diff --git a/core/net/rpl/rpl-dag.c b/core/net/rpl/rpl-dag.c
index f8587dbf8..7240ae7cb 100644
--- a/core/net/rpl/rpl-dag.c
+++ b/core/net/rpl/rpl-dag.c
@@ -62,11 +62,11 @@ extern rpl_of_t RPL_OF;
 static rpl_of_t * const objective_functions[] = {&RPL_OF};
 
 /************************************************************************/
-#ifndef RPL_CONF_MAX_PARENTS_PER_DODAG
-#define RPL_MAX_PARENTS_PER_DODAG       8
+#ifndef RPL_CONF_MAX_PARENTS_PER_DAG
+#define RPL_MAX_PARENTS_PER_DAG       8
 #else
-#define RPL_MAX_PARENTS_PER_DODAG       RPL_CONF_MAX_PARENTS_PER_DODAG
-#endif /* !RPL_CONF_MAX_PARENTS */
+#define RPL_MAX_PARENTS_PER_DAG       RPL_CONF_MAX_PARENTS_PER_DAG
+#endif /* !RPL_CONF_MAX_PARENTS_PER_DAG */
 
 /************************************************************************/
 /* RPL definitions. */
@@ -77,30 +77,16 @@ static rpl_of_t * const objective_functions[] = {&RPL_OF};
 #define RPL_GROUNDED                    RPL_CONF_GROUNDED
 #endif /* !RPL_CONF_GROUNDED */
 
-#ifndef RPL_CONF_DIO_INTERVAL_MIN
-#define RPL_DIO_INTERVAL_MIN            DEFAULT_DIO_INTERVAL_MIN
-#else
-#define RPL_DIO_INTERVAL_MIN            RPL_CONF_DIO_INTERVAL_MIN
-#endif /* !RPL_CONF_DIO_INTERVAL_MIN */
-
-#ifndef RPL_CONF_DIO_INTERVAL_DOUBLINGS
-#define RPL_DIO_INTERVAL_DOUBLINGS      DEFAULT_DIO_INTERVAL_DOUBLINGS
-#else
-#define RPL_DIO_INTERVAL_DOUBLINGS      RPL_CONF_DIO_INTERVAL_DOUBLINGS
-#endif /* !RPL_CONF_DIO_INTERVAL_DOUBLINGS */
-
 /************************************************************************/
 /* Allocate parents from the same static MEMB chunk to reduce memory waste. */
 MEMB(parent_memb, struct rpl_parent,
-     RPL_MAX_PARENTS_PER_DODAG * RPL_MAX_INSTANCES * RPL_MAX_DODAG_PER_INSTANCE);
-
+     RPL_MAX_PARENTS_PER_DAG * RPL_MAX_INSTANCES * RPL_MAX_DAG_PER_INSTANCE);
 /************************************************************************/
 /* Allocate instance table. */
 rpl_instance_t instance_table[RPL_MAX_INSTANCES];
 rpl_instance_t *default_instance;
-
 /************************************************************************/
-/* lollipop greater than function.                                      */
+/* Greater-than function for the lollipop counter.                      */
 /************************************************************************/
 int rpl_lollipop_greater_than(int a, int b) {
   /* Check if we are comparing an initial value with an old value */
@@ -113,7 +99,6 @@ int rpl_lollipop_greater_than(int a, int b) {
     (a < b && (b - a) > (RPL_LOLLIPOP_CIRCULAR_REGION + 1-
 			 RPL_LOLLIPOP_SEQUENCE_WINDOWS));
 }
-
 /************************************************************************/
 /* Remove DAG parents with a rank that is at least the same as minimum_rank. */
 static void
@@ -225,15 +210,15 @@ rpl_set_root(uint8_t instance_id, uip_ipaddr_t *dag_id)
 
   memcpy(&dag->dag_id, dag_id, sizeof(dag->dag_id));
 
-  instance->dio_intdoubl = DEFAULT_DIO_INTERVAL_DOUBLINGS;
-  instance->dio_intmin = DEFAULT_DIO_INTERVAL_MIN;
+  instance->dio_intdoubl = RPL_DIO_INTERVAL_DOUBLINGS;
+  instance->dio_intmin = RPL_DIO_INTERVAL_MIN;
   /* The current interval must differ from the minimum interval in order to
      trigger a DIO timer reset. */
-  instance->dio_intcurrent = DEFAULT_DIO_INTERVAL_MIN +
-    DEFAULT_DIO_INTERVAL_DOUBLINGS;
-  instance->dio_redundancy = DEFAULT_DIO_REDUNDANCY;
-  instance->max_rankinc = DEFAULT_MAX_RANKINC;
-  instance->min_hoprankinc = DEFAULT_MIN_HOPRANKINC;
+  instance->dio_intcurrent = RPL_DIO_INTERVAL_MIN +
+    RPL_DIO_INTERVAL_DOUBLINGS;
+  instance->dio_redundancy = RPL_DIO_REDUNDANCY;
+  instance->max_rankinc = RPL_MAX_RANKINC;
+  instance->min_hoprankinc = RPL_MIN_HOPRANKINC;
   instance->default_lifetime = RPL_DEFAULT_LIFETIME;
   instance->lifetime_unit = RPL_DEFAULT_LIFETIME_UNIT;
 
@@ -409,7 +394,7 @@ rpl_alloc_dodag(uint8_t instance_id, uip_ipaddr_t *dag_id)
     return dag;
   }
 
-  for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DODAG_PER_INSTANCE; dag < end; ++dag) {
+  for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DAG_PER_INSTANCE; dag < end; ++dag) {
     if(!dag->used) {
       memset(dag, 0, sizeof(*dag));
       dag->parents = &dag->parent_list;
@@ -438,8 +423,8 @@ rpl_free_instance(rpl_instance_t *instance)
 
   PRINTF("RPL: Leaving the instance %u\n", instance->instance_id);
 
-  /* Remove any DODAG inside this instance */
-  for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DODAG_PER_INSTANCE; dag < end; ++dag) {
+  /* Remove any DAG inside this instance */
+  for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DAG_PER_INSTANCE; dag < end; ++dag) {
     if(dag->used) {
       rpl_free_dodag(dag);
     }
@@ -519,7 +504,7 @@ find_parent_dag(rpl_instance_t *instance, uip_ipaddr_t *addr)
   rpl_parent_t *p;
   rpl_dag_t *dag, *end;
 
-  for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DODAG_PER_INSTANCE; dag < end; ++dag) {
+  for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DAG_PER_INSTANCE; dag < end; ++dag) {
     if(dag->used) {
       for(p = list_head(dag->parents); p != NULL; p = p->next) {
         if(uip_ipaddr_cmp(&p->addr, addr)) {
@@ -537,7 +522,7 @@ rpl_find_parent_any_dag(rpl_instance_t *instance, uip_ipaddr_t *addr)
   rpl_parent_t *p;
   rpl_dag_t *dag, *end;
 
-  for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DODAG_PER_INSTANCE; dag < end; ++dag) {
+  for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DAG_PER_INSTANCE; dag < end; ++dag) {
     if(dag->used) {
       for(p = list_head(dag->parents); p != NULL; p = p->next) {
         if(uip_ipaddr_cmp(&p->addr, addr)) {
@@ -567,7 +552,7 @@ rpl_select_dodag(rpl_instance_t *instance, rpl_parent_t *p)
       }
     } else if(p->dag == best_dag) {
       best_dag = NULL;
-      for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DODAG_PER_INSTANCE; dag < end; ++dag) {
+      for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DAG_PER_INSTANCE; dag < end; ++dag) {
         if(dag->used && dag->preferred_parent != NULL && dag->preferred_parent->rank != INFINITE_RANK) {
           if(best_dag == NULL) {
             best_dag = dag;
@@ -588,7 +573,7 @@ rpl_select_dodag(rpl_instance_t *instance, rpl_parent_t *p)
     /* Remove routes installed by DAOs. */
     rpl_remove_routes(instance->current_dag);
 
-    PRINTF("RPL: New preferred DODAG: ");
+    PRINTF("RPL: New preferred DAG: ");
     PRINT6ADDR(&best_dag->dag_id);
     PRINTF("\n");
 
@@ -613,7 +598,7 @@ rpl_select_dodag(rpl_instance_t *instance, rpl_parent_t *p)
     instance->current_dag->preferred_parent = NULL;
     if(instance->mop != RPL_MOP_NO_DOWNWARD_ROUTES && last_parent != NULL) {
       /* Send a No-Path DAO to the removed preferred parent. */
-      dao_output(last_parent, ZERO_LIFETIME);
+      dao_output(last_parent, RPL_ZERO_LIFETIME);
     }
     return NULL;
   }
@@ -626,7 +611,7 @@ rpl_select_dodag(rpl_instance_t *instance, rpl_parent_t *p)
     if(instance->mop != RPL_MOP_NO_DOWNWARD_ROUTES) {
       if(last_parent != NULL) {
         /* Send a No-Path DAO to the removed preferred parent. */
-        dao_output(last_parent, ZERO_LIFETIME);
+        dao_output(last_parent, RPL_ZERO_LIFETIME);
       }
       /* The DAO parent set changed - schedule a DAO transmission. */
       RPL_LOLLIPOP_INCREMENT(instance->dtsn_out);
@@ -692,7 +677,7 @@ rpl_nullify_parent(rpl_dag_t *dag, rpl_parent_t *parent)
         }
         dag->instance->def_route = NULL;
       }
-      dao_output(parent, ZERO_LIFETIME);
+      dao_output(parent, RPL_ZERO_LIFETIME);
     }
   }
 
@@ -768,7 +753,7 @@ rpl_get_dodag(uint8_t instance_id, uip_ipaddr_t *dag_id)
     return NULL;
   }
 
-  for(i = 0; i < RPL_MAX_DODAG_PER_INSTANCE; ++i) {
+  for(i = 0; i < RPL_MAX_DAG_PER_INSTANCE; ++i) {
     dag = &instance->dag_table[i];
     if(dag->used && uip_ipaddr_cmp(&dag->dag_id, dag_id)) {
       return dag;
@@ -1003,7 +988,7 @@ rpl_local_repair(rpl_instance_t *instance)
   int i;
 
   PRINTF("RPL: Starting a local instance repair\n");
-  for(i = 0; i < RPL_MAX_DODAG_PER_INSTANCE; i++) {
+  for(i = 0; i < RPL_MAX_DAG_PER_INSTANCE; i++) {
     if(instance->dag_table[i].used) {
       instance->dag_table[i].rank = INFINITE_RANK;
       nullify_parents(&instance->dag_table[i], 0);
@@ -1029,7 +1014,7 @@ rpl_recalculate_ranks(void)
    */
   for(instance = &instance_table[0], end = instance + RPL_MAX_INSTANCES; instance < end; ++instance) {
     if(instance->used) {
-      for(i = 0; i < RPL_MAX_DODAG_PER_INSTANCE; i++) {
+      for(i = 0; i < RPL_MAX_DAG_PER_INSTANCE; i++) {
         if(instance->dag_table[i].used) {
           for(p = list_head(instance->dag_table[i].parents); p != NULL; p = p->next) {
             if(p->updated) {
@@ -1190,7 +1175,7 @@ rpl_process_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
   if(p == NULL) {
     previous_dag = find_parent_dag(instance, from);
     if(previous_dag == NULL) {
-      if(RPL_PARENT_COUNT(dag) == RPL_MAX_PARENTS_PER_DODAG) {
+      if(RPL_PARENT_COUNT(dag) == RPL_MAX_PARENTS_PER_DAG) {
         /* Make room for a new parent. */
         remove_worst_parent(dag, dio->rank);
       }
@@ -1220,7 +1205,7 @@ rpl_process_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
     }
   }
 
-  PRINTF("RPL: preferred DODAG ");
+  PRINTF("RPL: preferred DAG ");
   PRINT6ADDR(&instance->current_dag->dag_id);
   PRINTF(", rank %u, min_rank %u, ",
 	 instance->current_dag->rank, instance->current_dag->min_rank);
diff --git a/core/net/rpl/rpl-icmp6.c b/core/net/rpl/rpl-icmp6.c
index efc9ee7fa..424e7ed19 100755
--- a/core/net/rpl/rpl-icmp6.c
+++ b/core/net/rpl/rpl-icmp6.c
@@ -92,6 +92,8 @@ void RPL_DEBUG_DIO_INPUT(uip_ipaddr_t *, rpl_dio_t *);
 void RPL_DEBUG_DAO_OUTPUT(rpl_parent_t *);
 #endif
 
+extern rpl_of_t RPL_OF;
+
 /*---------------------------------------------------------------------------*/
 static int
 get_global_addr(uip_ipaddr_t *addr)
@@ -209,9 +211,15 @@ dio_input(void)
 
   memset(&dio, 0, sizeof(dio));
 
-  dio.dag_intdoubl = DEFAULT_DIO_INTERVAL_DOUBLINGS;
-  dio.dag_intmin = DEFAULT_DIO_INTERVAL_MIN;
-  dio.dag_redund = DEFAULT_DIO_REDUNDANCY;
+  /* Set default values in case the DIO configuration option is missing. */
+  dio.dag_intdoubl = RPL_DIO_INTERVAL_DOUBLINGS;
+  dio.dag_intmin = RPL_DIO_INTERVAL_MIN;
+  dio.dag_redund = RPL_DIO_REDUNDANCY;
+  dio.dag_min_hoprankinc = RPL_MIN_HOPRANKINC;
+  dio.dag_max_rankinc = RPL_MAX_RANKINC;
+  dio.ocp = RPL_OF.ocp;
+  dio.default_lifetime = RPL_DEFAULT_LIFETIME;
+  dio.lifetime_unit = RPL_DEFAULT_LIFETIME_UNIT;
 
   uip_ipaddr_copy(&from, &UIP_IP_BUF->srcipaddr);
 
@@ -251,8 +259,10 @@ dio_input(void)
   dio.rank = get16(buffer, i);
   i += 2;
 
-  PRINTF("RPL: Incoming DIO InstanceID-Version %u-%u\n", (unsigned)dio.instance_id,(unsigned)dio.version);
-  PRINTF("RPL: Incoming DIO rank %u\n", (unsigned)dio.rank);
+  PRINTF("RPL: Incoming DIO (id, ver, rank) = (%u,%u,%u)\n",
+         (unsigned)dio.instance_id,
+         (unsigned)dio.version, 
+         (unsigned)dio.rank);
 
   dio.grounded = buffer[i] & RPL_DIO_GROUNDED;
   dio.mop = (buffer[i]& RPL_DIO_MOP_MASK) >> RPL_DIO_MOP_SHIFT;
@@ -265,9 +275,9 @@ dio_input(void)
   memcpy(&dio.dag_id, buffer + i, sizeof(dio.dag_id));
   i += sizeof(dio.dag_id);
 
-  PRINTF("RPL: Incoming DIO DODAG ");
+  PRINTF("RPL: Incoming DIO (dag_id, pref) = (");
   PRINT6ADDR(&dio.dag_id);
-  PRINTF(", preference: %u\n", dio.preference);
+  PRINTF(", %u)\n", dio.preference);
 
   /* Check if there are any DIO suboptions. */
   for(; i < buffer_length; i += len) {
@@ -326,7 +336,7 @@ dio_input(void)
         return;
       }
 
-      /* flags is both preference and flags for now */
+      /* The flags field includes the preference value. */
       dio.destination_prefix.length = buffer[i + 2];
       dio.destination_prefix.flags = buffer[i + 3];
       dio.destination_prefix.lifetime = get32(buffer, i + 4);
@@ -337,7 +347,7 @@ dio_input(void)
         memcpy(&dio.destination_prefix.prefix, &buffer[i + 8],
                (dio.destination_prefix.length + 7) / 8);
       } else {
-        PRINTF("RPL: Invalid route infoprefix option, len = %d\n", len);
+        PRINTF("RPL: Invalid route info option, len = %d\n", len);
 	RPL_STAT(rpl_stats.malformed_msgs++);
 	return;
       }
@@ -360,14 +370,14 @@ dio_input(void)
       /* buffer + 12 is reserved */
       dio.default_lifetime = buffer[i + 13];
       dio.lifetime_unit = get16(buffer, i + 14);
-      PRINTF("RPL: DIO Conf:dbl=%d, min=%d red=%d maxinc=%d mininc=%d ocp=%d d_l=%u l_u=%u\n",
+      PRINTF("RPL: DAG conf:dbl=%d, min=%d red=%d maxinc=%d mininc=%d ocp=%d d_l=%u l_u=%u\n",
              dio.dag_intdoubl, dio.dag_intmin, dio.dag_redund,
              dio.dag_max_rankinc, dio.dag_min_hoprankinc, dio.ocp,
              dio.default_lifetime, dio.lifetime_unit);
       break;
     case RPL_OPTION_PREFIX_INFO:
       if(len != 32) {
-        PRINTF("RPL: DAG Prefix info not ok, len != 32\n");
+        PRINTF("RPL: DAG prefix info not ok, len != 32\n");
 	RPL_STAT(rpl_stats.malformed_msgs++);
         return;
       }
@@ -398,6 +408,7 @@ dio_output(rpl_instance_t *instance, uip_ipaddr_t *uc_addr)
 {
   unsigned char *buffer;
   int pos;
+  rpl_dag_t *dag = instance->current_dag;
 #if !RPL_LEAF_ONLY
   uip_ipaddr_t addr;
 #endif /* !RPL_LEAF_ONLY */
@@ -409,8 +420,6 @@ dio_output(rpl_instance_t *instance, uip_ipaddr_t *uc_addr)
   }
 #endif /* RPL_LEAF_ONLY */
 
-  rpl_dag_t *dag = instance->current_dag;
-
   /* DAG Information Object */
   pos = 0;
 
@@ -597,7 +606,7 @@ dao_input(void)
   /* Is the DAGID present? */
   if(flags & RPL_DAO_D_FLAG) {
     if(memcmp(&dag->dag_id, &buffer[pos], sizeof(dag->dag_id))) {
-      PRINTF("RPL: Ignoring a DAO for a DODAG different from ours\n");
+      PRINTF("RPL: Ignoring a DAO for a DAG different from ours\n");
       return;
     }
     pos += 16;
@@ -640,7 +649,7 @@ dao_input(void)
 
   rep = uip_ds6_route_lookup(&prefix);
 
-  if(lifetime == ZERO_LIFETIME) {
+  if(lifetime == RPL_ZERO_LIFETIME) {
     /* No-Path DAO received; invoke the route purging routine. */
     if(rep != NULL && rep->state.saved_lifetime == 0 && rep->length == prefixlen) {
       PRINTF("RPL: Setting expiration timer for prefix ");
@@ -733,19 +742,19 @@ dao_output(rpl_parent_t *n, uint8_t lifetime)
 
   buffer[pos++] = instance->instance_id;
   buffer[pos] = 0;
-#if RPL_DAO_SPECIFY_DODAG
+#if RPL_DAO_SPECIFY_DAG
   buffer[pos] |= RPL_DAO_D_FLAG;
-#endif /* RPL_DAO_SPECIFY_DODAG */
+#endif /* RPL_DAO_SPECIFY_DAG */
 #if RPL_CONF_DAO_ACK
   buffer[pos] |= RPL_DAO_K_FLAG;
 #endif /* RPL_CONF_DAO_ACK */
   ++pos;
   buffer[pos++] = 0; /* reserved */
   buffer[pos++] = dao_sequence;
-#if RPL_DAO_SPECIFY_DODAG
+#if RPL_DAO_SPECIFY_DAG
   memcpy(buffer + pos, &dag->dag_id, sizeof(dag->dag_id));
   pos+=sizeof(dag->dag_id);
-#endif /* RPL_DAO_SPECIFY_DODAG */
+#endif /* RPL_DAO_SPECIFY_DAG */
 
   /* create target subopt */
   prefixlen = sizeof(prefix) * CHAR_BIT;
diff --git a/core/net/rpl/rpl-of-etx.c b/core/net/rpl/rpl-of-etx.c
index 05a521c83..a7c0e4429 100644
--- a/core/net/rpl/rpl-of-etx.c
+++ b/core/net/rpl/rpl-of-etx.c
@@ -112,7 +112,7 @@ calculate_rank(rpl_parent_t *p, rpl_rank_t base_rank)
     if(base_rank == 0) {
       return INFINITE_RANK;
     }
-    rank_increase = NEIGHBOR_INFO_FIX2ETX(INITIAL_LINK_METRIC) * DEFAULT_MIN_HOPRANKINC;
+    rank_increase = NEIGHBOR_INFO_FIX2ETX(INITIAL_LINK_METRIC) * RPL_MIN_HOPRANKINC;
   } else {
     /* multiply first, then scale down to avoid truncation effects */
     rank_increase = NEIGHBOR_INFO_FIX2ETX(p->link_metric * p->dag->instance->min_hoprankinc);
diff --git a/core/net/rpl/rpl-of0.c b/core/net/rpl/rpl-of0.c
index ca239eb20..49f3c99d0 100644
--- a/core/net/rpl/rpl-of0.c
+++ b/core/net/rpl/rpl-of0.c
@@ -62,7 +62,7 @@ rpl_of_t rpl_of0 = {
   0
 };
 
-#define DEFAULT_RANK_INCREMENT  DEFAULT_MIN_HOPRANKINC
+#define DEFAULT_RANK_INCREMENT  RPL_MIN_HOPRANKINC
 
 #define MIN_DIFFERENCE (NEIGHBOR_INFO_ETX_DIVISOR + NEIGHBOR_INFO_ETX_DIVISOR / 2)
 
diff --git a/core/net/rpl/rpl-private.h b/core/net/rpl/rpl-private.h
index 94eaec0d8..f48d31afd 100644
--- a/core/net/rpl/rpl-private.h
+++ b/core/net/rpl/rpl-private.h
@@ -110,10 +110,10 @@
 /* Default values for RPL constants and variables. */
 
 /* The default value for the DAO timer. */
-#define DEFAULT_DAO_LATENCY             (CLOCK_SECOND * 8)
+#define RPL_DAO_LATENCY                 (CLOCK_SECOND * 4)
 
 /* Special value indicating immediate removal. */
-#define ZERO_LIFETIME                   0
+#define RPL_ZERO_LIFETIME               0
 
 /* Default route lifetime unit. */
 #define RPL_DEFAULT_LIFETIME_UNIT       0xffff
@@ -125,13 +125,14 @@
           ((unsigned long)(instance)->lifetime_unit * (lifetime))
 
 #ifndef RPL_CONF_MIN_HOPRANKINC
-#define DEFAULT_MIN_HOPRANKINC          256
+#define RPL_MIN_HOPRANKINC          256
 #else
-#define DEFAULT_MIN_HOPRANKINC          RPL_CONF_MIN_HOPRANKINC
+#define RPL_MIN_HOPRANKINC          RPL_CONF_MIN_HOPRANKINC
 #endif
-#define DEFAULT_MAX_RANKINC             (7 * DEFAULT_MIN_HOPRANKINC)
+#define RPL_MAX_RANKINC             (7 * RPL_MIN_HOPRANKINC)
 
-#define DAG_RANK(fixpt_rank, instance)	((fixpt_rank) / (instance)->min_hoprankinc)
+#define DAG_RANK(fixpt_rank, instance) \
+  ((fixpt_rank) / (instance)->min_hoprankinc)
 
 /* Rank of a virtual root node that coordinates DAG root nodes. */
 #define BASE_RANK                       0
@@ -148,23 +149,23 @@
    means 8 milliseconds, but that is an unreasonable value if
    using power-saving / duty-cycling    */
 #ifdef RPL_CONF_DIO_INTERVAL_MIN
-#define DEFAULT_DIO_INTERVAL_MIN        RPL_CONF_DIO_INTERVAL_MIN
+#define RPL_DIO_INTERVAL_MIN        RPL_CONF_DIO_INTERVAL_MIN
 #else
-#define DEFAULT_DIO_INTERVAL_MIN        12
+#define RPL_DIO_INTERVAL_MIN        12
 #endif
 
 /* Maximum amount of timer doublings. */
 #ifdef RPL_CONF_DIO_INTERVAL_DOUBLINGS
-#define DEFAULT_DIO_INTERVAL_DOUBLINGS  RPL_CONF_DIO_INTERVAL_DOUBLINGS
+#define RPL_DIO_INTERVAL_DOUBLINGS  RPL_CONF_DIO_INTERVAL_DOUBLINGS
 #else
-#define DEFAULT_DIO_INTERVAL_DOUBLINGS  8
+#define RPL_DIO_INTERVAL_DOUBLINGS  8
 #endif
 
 /* Default DIO redundancy. */
 #ifdef RPL_CONF_DIO_REDUNDANCY
-#define DEFAULT_DIO_REDUNDANCY          RPL_CONF_DIO_REDUNDANCY
+#define RPL_DIO_REDUNDANCY          RPL_CONF_DIO_REDUNDANCY
 #else
-#define DEFAULT_DIO_REDUNDANCY          10
+#define RPL_DIO_REDUNDANCY          10
 #endif
 
 /* Expire DAOs from neighbors that do not respond in this time. (seconds) */
@@ -207,6 +208,20 @@
 #endif
 #define RPL_DIS_START_DELAY             5
 /*---------------------------------------------------------------------------*/
+/* Lollipop counters */
+
+#define RPL_LOLLIPOP_MAX_VALUE           255
+#define RPL_LOLLIPOP_CIRCULAR_REGION     127
+#define RPL_LOLLIPOP_SEQUENCE_WINDOWS    16
+#define RPL_LOLLIPOP_INIT                (RPL_LOLLIPOP_MAX_VALUE - RPL_LOLLIPOP_SEQUENCE_WINDOWS + 1)
+#define RPL_LOLLIPOP_INCREMENT(counter)					\
+  ((counter) > RPL_LOLLIPOP_CIRCULAR_REGION ?				\
+   ++(counter) & RPL_LOLLIPOP_MAX_VALUE :				\
+   ++(counter) & RPL_LOLLIPOP_CIRCULAR_REGION)
+
+#define RPL_LOLLIPOP_IS_INIT(counter)		\
+  ((counter) > RPL_LOLLIPOP_CIRCULAR_REGION)
+/*---------------------------------------------------------------------------*/
 /* Logical representation of a DAG Information Object (DIO.) */
 struct rpl_dio {
   uip_ipaddr_t dag_id;
diff --git a/core/net/rpl/rpl-timers.c b/core/net/rpl/rpl-timers.c
index 01cbe9138..0527d5363 100644
--- a/core/net/rpl/rpl-timers.c
+++ b/core/net/rpl/rpl-timers.c
@@ -225,8 +225,8 @@ rpl_schedule_dao(rpl_instance_t *instance)
   if(!etimer_expired(&instance->dao_timer.etimer)) {
     PRINTF("RPL: DAO timer already scheduled\n");
   } else {
-    expiration_time = DEFAULT_DAO_LATENCY / 2 +
-      (random_rand() % (DEFAULT_DAO_LATENCY));
+    expiration_time = RPL_DAO_LATENCY / 2 +
+      (random_rand() % (RPL_DAO_LATENCY));
     PRINTF("RPL: Scheduling DAO timer %u ticks in the future\n",
            (unsigned)expiration_time);
     ctimer_set(&instance->dao_timer, expiration_time,
diff --git a/core/net/rpl/rpl.h b/core/net/rpl/rpl.h
index e039cf98d..90bf43626 100644
--- a/core/net/rpl/rpl.h
+++ b/core/net/rpl/rpl.h
@@ -97,24 +97,24 @@
 /*
  * Maximum of concurent dodag inside an instance
  */
-#ifndef RPL_CONF_MAX_DODAG_PER_INSTANCE
-#define RPL_MAX_DODAG_PER_INSTANCE     2
+#ifndef RPL_CONF_MAX_DAG_PER_INSTANCE
+#define RPL_MAX_DAG_PER_INSTANCE     2
 #else
-#define RPL_MAX_DODAG_PER_INSTANCE     RPL_CONF_MAX_DODAG_PER_INSTANCE
-#endif /* !RPL_CONF_MAX_DODAG_PER_INSTANCE */
+#define RPL_MAX_DAG_PER_INSTANCE     RPL_CONF_MAX_DAG_PER_INSTANCE
+#endif /* !RPL_CONF_MAX_DAG_PER_INSTANCE */
 
 /*
  * 
  */
-#ifndef RPL_CONF_DAO_SPECIFY_DODAG
-#if RPL_MAX_DODAG_PER_INSTANCE > 1
-#define RPL_DAO_SPECIFY_DODAG 1
-#else /* RPL_MAX_DODAG_PER_INSTANCE > 1*/
-#define RPL_DAO_SPECIFY_DODAG 0
-#endif /* RPL_MAX_DODAG_PER_INSTANCE > 1 */
-#else /* RPL_CONF_DAO_SPECIFY_DODAG */
-#define RPL_DAO_SPECIFY_DODAG RPL_CONF_DAO_SPECIFY_DODAG
-#endif /* RPL_CONF_DAO_SPECIFY_DODAG */
+#ifndef RPL_CONF_DAO_SPECIFY_DAG
+#if RPL_MAX_DAG_PER_INSTANCE > 1
+#define RPL_DAO_SPECIFY_DAG 1
+#else /* RPL_MAX_DAG_PER_INSTANCE > 1*/
+#define RPL_DAO_SPECIFY_DAG 0
+#endif /* RPL_MAX_DAG_PER_INSTANCE > 1 */
+#else /* RPL_CONF_DAO_SPECIFY_DAG */
+#define RPL_DAO_SPECIFY_DAG RPL_CONF_DAO_SPECIFY_DAG
+#endif /* RPL_CONF_DAO_SPECIFY_DAG */
 
 
 /*---------------------------------------------------------------------------*/
@@ -123,20 +123,6 @@
 /*---------------------------------------------------------------------------*/
 typedef uint16_t rpl_rank_t;
 typedef uint16_t rpl_ocp_t;
-
-/*---------------------------------------------------------------------------*/
-/* Lollipop counters */
-
-#define RPL_LOLLIPOP_MAX_VALUE           255
-#define RPL_LOLLIPOP_CIRCULAR_REGION     127
-#define RPL_LOLLIPOP_SEQUENCE_WINDOWS    16
-#define RPL_LOLLIPOP_INIT                RPL_LOLLIPOP_MAX_VALUE - RPL_LOLLIPOP_SEQUENCE_WINDOWS + 1
-#define RPL_LOLLIPOP_INCREMENT(ctr) (ctr > RPL_LOLLIPOP_CIRCULAR_REGION ? \
-				     ++ctr & RPL_LOLLIPOP_MAX_VALUE :     \
-				     ++ctr & RPL_LOLLIPOP_CIRCULAR_REGION)
-
-#define RPL_LOLLIPOP_IS_INIT(counter)    (counter > RPL_LOLLIPOP_CIRCULAR_REGION)
-
 /*---------------------------------------------------------------------------*/
 /* DAG Metric Container Object Types, to be confirmed by IANA. */
 #define RPL_DAG_MC_NONE			0 /* Local identifier for empty MC */
@@ -217,7 +203,7 @@ typedef struct rpl_prefix rpl_prefix_t;
 /* Directed Acyclic Graph */
 struct rpl_dag {
   uip_ipaddr_t dag_id;
-  rpl_rank_t min_rank; /* should be reset per DODAG iteration! */
+  rpl_rank_t min_rank; /* should be reset per DAG iteration! */
   uint8_t version;
   uint8_t grounded;
   uint8_t preference;
@@ -286,7 +272,7 @@ struct rpl_instance {
   rpl_metric_container_t mc;
   rpl_of_t *of;
   rpl_dag_t *current_dag;
-  rpl_dag_t dag_table[RPL_MAX_DODAG_PER_INSTANCE];
+  rpl_dag_t dag_table[RPL_MAX_DAG_PER_INSTANCE];
   /* The current default router - used for routing "upwards" */
   uip_ds6_defrt_t *def_route;
   uint8_t instance_id;