Introducing CFSSL – CloudFlare's PKI toolkit
blog.cloudflare.com
blog.cloudflare.com
That said, there are probably a lot of embedded systems of similar ancient vintage that may not be easily upgradable. The wisdom of having them internet connected is questionable at best.
It appears that this really works best with CloudFlare's systems - if you're looking to set up your own CA, and want help working through all the openssl commands and configuration files, this is pretty helpful:
As for setting up your CA, openssl's command line interface can be very clunky. CFSSL not only has a clean and simple command line interface, but it has a nice RESTful JSON API for simple integration into web services.