I see that lwIP has some AutoIP (aka IPv4LL, aka RFC 3927) code, but I can\'t tell if it does anything higher up in the Zeroconf stack, namely mDNS and DNS-SD (with RFC 2782
Here is a very small mDNS responder which can be ported rather easily to lwIP:
https://bitbucket.org/geekman/tinysvcmdns
Apples mDNSResponder is still rather heavyweight for very small systems (in terms of RAM usage), so if only basic functionality is required this one may be preferred.