diff --git a/platform/avr-ravenusb/contiki-raven-main.c b/platform/avr-ravenusb/contiki-raven-main.c
index 4a6bb7401..9884a13da 100644
--- a/platform/avr-ravenusb/contiki-raven-main.c
+++ b/platform/avr-ravenusb/contiki-raven-main.c
@@ -42,9 +42,9 @@
 
 #define DEBUG 0
 #if DEBUG
-#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
+#define PRINTD(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
 #else
-#define PRINTF(...)
+#define PRINTD(...)
 #endif
 
 #include <avr/pgmspace.h>
@@ -67,6 +67,13 @@
 /* Set ANNOUNCE to send boot messages to USB or RS232 serial port */
 #define ANNOUNCE 1
 
+/* But only if a serial port exists */
+#if USB_CONF_SERIAL||USB_CONF_RS232
+#define PRINTA(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
+#else
+#define PRINTA(...)
+#endif
+
 #include "usb_task.h"
 #if USB_CONF_SERIAL
 #include "cdc_task.h"
@@ -101,11 +108,13 @@ rimeaddr_t macLongAddr;
 #include "ieee-15-4-manager.h"
 #endif /* RF230BB */
 
-/* Test rtimers, also useful for pings and time stamps in simulator */
+/* Test rtimers, also useful for pings, time stamps, routes, stack monitor */
 #define TESTRTIMER 0
 #if TESTRTIMER
 #define PINGS 0
-#define STAMPS 30
+#define STAMPS 60
+#define ROUTES 120
+#define STACKMONITOR  600
 uint8_t rtimerflag=1;
 uint16_t rtime;
 struct rtimer rt;
@@ -116,6 +125,7 @@ void rtimercycle(void) {rtimerflag=1;}
 /*---------------------------------------------------------------------------*/
 /*---------------------------------  RPL   ----------------------------------*/
 /*---------------------------------------------------------------------------*/
+/* TODO: Put rpl code into another file, once it stabilizes                  */
 /* Set up fallback interface links to direct stack tcpip output to ethernet  */
 static void
 init(void)
@@ -126,12 +136,11 @@ static void
 output(void)
 {
 //  if(uip_ipaddr_cmp(&last_sender, &UIP_IP_BUF->srcipaddr)) {
-    /* Do not bounce packets back over SLIP if the packet was received
-       over SLIP */
-//    PRINTF("slip-bridge: Destination off-link but no route\n");
+    /* Do not bounce packets back over USB if the packet was received from USB */
+//    PRINTA("JACKDAW router: Destination off-link but no route\n");
  // } else {
-    PRINTF("SUT: %u\n", uip_len);
-    mac_LowpanToEthernet();
+    PRINTD("SUT: %u\n", uip_len);
+    mac_LowpanToEthernet();  //bounceback trap is done in lowpanToEthernet
 //  }
 }
 const struct uip_fallback_interface rpl_interface = {
@@ -157,11 +166,12 @@ PROCESS_THREAD(border_router_process, ev, data)
   memcpy_P(buf,dag_id,sizeof(dag_id));
   dag = rpl_set_root((uip_ip6addr_t *)buf);
 
-/* Assign bbbb::200 to the uip stack, and bbbb::1 to the host network interface, e.g. $ip -6 address add bbbb::1/64 dev usb0 */
-/* Note the jackdaw uip stack will get packets intended for usb if they have the same address! */
+/* Assign separate addresses to the jackdaw uip stack and the host network interface, but with the same prefix */
+/* E.g. bbbb::200 to the jackdaw and bbbb::1 to the host network interface with $ip -6 address add bbbb::1/64 dev usb0 */
+/* Otherwise the host will trap packets intended for the jackdaw, just as the jackdaw will trap RF packets intended for the host */
 /* $ifconfig usb0 -arp on Ubuntu to skip the neighbor solicitations. Add explicit neighbors on other OSs */
   if(dag != NULL) {
-    PRINTF("created a new RPL dag\n");
+    PRINTD("created a new RPL dag\n");
 
 #if UIP_CONF_ROUTER_RECEIVE_RA
 //Contiki stack will shut down until assigned an address from the interface RA
@@ -181,6 +191,7 @@ PROCESS_THREAD(border_router_process, ev, data)
 
   while(1) {
     PROCESS_YIELD();
+    /* Local and global dag repair can be done from the jackdaw menu */
  //   rpl_set_prefix(rpl_get_dag(RPL_ANY_INSTANCE), &ipaddr, 64);
  //   rpl_repair_dag(rpl_get_dag(RPL_ANY_INSTANCE));
 
@@ -194,74 +205,47 @@ PROCESS_THREAD(border_router_process, ev, data)
 
 /*-------------------------------------------------------------------------*/
 /*----------------------Configuration of the .elf file---------------------*/
-typedef struct {unsigned char B2;unsigned char B1;unsigned char B0;} __signature_t;
+#if 1
+/* The proper way to set the signature is */
+#include <avr/signature.h>
+#else
+/* Older avr-gcc's may not define the needed SIGNATURE bytes. Do it manually if you get an error */
+typedef struct {const unsigned char B2;const unsigned char B1;const unsigned char B0;} __signature_t;
 #define SIGNATURE __signature_t __signature __attribute__((section (".signature")))
 SIGNATURE = {
-/* Older AVR-GCCs may not define the SIGNATURE_n bytes so use explicit values */
   .B2 = 0x82,//SIGNATURE_2, //AT90USB128x
   .B1 = 0x97,//SIGNATURE_1, //128KB flash
   .B0 = 0x1E,//SIGNATURE_0, //Atmel
 };
+#endif
+
 FUSES ={.low = 0xde, .high = 0x99, .extended = 0xff,};
 
-/* Put default MAC address in EEPROM */
-#if !JACKDAW_CONF_USE_SETTINGS
-uint8_t mac_address[8] EEMEM = {0x02, 0x12, 0x13, 0xff, 0xfe, 0x14, 0x15, 0x16};
-#endif
-
-static uint8_t get_channel_from_eeprom() {
-#if JACKDAW_CONF_USE_SETTINGS
-	uint8_t chan = settings_get_uint8(SETTINGS_KEY_CHANNEL, 0);
-	if(!chan)
-		chan = RF_CHANNEL;
-	return chan;
-#else
-	uint8_t eeprom_channel;
-	uint8_t eeprom_check;
-
-	eeprom_channel = eeprom_read_byte((uint8_t *)9);
-	eeprom_check = eeprom_read_byte((uint8_t *)10);
-
-	if(eeprom_channel==~eeprom_check)
-		return eeprom_channel;
-
+/* Save the default settings into program flash memory */
+uint8_t default_mac_address[8] PROGMEM = {0x02, 0x12, 0x13, 0xff, 0xfe, 0x14, 0x15, 0x16};
 #ifdef CHANNEL_802_15_4
-	return(CHANNEL_802_15_4);
+uint8_t default_channel PROGMEM = CHANNEL_802_15_4;
 #else
-	return 26;
-#endif		
-
+uint8_t default_channel PROGMEM = 26;
 #endif
-	
-}
-
-static bool
-get_eui64_from_eeprom(uint8_t macptr[8]) {
-#if JACKDAW_CONF_USE_SETTINGS
-	size_t size = 8;
-
-	if(settings_get(SETTINGS_KEY_EUI64, 0, (unsigned char*)macptr, &size)==SETTINGS_STATUS_OK)
-		return true;
-		
-	// Fallback to reading the traditional mac address
-	eeprom_read_block ((void *)macptr,  0, 8);
+#ifdef IEEE802154_PANID
+uint16_t default_panid PROGMEM = IEEE802154_PANID;
 #else
-	eeprom_read_block ((void *)macptr,  &mac_address, 8);
+uint16_t default_panid PROGMEM = 0xABCD;
+#endif
+#ifdef IEEE802154_PANADDR
+uint16_t default_panaddr PROGMEM = IEEE802154_PANID;
+#else
+uint16_t default_panaddr PROGMEM = 0;
+#endif
+#ifdef RF230_MAX_TX_POWER
+uint8_t default_txpower PROGMEM = RF230_MAX_TX_POWER;
+#else
+uint8_t default_txpower PROGMEM = 0;
 #endif
-	return macptr[0]!=0xFF;
-}
 
 #if JACKDAW_CONF_RANDOM_MAC
-static bool
-set_eui64_to_eeprom(const uint8_t macptr[8]) {
-#if JACKDAW_CONF_USE_SETTINGS
-	return settings_set(SETTINGS_KEY_EUI64, macptr, 8)==SETTINGS_STATUS_OK;
-#else
-	eeprom_write_block((void *)macptr,  &mac_address, 8);
-	return true;
-#endif
-}
-
+#include "rng.h"
 static void
 generate_new_eui64(uint8_t eui64[8]) {
 	eui64[0] = 0x02;
@@ -275,33 +259,141 @@ generate_new_eui64(uint8_t eui64[8]) {
 }
 #endif /* JACKDAW_CONF_RANDOM_MAC */
 
-static uint16_t
-get_panid_from_eeprom(void) {
-#if JACKDAW_CONF_USE_SETTINGS
-	uint16_t x = settings_get_uint16(SETTINGS_KEY_PAN_ID, 0);
-	if(!x)
-		x = IEEE802154_PANID;
+#if !JACKDAW_CONF_USE_SETTINGS
+/****************************No settings manager*****************************/
+/* If not using the settings manager, put the default values into EEMEM
+ * These can be manually changed and kept over program reflash.
+ * The channel and bit complement are used to check EEMEM integrity,
+ * If corrupt all values will be rewritten with the default flash values.
+ * To make this work, get the channel before anything else.
+ */
+
+uint8_t eemem_mac_address[8] EEMEM = {0x02, 0x12, 0x13, 0xff, 0xfe, 0x14, 0x15, 0x16};
+#ifdef CHANNEL_802_15_4
+uint8_t eemem_channel[2] EEMEM = {CHANNEL_802_15_4, ~CHANNEL_802_15_4};
+#else
+uint8_t eemem_channel[2] EMEM = {26, ~26};
+#endif
+#ifdef IEEE802154_PANID
+uint16_t eemem_panid EEMEM = IEEE802154_PANID;
+#else
+uint16_t eemem_panid EEMEM = 0xABCD;
+#endif
+#ifdef IEEE802154_PANADDR
+uint16_t eemem_panaddr EEMEM = IEEE802154_PANID;
+#else
+uint16_t eemem_panaddr EEMEM = 0;
+#endif
+#ifdef RF230_MAX_TX_POWER
+uint8_t eemem_txpower EEMEM = RF230_MAX_TX_POWER;
+#else
+uint8_t eemem_txpower EEMEM = 0;
+#endif
+static uint8_t get_channel_from_eeprom() {
+	uint8_t x[2];
+	*(uint16_t *)x = eeprom_read_word ((uint16_t *)&eemem_channel);
+    if((uint8_t)x[0]!=(uint8_t)~x[1]) {//~x[1] can promote comparison to 16 bit
+/* Verification fails, rewrite everything */
+    uint8_t mac[8];
+#if JACKDAW_CONF_RANDOM_MAC
+    PRINTA("Generating random MAC address.\n");
+    generate_new_eui64(&mac);
+#else
+    {uint8_t i; for (i=0;i<8;i++) mac[i] = pgm_read_byte_near(default_mac_address+i);}
+#endif
+	eeprom_write_block(&mac,  &eemem_mac_address, 8);
+  	eeprom_write_word(&eemem_panid  , pgm_read_word_near(&default_panid));
+   	eeprom_write_word(&eemem_panaddr, pgm_read_word_near(&default_panaddr));
+    eeprom_write_byte(&eemem_txpower, pgm_read_byte_near(&default_txpower));
+    x[0] = pgm_read_byte_near(&default_channel);
+    x[1]= ~x[0];
+    eeprom_write_word((uint16_t *)&eemem_channel, *(uint16_t *)x);    
+  }
+  return x[0];
+}
+static bool get_eui64_from_eeprom(uint8_t macptr[8]) {
+	eeprom_read_block ((void *)macptr, &eemem_mac_address, 8);
+	return macptr[0]!=0xFF;
+}
+static uint16_t get_panid_from_eeprom(void) {
+	return eeprom_read_word(&eemem_panid);
+}
+static uint16_t get_panaddr_from_eeprom(void) {
+	return eeprom_read_word (&eemem_panaddr);
+}
+static uint8_t get_txpower_from_eeprom(void)
+{
+	return eeprom_read_byte(&eemem_txpower);
+}
+
+#else /* !JACKDAW_CONF_USE_SETTINGS */
+/******************************Settings manager******************************/
+static uint8_t get_channel_from_eeprom() {
+	uint8_t x = settings_get_uint8(SETTINGS_KEY_CHANNEL, 0);
+	if(!x) x = pgm_read_byte_near(&default_channel);
 	return x;
-#else
-	// TODO: Writeme!
-	return IEEE802154_PANID;
-#endif
 }
-
-static uint16_t
-get_panaddr_from_eeprom(void) {
-#if JACKDAW_CONF_USE_SETTINGS
-	return settings_get_uint16(SETTINGS_KEY_PAN_ADDR, 0);
+static bool get_eui64_from_eeprom(uint8_t macptr[8]) {
+	size_t size = 8;
+	if(settings_get(SETTINGS_KEY_EUI64, 0, (unsigned char*)macptr, &size)==SETTINGS_STATUS_OK) {
+      PRINTD("<=Get EEPROM MAC address.\n");
+      return true;		
+    }
+#if JACKDAW_CONF_RANDOM_MAC
+    PRINTA("--Generating random MAC address.\n");
+    generate_new_eui64(macptr);
 #else
-	// TODO: Writeme!
-	return 0;
+    {uint8_t i;for (i=0;i<8;i++) macptr[i] = pgm_read_byte_near(default_mac_address+i);}
 #endif
+    settings_add(SETTINGS_KEY_EUI64,(unsigned char*)macptr,8);
+    PRINTA("->Set EEPROM MAC address.\n");
+	return true;
 }
-
+static uint16_t get_panid_from_eeprom(void) {
+    uint16_t x;
+    if (settings_check(SETTINGS_KEY_PAN_ID,0)) {
+        x = settings_get_uint16(SETTINGS_KEY_PAN_ID,0);
+        PRINTD("<-Get EEPROM PAN ID of %04x.\n",x);
+    } else {
+	    x=pgm_read_word_near(&default_panid);
+        if (settings_add_uint16(SETTINGS_KEY_PAN_ID,x)==SETTINGS_STATUS_OK) {
+          PRINTA("->Set EEPROM PAN ID to %04x.\n",x);
+        }
+    }
+	return x;
+}
+static uint16_t get_panaddr_from_eeprom(void) {
+    uint16_t x;
+    if (settings_check(SETTINGS_KEY_PAN_ADDR,0)) {
+        x = settings_get_uint16(SETTINGS_KEY_PAN_ADDR,0);
+        PRINTD("<-Get EEPROM PAN address of %04x.\n",x);
+    } else {
+	    x=pgm_read_word_near(&default_panaddr);
+        if (settings_add_uint16(SETTINGS_KEY_PAN_ADDR,x)==SETTINGS_STATUS_OK) {
+          PRINTA("->Set EEPROM PAN address to %04x.\n",x);
+        }
+    }        
+	return x;
+}
+static uint8_t get_txpower_from_eeprom(void) {
+    uint8_t x;
+    if (settings_check(SETTINGS_KEY_TXPOWER,0)) {
+        x = settings_get_uint8(SETTINGS_KEY_TXPOWER,0);
+        PRINTD("<-Get EEPROM tx power of %d. (0=max)\n",x);
+    } else {
+	    x=pgm_read_byte_near(&default_txpower);
+        if (settings_add_uint8(SETTINGS_KEY_TXPOWER,x)==SETTINGS_STATUS_OK) {
+          PRINTA("->Set EEPROM tx power of %d. (0=max)\n",x);
+        }
+    }
+	return x;
+}
+#endif /* !JACKDAW_CONF_USE_SETTINGS */
 
 /*-------------------------------------------------------------------------*/
 /*-----------------------------Low level initialization--------------------*/
 static void initialize(void) {
+
   watchdog_init();
   watchdog_start();
 
@@ -315,7 +407,7 @@ uint16_t p=(uint16_t)&__bss_end;
     do {
       *(uint16_t *)p = 0x4242;
       p+=100;
-    } while (p<RAMEND-100);
+    } while (p<SP-100); //don't overwrite our own stack
 }
 #endif
 
@@ -326,28 +418,64 @@ uint16_t p=(uint16_t)&__bss_end;
   /* Clock */
   clock_init();
 
+  /* Leds are referred to by number to prevent any possible confusion :) */
+  /* Led0 Blue Led1 Red Led2 Green Led3 Yellow */
+  Leds_init();
+  Led1_on();
+  
 #if USB_CONF_RS232
   /* Use rs232 port for serial out (tx, rx, gnd are the three pads behind jackdaw leds */
   rs232_init(RS232_PORT_0, USART_BAUD_57600,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
   /* Redirect stdout to second port */
   rs232_redirect_stdout(RS232_PORT_0);
 #if ANNOUNCE
-  printf_P(PSTR("\n\n\n********BOOTING CONTIKI*********\n"));
+  PRINTA("\n\n*******Booting %s*******\n",CONTIKI_VERSION_STRING);
 #endif
 #endif
 	
-	Leds_init();
-	
   /* rtimer init needed for low power protocols */
   rtimer_init();
 
   /* Process subsystem. */
   process_init();
 
-  /* etimer process must be started before ctimer init */
+  /* etimer process must be started before USB or ctimer init */
   process_start(&etimer_process, NULL);
+
+  Led2_on();
+  /* Now we can start USB enumeration */
+  process_start(&usb_process, NULL);
+
+  /* Start CDC enumeration, bearing in mind that it may fail */
+  /* Hopefully we'll get a stdout for startup messages, if we don't already */
+#if USB_CONF_SERIAL
+  process_start(&cdc_process, NULL);
+{unsigned short i;
+  for (i=0;i<65535;i++) {
+    process_run();
+    watchdog_periodic();
+    if (stdout) break;
+  }
+#if !USB_CONF_RS232
+  PRINTA("\n\n*******Booting %s*******\n",CONTIKI_VERSION_STRING);
+#endif
+}
+#endif
+  if (!stdout) Led3_on();
   
 #if RF230BB
+#if JACKDAW_CONF_USE_SETTINGS
+  PRINTA("Settings manager will be used.\n");
+#else
+{uint8_t x[2];
+	*(uint16_t *)x = eeprom_read_word((uint16_t *)&eemem_channel);
+	if((uint8_t)x[0]!=(uint8_t)~x[1]) {
+        PRINTA("Invalid EEPROM settings detected. Rewriting with default values.\n");
+        get_channel_from_eeprom();
+    }
+}
+#endif
+
   ctimer_init();
   /* Start radio and radio receive process */
   /* Note this starts RF230 process, so must be done after process_init */
@@ -356,36 +484,9 @@ uint16_t p=(uint16_t)&__bss_end;
   /* Set addresses BEFORE starting tcpip process */
 
   memset(&tmp_addr, 0, sizeof(rimeaddr_t));
-  if(!get_eui64_from_eeprom(tmp_addr.u8)) {
-#if JACKDAW_CONF_RANDOM_MAC
-    // It doesn't look like we have a valid EUI-64 address
-	// so let's try to make a new one from scratch.
-    Leds_off();
-    Led2_on();
-    generate_new_eui64(tmp_addr.u8);
-	if(!set_eui64_to_eeprom(tmp_addr.u8)) {
-		watchdog_periodic();
-		int i;
-		for(i=0;i<20;i++) {
-			Led1_toggle();
-			_delay_ms(100);
-		}
-		Led1_off();
-	}
-	Led2_off();
-#else
-	tmp_addr.u8[0]=0x02;
-	tmp_addr.u8[1]=0x12;
-	tmp_addr.u8[2]=0x13;
-	tmp_addr.u8[3]=0xff;
-	tmp_addr.u8[4]=0xfe;
-	tmp_addr.u8[5]=0x14;
-	tmp_addr.u8[6]=0x15;
-	tmp_addr.u8[7]=0x16;
-#endif /* JACKDAW_CONF_RANDOM_MAC */
-  }
-  
 
+  if(get_eui64_from_eeprom(tmp_addr.u8));
+   
   //Fix MAC address
   init_net();
 
@@ -399,12 +500,8 @@ uint16_t p=(uint16_t)&__bss_end;
 	(uint8_t *)&tmp_addr.u8
   );
   
-#if JACKDAW_CONF_USE_SETTINGS
-/* Allow radio code to overrite power for testing miniature Raven mesh */
-#ifndef RF230_MAX_TX_POWER
-   rf230_set_txpower(settings_get_uint8(SETTINGS_KEY_TXPOWER,0));
-#endif
-#endif
+  rf230_set_channel(get_channel_from_eeprom());
+  rf230_set_txpower(get_txpower_from_eeprom());
 
   rimeaddr_set_node_addr(&tmp_addr); 
 
@@ -414,33 +511,31 @@ uint16_t p=(uint16_t)&__bss_end;
   NETSTACK_MAC.init();
   NETSTACK_NETWORK.init();
 
-  rf230_set_channel(get_channel_from_eeprom());
-
-#if ANNOUNCE && USB_CONF_RS232
-  printf_P(PSTR("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n\r"),tmp_addr.u8[0],tmp_addr.u8[1],tmp_addr.u8[2],tmp_addr.u8[3],tmp_addr.u8[4],tmp_addr.u8[5],tmp_addr.u8[6],tmp_addr.u8[7]);
-  printf_P(PSTR("%s %s, channel %u"),NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
+#if ANNOUNCE
+  PRINTA("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n\r",tmp_addr.u8[0],tmp_addr.u8[1],tmp_addr.u8[2],tmp_addr.u8[3],tmp_addr.u8[4],tmp_addr.u8[5],tmp_addr.u8[6],tmp_addr.u8[7]);
+  PRINTA("%s %s, channel %u",NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
   if (NETSTACK_RDC.channel_check_interval) {
     unsigned short tmp;
     tmp=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
                         NETSTACK_RDC.channel_check_interval());
-    if (tmp<65535) printf_P(PSTR(", check rate %u Hz"),tmp);
+    if (tmp<65535) PRINTA(", check rate %u Hz",tmp);
   }
-  printf_P(PSTR("\n"));
+  PRINTA("\n");
 #endif
 
 #if UIP_CONF_IPV6_RPL
 #if RPL_BORDER_ROUTER
   process_start(&tcpip_process, NULL);
   process_start(&border_router_process, NULL);
-  PRINTF ("RPL Border Router Started\n");
+  PRINTD ("RPL Border Router Started\n");
 #else
   process_start(&tcpip_process, NULL);
-  PRINTF ("RPL Started\n");
+  PRINTD ("RPL Started\n");
 #endif
 #if RPL_HTTPD_SERVER
   extern struct process httpd_process;
   process_start(&httpd_process, NULL);
-  PRINTF ("Webserver Started\n");
+  PRINTD ("Webserver Started\n");
 #endif
 #endif /* UIP_CONF_IPV6_RPL */
 
@@ -450,40 +545,21 @@ uint16_t p=(uint16_t)&__bss_end;
   process_start(&tcpip_process, NULL);
 #endif /* RF230BB */
 
-  /* Setup USB */
-  process_start(&usb_process, NULL);
-#if USB_CONF_SERIAL
-  process_start(&cdc_process, NULL);
-#endif
+  /* Start ethernet network and storage process */
   process_start(&usb_eth_process, NULL);
 #if USB_CONF_STORAGE
   process_start(&storage_process, NULL);
 #endif
-  
+
 #if ANNOUNCE
-#if USB_CONF_SERIAL&&!USB_CONF_RS232
-{unsigned short i;
-   printf_P(PSTR("\n\n\n********BOOTING CONTIKI*********\n\r"));
-  /* Allow USB CDC to keep up with printfs */
-  for (i=0;i<8000;i++) process_run();
-#if RF230BB
-  printf_P(PSTR("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n\r"),tmp_addr.u8[0],tmp_addr.u8[1],tmp_addr.u8[2],tmp_addr.u8[3],tmp_addr.u8[4],tmp_addr.u8[5],tmp_addr.u8[6],tmp_addr.u8[7]);
-  for (i=0;i<8000;i++) process_run();
-  printf_P(PSTR("%s %s, channel %u"),NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
-  if (NETSTACK_RDC.channel_check_interval) {
-    i=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
-                      NETSTACK_RDC.channel_check_interval());
-    if (i<65535) printf_P(PSTR(", check rate %u Hz"),i);
-   }
-   printf_P(PSTR("\n\r"));
-   for (i=0;i<8000;i++) process_run();
-#endif /* RF230BB */
-  printf_P(PSTR("System online.\n\r"));
-}
-#elif USB_CONF_RS232
-  printf_P(PSTR("System online.\n"));
+#if USB_CONF_RS232
+  PRINTA("Online.\n");
+#else
+  PRINTA("Online. Type ? for Jackdaw menu.\n");
 #endif
-#endif /* ANNOUNCE */
+#endif
+
+Leds_off();
 }
 
 /*-------------------------------------------------------------------------*/
@@ -496,13 +572,15 @@ main(void)
   
   /* Initialize in a subroutine to maximize stack space */
   initialize();
+
 #if DEBUG
 {struct process *p;
  for(p = PROCESS_LIST();p != NULL; p = ((struct process *)p->next)) {
-  printf_P(PSTR("Process=%p Thread=%p  Name=\"%s\" \n"),p,p->thread,p->name);
+  PRINTA("Process=%p Thread=%p  Name=\"%s\" \n",p,p->thread,PROCESS_NAME_STRING(p));
  }
 }
 #endif
+
   while(1) {
     process_run();
 
@@ -512,57 +590,118 @@ main(void)
 #ifdef RF230_MIN_RX_POWER
     uint8_t lastprint;
     if (rf230_last_rssi != lastprint) {        //can be set in halbb.c interrupt routine
-        printf_P(PSTR("%u "),rf230_last_rssi);
+        PRINTA("%u ",rf230_last_rssi);
         lastprint=rf230_last_rssi;
     }
 #endif
 
+#if 0
+/* Clock.c can trigger a periodic PLL calibration in the RF230BB driver.
+ * This can show when that happens.
+ */
+    extern uint8_t rf230_calibrated;
+    if (rf230_calibrated) {
+      PRINTA("\nRF230 calibrated!\n");
+      rf230_calibrated=0;
+    }
+#endif
+
 #if TESTRTIMER
-    if (rtimerflag) {  //8 seconds is maximum interval, my jackdaw 4% slow
+/* Timeout can be increased up to 8 seconds maximum.
+ * A one second cycle is convenient for triggering the various debug printouts.
+ * The triggers are staggered to avoid printing everything at once.
+ * My Jackdaw is 4% slow.
+ */
+    if (rtimerflag) {
       rtimer_set(&rt, RTIMER_NOW()+ RTIMER_ARCH_SECOND*1UL, 1,(void *) rtimercycle, NULL);
       rtimerflag=0;
+
 #if STAMPS
-      if ((rtime%STAMPS)==0) {
-        printf("%us ",rtime);
-      }
+if ((rtime%STAMPS)==0) {
+  PRINTA("%us ",rtime);
+  if (rtime%STAMPS*10) PRINTA("\n");
+}
 #endif
       rtime+=1;
-#if PINGS
-      if ((rtime%PINGS)==0) {
-        PRINTF("**Ping\n");
-        pingsomebody();
-      }
+
+#if PINGS && UIP_CONF_IPV6_RPL
+extern void raven_ping6(void);
+if ((rtime%PINGS)==1) {
+  PRINTA("**Ping\n");
+  raven_ping6();
+}
 #endif
+
+#if ROUTES && UIP_CONF_IPV6_RPL
+if ((rtime%ROUTES)==2) {
+      
+extern uip_ds6_nbr_t uip_ds6_nbr_cache[];
+extern uip_ds6_route_t uip_ds6_routing_table[];
+extern uip_ds6_netif_t uip_ds6_if;
+
+  uint8_t i,j;
+  PRINTA("\nAddresses [%u max]\n",UIP_DS6_ADDR_NB);
+  for (i=0;i<UIP_DS6_ADDR_NB;i++) {
+    if (uip_ds6_if.addr_list[i].isused) {
+      uip_debug_ipaddr_print(&uip_ds6_if.addr_list[i].ipaddr);
+      PRINTA("\n");
+    }
+  }
+  PRINTA("\nNeighbors [%u max]\n",UIP_DS6_NBR_NB);
+  for(i = 0,j=1; i < UIP_DS6_NBR_NB; i++) {
+    if(uip_ds6_nbr_cache[i].isused) {
+      uip_debug_ipaddr_print(&uip_ds6_nbr_cache[i].ipaddr);
+      PRINTA("\n");
+      j=0;
+    }
+  }
+  if (j) PRINTA("  <none>");
+  PRINTA("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB);
+  for(i = 0,j=1; i < UIP_DS6_ROUTE_NB; i++) {
+    if(uip_ds6_routing_table[i].isused) {
+      uip_debug_ipaddr_print(&uip_ds6_routing_table[i].ipaddr);
+      PRINTA("/%u (via ", uip_ds6_routing_table[i].length);
+      uip_debug_ipaddr_print(&uip_ds6_routing_table[i].nexthop);
+ //     if(uip_ds6_routing_table[i].state.lifetime < 600) {
+        PRINTA(") %lus\n", uip_ds6_routing_table[i].state.lifetime);
+ //     } else {
+ //       PRINTA(")\n");
+ //     }
+      j=0;
+    }
+  }
+  if (j) PRINTA("  <none>");
+  PRINTA("\n---------\n");
+}
+#endif
+
+#if STACKMONITOR && CONFIG_STACK_MONITOR
+if ((rtime%STACKMONITOR)==3) {
+  extern uint16_t __bss_end;
+  uint16_t p=(uint16_t)&__bss_end;
+  do {
+    if (*(uint16_t *)p != 0x4242) {
+      PRINTA("Never-used stack > %d bytes\n",p-(uint16_t)&__bss_end);
+      break;
+    }
+    p+=100;
+  } while (p<RAMEND-10);
+}
+#endif
+
     }
 #endif /* TESTRTIMER */
 
-/* Use with rf230bb.c DEBUGFLOW to show the sequence of driver calls from the uip stack */
+//Use with RF230BB DEBUGFLOW to show path through driver
 #if RF230BB&&0
-extern uint8_t debugflowsize,debugflow[];
+extern uint8_t debugflowsize,debugflow[];  //in rf230bb.c
   if (debugflowsize) {
     debugflow[debugflowsize]=0;
-    printf("%s",debugflow);
+    PRINTA("%s",debugflow);
     debugflowsize=0;
    }
 #endif
 
-/* Use for low level interrupt debugging */
-#if RF230BB&&0
-extern uint8_t rf230interruptflag;   //in halbb.c
-extern uint8_t rf230processflag;     //in rf230bb.c
-  if (rf230processflag) {
-    printf("**RF230 process flag %u\n\r",rf230processflag);
-    rf230processflag=0;
   }
-  if (rf230interruptflag) {
-//  if (rf230interruptflag!=11) {
-      printf("**RF230 Interrupt %u\n\r",rf230interruptflag);
- // }
-    rf230interruptflag=0;
-  }
-#endif
-  }
-
   return 0;
 }
-