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It is easy! Simply send an email to the dev@ mailing list introducing yourself and the Apache Mynewt community will welcome you. If you have questions, sending an email to this list is the fastest way of getting an answer.
If you want to browse the code, Mynewt Core Repo is the best place to start.
If you wish to contribute code, a quick look at the recommended steps should help.
Issues, features, improvements, and wish-lists are now tracked on the Mynewt Core Github Repo. New issues will be marked with the appropriate label by a committer who will review them.
If you are a contributor and wish to work on a change, it's always a good idea to introduce the change in the dev@ mailing list before submitting a pull request into the github mirror for your change.