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Hi Aaron,
Is TLS supported in the LwIP stack that ships with the AM243x SDK?
Yes TLS is supported, but it requires MbedTLS stack lib before it can be used.
Is mbedtls itself part of the static libraries provided in networking/lwip/lib?
No, MbedTLS is a separate lib. It is not part of LwIP.
is altcp_tls simply provided as an example and I would have to include all the mbedtls files myself if I wanted to use TLS
True it is providing just as an example and you will need to include mbedTLS file if you want to use it.
But the good part is, we will be releasing MbedTLS stack as part of MCU SDK(with lib). It will be coming out in 8.6 SDK release planned in End of March 2023.