The wolfSSL (formerly CyaSSL) embedded SSL library supports lwIP, the light weight internet protocol implementation, out of the box. The user merely needs to define WOLFSSL_LWIP or uncomment the line /* #define WOLFSSL_LWIP */ in os_settings.h to use wolfSSL with lwIP.
The focus of lwIP is to reduce RAM usage while still providing a full TCP stack. That focus makes lwIP great for use in embedded systems, the same area where wolfSSL is an ideal match for SSL/TLS needs. An active community exists with contributor ports for many systems. Give it a try and let us know if you have any suggestions or questions.
For the latest news and releases of lwIP, you can visit the project homepage, here: http://savannah.nongnu.org/projects/lwip/