Recent progress in the fields of networking, communications, computing, hardware and software have revolutionized the way people, smart objects and systems interact and exchange information. The Internet of Things (IoT) and Cyber-Physical Systems (CPS) will fuel the achievement of this new interconnected world. However, the success of these systems strongly depends on the security, privacy and trust of both IoT and CPS, as well as the sensitive data involved. Although these technologies offer many possibilities, the growing hardware and software complexity, as well as the existence of global access, increase the vulnerability to security attacks. This paper presents a testbed for implementing security, privacy and trust in IoT. Existing testbeds and algorithms are reviewed and the enhancements provided by our proposed platform are highlighted. The platform is based on an IoT gateway node that has 3 different hardware architectures (MCU, SDSoC, traditional CPU) integrated in the shape of a single testbed. One of the objectives is to test, optimize and, if doable, develop lightweight cryptographic algorithms to be deployed on the proposed testbed.