UART0_CONFIG_BAUDRATE     NRF_UART_BAUDRATE_115200
 #define UART0_CONFIG_PSEL_TXD 6
 #define UART0_CONFIG_PSEL_RXD 8
 #define UART0_CONFIG_PSEL_CTS 7
diff --git a/arch/platform/nrf52dk/doxygen-group.txt b/arch/platform/nrf52dk/doxygen-group.txt
new file mode 100644
index 000000000..e1f2c25e8
--- /dev/null
+++ b/arch/platform/nrf52dk/doxygen-group.txt
@@ -0,0 +1,4 @@
+/**
+ * \defgroup nrf52dk nRF52 Development Kit
+ * \ingroup platform
+ */
diff --git a/arch/platform/openmote-cc2538/contiki-conf.h b/arch/platform/openmote-cc2538/contiki-conf.h
index 8458afbc9..4cc9d9dce 100644
--- a/arch/platform/openmote-cc2538/contiki-conf.h
+++ b/arch/platform/openmote-cc2538/contiki-conf.h
@@ -40,6 +40,7 @@
  * is comercialized by OpenMote Technologies since 2014. It is the first
  * commercial platform based on the powerful TI CC2538 SoC. It uses a
  * XBee form-factor to ease prototyping.
+ * @{
  *
  * \file
  *  Configuration for the OpenMote-CC2538 platform
@@ -412,7 +413,7 @@ typedef uint32_t rtimer_clock_t;
 #ifndef CCM_STAR_CONF
 #define CCM_STAR_CONF           cc2538_ccm_star_driver /**< AES-CCM* driver */
 #endif
-
+/** @} */
 /*---------------------------------------------------------------------------*/
 #endif /* CONTIKI_CONF_H_ */
 /*---------------------------------------------------------------------------*/
diff --git a/arch/platform/openmote-cc2538/platform.c b/arch/platform/openmote-cc2538/platform.c
index 584f5a292..df1d74a47 100644
--- a/arch/platform/openmote-cc2538/platform.c
+++ b/arch/platform/openmote-cc2538/platform.c
@@ -32,7 +32,7 @@
  */
 /*---------------------------------------------------------------------------*/
 /**
- * \addtogroup platform
+ * \addtogroup cc2538-platforms
  * @{
  *
  * \defgroup openmote-cc2538 OpenMote-CC2538 platform
@@ -91,11 +91,11 @@ fade(unsigned char l)
 
     leds_on(l);
     for(i = 0; i < j; ++i) {
-      asm("nop");
+      __asm("nop");
     }
     leds_off(l);
     for(i = 0; i < 400 - j; ++i) {
-      asm("nop");
+      __asm("nop");
     }
   }
 }
diff --git a/arch/platform/zoul/contiki-conf.h b/arch/platform/zoul/contiki-conf.h
index 42f6661e1..35d4ebc6d 100644
--- a/arch/platform/zoul/contiki-conf.h
+++ b/arch/platform/zoul/contiki-conf.h
@@ -29,7 +29,7 @@
  * OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 /**
- * \addtogroup platform
+ * \addtogroup zoul-core
  * @{
  *
  * \defgroup zoul-platforms Zolertia Zoul platforms
diff --git a/arch/platform/zoul/doxygen-group.txt b/arch/platform/zoul/doxygen-group.txt
new file mode 100644
index 000000000..9090c2390
--- /dev/null
+++ b/arch/platform/zoul/doxygen-group.txt
@@ -0,0 +1,4 @@
+/**
+ * \defgroup zoul-core Zolertia Zoul-based platforms
+ * \ingroup cc2538-platforms
+ */
diff --git a/arch/platform/zoul/platform.c b/arch/platform/zoul/platform.c
index d428decbb..f71c9e46a 100644
--- a/arch/platform/zoul/platform.c
+++ b/arch/platform/zoul/platform.c
@@ -30,7 +30,7 @@
  * OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 /**
- * \addtogroup platform
+ * \addtogroup zoul-core
  * @{
  *
  * \defgroup zoul Zolertia Zoul core module
@@ -90,11 +90,11 @@ fade(unsigned char l)
 
     leds_on(l);
     for(i = 0; i < j; ++i) {
-      asm("nop");
+      __asm("nop");
     }
     leds_off(l);
     for(i = 0; i < 400 - j; ++i) {
-      asm("nop");
+      __asm("nop");
     }
   }
 }
diff --git a/examples/sensniff/README.md b/examples/sensniff/README.md
index 3fe1df7dd..01b3de54c 100644
--- a/examples/sensniff/README.md
+++ b/examples/sensniff/README.md
@@ -2,7 +2,8 @@ sensniff Contiki Project
 ========================
 This example can be used to create an IEEE 802.15.4 wireless sniffer firmware,
 meant to be used in parallel with
-[sensniff](https://github.com/g-oikonomou/sensniff).
+[sensniff](https://github.com/g-oikonomou/sensniff). Sensniff is distributed
+standalone, but also as part of Contiki-NG under `tools/sensniff`.
 
 Running
 =======
diff --git a/os/net/app-layer/coap/coap.c b/os/net/app-layer/coap/coap.c
index da466e6d7..bcec49cee 100644
--- a/os/net/app-layer/coap/coap.c
+++ b/os/net/app-layer/coap/coap.c
@@ -544,8 +544,6 @@ coap_parse_message(void *packet, uint8_t *data, uint16_t data_len)
       return BAD_REQUEST_4_00;
     }
 
-    option_number += option_delta;
-
     PRINTF("OPTION %u (delta %u, len %zu): ", option_number, option_delta,
            option_length);
 
diff --git a/os/sys/log-conf.h b/os/sys/log-conf.h
index 209d3d1ad..d52765c31 100644
--- a/os/sys/log-conf.h
+++ b/os/sys/log-conf.h
@@ -81,6 +81,22 @@
 #define LOG_OUTPUT(...) printf(__VA_ARGS__)
 #endif /* LOG_CONF_OUTPUT */
 
+/*
+ * Custom output function to prefix logs with level and module.
+ *
+ * This will only be called when LOG_CONF_WITH_MODULE_PREFIX is enabled and
+ * all implementations should be based on LOG_OUTPUT.
+ *
+ * \param level     The log level
+ * \param levelstr  The log level as string
+ * \param module    The module string descriptor
+ */
+#ifdef LOG_CONF_OUTPUT_PREFIX
+#define LOG_OUTPUT_PREFIX(level, levelstr, module) LOG_CONF_OUTPUT_PREFIX(level, levelstr, module)
+#else /* LOG_CONF_OUTPUT_PREFIX */
+#define LOG_OUTPUT_PREFIX(level, levelstr, module) LOG_OUTPUT("[%-4s: %-10s] ", levelstr, module)
+#endif /* LOG_CONF_OUTPUT_PREFIX */
+
 /******************************************************************************/
 /********************* A list of currently supported modules ******************/
 /******************************************************************************/
diff --git a/os/sys/log.h b/os/sys/log.h
index d638bee7d..b0624bbc7 100644
--- a/os/sys/log.h
+++ b/os/sys/log.h
@@ -101,7 +101,7 @@ extern struct log_module all_modules[];
                             if(level <= (LOG_LEVEL)) { \
                               if(newline) { \
                                 if(LOG_WITH_MODULE_PREFIX) { \
-                                  LOG_OUTPUT("[%-4s: %-10s] ", levelstr, LOG_MODULE); \
+                                  LOG_OUTPUT_PREFIX(level, levelstr, LOG_MODULE); \
                                 } \
                                 if(LOG_WITH_LOC) { \
                                   LOG_OUTPUT("[%s: %d] ", __FILE__, __LINE__); \
diff --git a/tests/17-tun-rpl-br/06-native-coap.sh b/tests/17-tun-rpl-br/06-native-coap.sh
new file mode 100755
index 000000000..a42424ee4
--- /dev/null
+++ b/tests/17-tun-rpl-br/06-native-coap.sh
@@ -0,0 +1,62 @@
+#!/bin/bash
+
+# Contiki directory
+CONTIKI=$1
+# Test basename
+BASENAME=06-native-coap
+
+IPADDR=fd00::302:304:506:708
+
+declare -i OKCOUNT=0
+declare -i TESTCOUNT=0
+
+echo "Enabling IPv6"
+sudo sysctl -w net.ipv6.conf.all.disable_ipv6=0
+
+# Starting Contiki-NG native node
+echo "Starting native CoAP server"
+make -C $CONTIKI/examples/coap > make.log 2> make.err
+sudo $CONTIKI/examples/coap/coap-example-server.native > node.log 2> node.err &
+CPID=$!
+sleep 2
+
+# Send CoAP requests
+echo "Sending CoAP requests"
+
+rm -f $BASENAME.log
+for TARGET in .well-known/core test/push; do
+  echo "Get $TARGET" | tee -a $BASENAME.log
+  coap get coap://[$IPADDR]/$TARGET 2>&1 | tee coap.log
+  cat coap.log >> $BASENAME.log
+  # Fetch coap status code (not $? because this is piped)
+  SUCCESS=`grep -c  '(2.05)' coap.log`
+  if [ $SUCCESS == 1 ]; then
+    printf "> OK\n"
+    OKCOUNT+=1
+  else
+    printf "> FAIL\n"
+  fi
+  TESTCOUNT+=1
+done
+
+echo "Closing native node"
+sleep 2
+pgrep hello-world | sudo xargs kill -9
+
+if [ $TESTCOUNT -eq $OKCOUNT ] ; then
+  printf "%-40s TEST OK    %3d/%d\n" "$BASENAME" "$OKCOUNT" "$TESTCOUNT" > $BASENAME.testlog;
+else
+  echo "==== make.log ====" ; cat make.log;
+  echo "==== make.err ====" ; cat make.err;
+  echo "==== node.log ====" ; cat node.log;
+  echo "==== node.err ====" ; cat node.err;
+  echo "==== $BASENAME.log ====" ; cat $BASENAME.log;
+
+  printf "%-32s TEST FAIL  %3d/%d\n" "$BASENAME" "$OKCOUNT" "$TESTCOUNT" > $BASENAME.testlog;
+fi
+
+rm -f  make.log make.err node.log node.err coap.log
+
+# We do not want Make to stop -> Return 0
+# The Makefile will check if a log contains FAIL at the end
+exit 0
diff --git a/tools/docker/Dockerfile b/tools/docker/Dockerfile
new file mode 100644
index 000000000..14c1636ae
--- /dev/null
+++ b/tools/docker/Dockerfile
@@ -0,0 +1,90 @@
+FROM 32bit/ubuntu:16.04
+
+# Tools
+RUN apt-get update && \
+  apt-get install -y --no-install-recommends \
+  build-essential doxygen git wget unzip python-serial \
+  default-jdk ant srecord iputils-tracepath && \
+  apt-get clean
+
+# Install ARM toolchain
+RUN wget https://launchpad.net/gcc-arm-embedded/5.0/5-2015-q4-major/+download/gcc-arm-none-eabi-5_2-2015q4-20151219-linux.tar.bz2 && \
+  tar xjf gcc-arm-none-eabi-5_2-2015q4-20151219-linux.tar.bz2 -C /tmp/ && \
+  cp -f -r /tmp/gcc-arm-none-eabi-5_2-2015q4/* /usr/local/ && \
+  rm -rf /tmp/gcc-arm-none-eabi-* gcc-arm-none-eabi-*-linux.tar.bz2
+
+# Install msp430 toolchain
+RUN wget http://simonduq.github.io/resources/mspgcc-4.7.2-compiled.tar.bz2 && \
+  tar xjf mspgcc*.tar.bz2 -C /tmp/ && \
+  cp -f -r /tmp/msp430/* /usr/local/ && \
+  rm -rf /tmp/msp430 mspgcc*.tar.bz2
+
+# Install NXP toolchain (partial, with binaries excluded. Download from nxp.com)
+RUN wget http://simonduq.github.io/resources/ba-elf-gcc-4.7.4-part1.tar.bz2 && \
+  wget http://simonduq.github.io/resources/ba-elf-gcc-4.7.4-part2.tar.bz2 && \
+  wget http://simonduq.github.io/resources/jn516x-sdk-4163-1416.tar.bz2 && \
+  mkdir /tmp/jn516x-sdk /tmp/ba-elf-gcc && \
+  tar xjf jn516x-sdk-*.tar.bz2 -C /tmp/jn516x-sdk && \
+  tar xjf ba-elf-gcc-*part1.tar.bz2 -C /tmp/ba-elf-gcc && \
+  tar xjf ba-elf-gcc-*part2.tar.bz2 -C /tmp/ba-elf-gcc && \
+  cp -f -r /tmp/jn516x-sdk /usr/ && \
+  cp -f -r /tmp/ba-elf-gcc /usr/ && \
+  rm -rf jn516x*.bz2 ba-elf-gcc*.bz2 /tmp/ba-elf-gcc* /tmp/jn516x-sdk*
+
+ENV PATH="/usr/ba-elf-gcc/bin:${PATH}"
+
+## Install nRF52 SDK
+RUN wget https://developer.nordicsemi.com/nRF5_IoT_SDK/nRF5_IoT_SDK_v0.9.x/nrf5_iot_sdk_3288530.zip && \
+    mkdir /usr/nrf52-sdk && \
+    unzip nrf5_iot_sdk_3288530.zip -d /usr/nrf52-sdk && \
+    rm nrf5_iot_sdk_3288530.zip
+
+ENV NRF52_SDK_ROOT /usr/nrf52-sdk
+
+# Create user, enable X forwarding, add to group dialout
+# -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix
+RUN export uid=1000 gid=1000 && \
+    mkdir -p /home/user && \
+    echo "user:x:${uid}:${gid}:user,,,:/home/user:/bin/bash" >> /etc/passwd && \
+    echo "user:x:${uid}:" >> /etc/group && \
+    echo "user ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers && \
+    chmod 0440 /etc/sudoers && \
+    chown ${uid}:${gid} -R /home/user && \
+    usermod -aG dialout user
+
+# Set user for what comes next
+USER user
+
+# Environment variables
+ENV JAVA_HOME           /usr/lib/jvm/default-java
+ENV HOME                /home/user
+ENV CONTIKI_NG          ${HOME}/contiki-ng
+ENV COOJA               ${CONTIKI_NG}/tools/cooja
+ENV                     PATH="${HOME}:${PATH}"
+WORKDIR                 ${HOME}
+
+# Create Cooja shortcut
+RUN echo "#!/bin/bash\nant -Dbasedir=${COOJA} -f ${COOJA}/build.xml run" > ${HOME}/cooja && \
+  chmod +x ${HOME}/cooja
+
+# Optional: download Contiki-NG and pre-compile Cooja.
+# Else, use a Docker bind mount to share the repo with the host.
+# Docker run option:
+# -v <HOST_CONTIKI_NG_ABS_PATH>:/home/user/contiki-ng
+#RUN git clone --recursive https://github.com/contiki-ng/contiki-ng.git ${CONTIKI_NG}
+#RUN ant -q -f ${CONTIKI_NG}/tools/cooja/build.xml jar
+
+# Enable IPv6 -- must be done at runtime, not in Dockerfile
+#RUN sudo sysctl -w net.ipv6.conf.all.disable_ipv6=0
+
+# Install coap-cli
+RUN sudo apt-get install -y npm \
+  && sudo apt-get clean \
+  && sudo npm install coap-cli -g \
+  && sudo ln -s /usr/bin/nodejs /usr/bin/node
+
+# Working directory
+WORKDIR ${CONTIKI_NG}
+
+# Start a bash
+CMD bash
diff --git a/tools/doxygen/modules.txt b/tools/doxygen/modules.txt
index 7ece82e8b..635bbe148 100644
--- a/tools/doxygen/modules.txt
+++ b/tools/doxygen/modules.txt
@@ -8,36 +8,6 @@ CPU, device drivers and platform code
  * \ingroup arch
  */
 
-/**
- * \addtogroup cc2538dk The cc2538 Development Kit platform
- * \ingroup platform
- */
-
-/**
- * \addtogroup cooja COOJA network simulator node
- * \ingroup platform
- */
-
-/**
- * \addtogroup exp5438 MSP430F5438 Experimenter Board
- * \ingroup platform
- */
-
-/**
- * \addtogroup jn516x The JN516x Board
- * \ingroup platform
- */
-
-/**
- * \addtogroup native_platform Native platform
- * \ingroup platform
- */
-
-/**
- * \addtogroup nrf52dk nRF52 Development Kit
- * \ingroup platform
- */
-
 /**
 \defgroup net IoT networking
 The communication protocols
@@ -89,18 +59,13 @@ Core system components such as processes and timers
 */
 
 /**
-\defgroup dev CPUs and Device driver
+\defgroup cpu CPUs
 \ingroup arch
 */
 
 /**
-* \defgroup arm ARM CPUs
-* \ingroup dev
-*/
-
-/**
-* \addtogroup nrf52832 nrf52832 SoC
-* \ingroup dev
+\defgroup dev Device Drivers
+\ingroup arch
 */
 
 /**