Clients connect to my server over SSL and an error "-0x7180 - SSL - Verification of the message MAC failed" occurs when creating a secure connection.
Linux commands give the following:
uname -a
Linux termv7 4.15.0-91-generic #92-Ubuntu SMP Fri Feb 28 11:09:48 UTC 2020 x86_64 x86_64 x86_64 GNU/Linux

openssl s_server -key /etc/minpay/cert/TermV-terminals-server.key -cert /etc/minpay/cert/TermV-terminals-server.crt -accept 8080 -state
Using default temp DH parameters
ACCEPT
SSL_accept:before SSL initialization
SSL_accept:before SSL initialization
SSL_accept:SSLv3/TLS read client hello
SSL_accept:SSLv3/TLS write server hello
SSL_accept:SSLv3/TLS write certificate
SSL_accept:SSLv3/TLS write server done
SSL_accept:SSLv3/TLS write server done
SSL_accept:SSLv3/TLS read client key exchange
SSL_accept:SSLv3/TLS read change cipher spec
SSL_accept:SSLv3/TLS read finished
SSL_accept:SSLv3/TLS write change cipher spec
SSL_accept:SSLv3/TLS write finished
-----BEGIN SSL SESSION PARAMETERS-----
MHUCAQECAgMBBAIALwQgNbcRsh26hMujwXcoa5ZlBGihMY+GFhkTscR4Ds8fppwE
MHAJs/h2ldK+C7Sm2fpNGbzYMycfUPGq4Ydg9PtnHPt1Mn9eH68tnQsT2nuTwGRq
zqEGAgRftlMXogQCAhwgpAYEBAEAAAA=
-----END SSL SESSION PARAMETERS-----
Shared ciphers:AES128-SHA
---
No server certificate CA names sent
CIPHER is AES128-SHA
Secure Renegotiation IS NOT supported

Source content:

File contents TermV-terminals-server.key:
subject=/C=RU/ST=Sample/L=Sample/O=Sample/OU=Sample/CN=localhost
issuer=/C=RU/ST=Sample/L=Sample/O=Sample/OU=Sample/CN=Sample
-----BEGIN CERTIFICATE-----
MIIDTjCCAjYCFBhhDBE3BeiTMD0dzFYOGILO8yq0MA0GCSqGSIb3DQEBCwUAMGIx
CzAJBgNVBAYTAlJVMQ8wDQYDVQQIDAZTYW1wbGUxDzANBgNVBAcMBlNhbXBsZTEP
MA0GA1UECgwGU2FtcGxlMQ8wDQYDVQQLDAZTYW1wbGUxDzANBgNVBAMMBlNhbXBs
ZTAeFw0yMDAxMTgxODA5MDlaFw0yNDAxMTcxODA5MDlaMGUxCzAJBgNVBAYTAlJV
MQ8wDQYDVQQIDAZTYW1wbGUxDzANBgNVBAcMBlNhbXBsZTEPMA0GA1UECgwGU2Ft
cGxlMQ8wDQYDVQQLDAZTYW1wbGUxEjAQBgNVBAMMCWxvY2FsaG9zdDCCASIwDQYJ
KoZIhvcNAQEBBQADggEPADCCAQoCggEBALQSjObDf16fv02qH+3FtI4eX2tPfj+u
XsSF8KK6OpcNNfHv17LB9NRUGbZdeikvL5mjB1qd8Qt5YBzSYvvNmuQqn/ZZhEhg
9zqDd+j6dsl03OSW42qSP59M22plqhHZv1ZpkbpHSnEbbwbIVhgx1GuJvMHbQKxw
et3UobG9M7q0/6Z2hlvbiuQgZWpc6+vnGGFUzVFjJhsUMgewU1UwTtfahOVegv9v
ocuj+AOHzzH2+l72ybpKIFKZ6eXjr3sVp1lIPXm+gUNLqkReNV2QVk4H/j2ow3xu
hdHjiPQ+6o6dgbCHeCvbf7Qs35S8YlQH/Mn2bik2NIMKucdq7S35AEsCAwEAATAN
BgkqhkiG9w0BAQsFAAOCAQEAhANjStGtYfPJ2Ibkbn6ct4bWLPe6sFBvbwYow3Fd
lBz0oxBukhJDOrPa4OqJDpnWenXkEcUrulI2JG5sIylOg3QlwlmgPoJU9fkpmr+u
xNVlTxBSh1BVp0sccC+LxNRyDMl4C89R1TjPpPjoRU4cciY9N0oygPjTj0c26qBU
iqwtyJTeeJYJUdplCMvXFOt8deqi/NBpBGnEfo8P/IeM/iCWLD5VtloHX/R0C+au
q6803qd1/Gd0pIdsELQKrR6mBz6sWukg2f25GheLQVV7Wz/elZD8MwYwjYLoCtIP
65Ae3Eb6S2KlsVPzMj09u6kQ+KPfZtKu8tiUSc+11hurRw==
-----END CERTIFICATE-----

File contents TermV-terminals-server.crt:
-----BEGIN PRIVATE KEY-----
MIIEvwIBADANBgkqhkiG9w0BAQEFAASCBKkwggSlAgEAAoIBAQC0Eozmw39en79N
qh/txbSOHl9rT34/rl7EhfCiujqXDTXx79eywfTUVBm2XXopLy+ZowdanfELeWAc
0mL7zZrkKp/2WYRIYPc6g3fo+nbJdNzkluNqkj+fTNtqZaoR2b9WaZG6R0pxG28G
yFYYMdRribzB20CscHrd1KGxvTO6tP+mdoZb24rkIGVqXOvr5xhhVM1RYyYbFDIH
sFNVME7X2oTlXoL/b6HLo/gDh88x9vpe9sm6SiBSmenl4697FadZSD15voFDS6pE
XjVdkFZOB/49qMN8boXR44j0PuqOnYGwh3gr23+0LN+UvGJUB/zJ9m4pNjSDCrnH
au0t+QBLAgMBAAECggEBAKWbKdpQkSME53sVqqeR26uYY0jdos4OHzm9tMDzZE7m
52XJniXYGsHrVnpRHbginTQ+qtS7zKMwzSO0mTPas0iDqvl0+iNWighWQEETl4tO
3peb7Spltf1bQa9oMDCagU2HaW5Xgi7jfAhQ1l0J9sGvutjOO3xbNaQtmUdNKfXa
VRaof94/YKcbTPIn588orxfumgeiYwQ8exhA7yg1WLl2iSy9jj+8WrxaKvy4vR45
nXrb2tXletRoZZY/FC/NZNMgXsGTmYHl6blTEZVz7Zu0XPHKJo42tHnKHW46/ccJ
vkXQNjUsu0JN95+lWBA5Yne8xddhiLNKv3DZ3iwXRAECgYEA17YaIbtlgSLd5hJJ
OuS9n9XNUCEx1YLhDRzhHggPNTZkVxSnxnWVGpbubtWN/OggRtJyk+mLFV+aHLCa
R224ofSPWWE1HtoSdtLcL5oLgp6RDoM61h1p1glFS7BpbYzBegAcbMJa1IvAMspx
5lsYowBUJLNHAEcqUrXzQ88gu2ECgYEA1bRugqLGXqz1E0z6o/MuGXfmJaGQEmJg
833As5jzsyd6pyznsB0TKUAJkcf0RmZrr1EDVigA9aLcwq4qThjGEL2FpGkOvXPC
bY0c2pLnsZJetNmXnky/w+W127V+LbDjjQaYl/7c9Fp4hoomoykt7d1YW7lRZ2Le
wo8muiGF5ysCgYEAlYHahMysop926tJ7vPzzTMfT4JjRQGnQ79S3VqhBWiFT1GM1
kcDHUkGQCnOrUMHWNSABV/FDe9HiL8Zbd+xdTqsBe/J67eI5b+/fuoJrPeIHKebc
rbB/PWD5jWc8+zfWlWdkTCE88RnXYZyc6wryfW9p4nH7YP7yH5eKftIdnqECgYBl
aWY33/661uDF8/XM742k0F0K5oxz7PONGNPlZmPfVJDD3G9mB6YcISNpZrXo4pmf
bJZkwD8UUeDpEbVJsj/rmcRdrO0twk01p41Vu/jvL0J6F/f3SvyFffC6/nmOPS7+
sW6gUnWQD466abzEGLqO8kcH3/1dTnHfagc6tMXSWQKBgQCZjWzyLtEUxvWI2PSe
B6/osxlYDyCkXrJDIT1LuepM/54Kre9YMUy2UZBVC42DR6paEbkAAqHdTsLNlKhV
s+6/JGnEDR1e/L7ks0dBY8jow04r0mKG1M91SMLr5OeBTk6SRMnR7GAKewjeLmJD
ULgsqyHSTh/4r6tDQ7Gayci2vQ==
-----END PRIVATE KEY-----

File contents ssl_server.h:
#ifndef SSL_SERVER_H
#define SSL_SERVER_H

#define DEBUG_LEVEL 5
#if DEBUG_LEVEL > 0
#include "mbedtls/debug.h"
#endif
//#define MBEDTLS_SSL_CIPHERSUITES MBEDTLS_TLS_DHE_PSK_WITH_AES_128_GCM_SHA256
#include "mbedtls/entropy.h"
#include "mbedtls/ctr_drbg.h"
#include "mbedtls/certs.h"
#include "mbedtls/x509.h"
#include "mbedtls/ssl.h"
#include "mbedtls/net_sockets.h"
#include "mbedtls/error.h"
#include "mbedtls/ssl_cache.h"
#include "packet_handler/packet_handler.h"
#include "thread_pool_ssl.h"
#include "queue_ssl.h"
extern pthread_mutex_t listen_fd1_mutex;
extern mbedtls_net_context listen_fd1;
extern void* runSSLServer(void *arg);
#endif // SSL_SERVER_H

File contents ssl_server.c:
#include "ssl_server.h"

mbedtls_net_context listen_fd1;
pthread_mutex_t listen_fd1_mutex=PTHREAD_MUTEX_INITIALIZER;

static mbedtls_ssl_config *config;

#if DEBUG_LEVEL > 0
static void my_debug( void *ctx, int level,
                      const char *file, int line,
                      const char *str )
{
    ((void) level);
    char s[1000];
    snprintf(s,sizeof(s),"%s:%04d: %s", file, line, str );
    trace(s);
}
#endif
void * runSSLServer(void *arg)
{
  (void)(arg);
  int ret;
  char s[100];
  int n = atoi(config_list[SSL_SERVER_NUM_THREADS].value);
  createThreadPoolSSLArray(n);
  mbedtls_net_context listen_fd, client_socket_ssl;
  const char pers[] = "ssl_pthread_server";
  mbedtls_entropy_context entropy;
  mbedtls_ctr_drbg_context ctr_drbg;
  mbedtls_ssl_config conf;
  mbedtls_x509_crt srvcert;
  mbedtls_x509_crt cachain;
  mbedtls_pk_context pkey;
  mbedtls_ssl_cache_context cache;
  mbedtls_ssl_cache_init( &cache );
  mbedtls_x509_crt_init( &srvcert );
  mbedtls_x509_crt_init( &cachain );
  mbedtls_ssl_config_init( &conf );
  mbedtls_ctr_drbg_init( &ctr_drbg );
  mbedtls_net_init( &listen_fd );
  mbedtls_net_init( &client_socket_ssl );

  config = &conf;
  /*
   * We use only a single entropy source that is used in all the threads.
   */
  mbedtls_entropy_init( &entropy );

#if DEBUG_LEVEL > 0
  mbedtls_debug_set_threshold(DEBUG_LEVEL);
#endif
  /*
   * 1. Load the certificates and private RSA key
   */
  trace( "[SSL Server] Loading the server cert. and key..." );
  ret = mbedtls_x509_crt_parse_file( &srvcert,"/etc/minpay/cert/TermV-terminals-server.crt");
  if( ret != 0 )
  {
    snprintf(s,sizeof(s), "[SSL Server] failed\n  !  mbedtls_x509_crt_parse_file returned %d\n\n", ret  );
    trace(s);
    goto thread_exit;
  }

  mbedtls_pk_init( &pkey );
  ret =  mbedtls_pk_parse_keyfile( &pkey,"/etc/minpay/cert/TermV-terminals-server.key" , NULL );
  if( ret != 0 )
  {
    snprintf(s,sizeof(s), "[SSL Server] failed\n  !  mbedtls_pk_parse_keyfile returned %d\n\n", ret  );
    trace(s);
    goto thread_exit;
  }
  trace( "[SSL Server] ok\n" );
  /*
   * 1b. Seed the random number generator
   */
  trace( "Seeding the random number generator..." );
  if( ( ret = mbedtls_ctr_drbg_seed( &ctr_drbg, mbedtls_entropy_func, &entropy,
                             (const unsigned char *) pers,
                             strlen( pers ) ) ) != 0 )
  {
    snprintf(s,sizeof(s),"[SSL Server] failed: mbedtls_ctr_drbg_seed returned -0x%04x\n", -ret  );
    trace(s);
    goto thread_exit;
  }
  trace( "[SSL Server] ok\n" );
  /*
   * 1c. Prepare SSL configuration
   */
  trace( "[SSL Server] Setting up the SSL data...." );
  if( ( ret = mbedtls_ssl_config_defaults( &conf,
                  MBEDTLS_SSL_IS_SERVER,
                  MBEDTLS_SSL_TRANSPORT_STREAM,
                  MBEDTLS_SSL_PRESET_DEFAULT ) ) != 0 )
  {
    snprintf(s,sizeof(s),"[SSL Server] failed: mbedtls_ssl_config_defaults returned -0x%04x\n", -ret  );
    trace(s);
    goto thread_exit;
  }
  mbedtls_ssl_conf_rng( &conf, mbedtls_ctr_drbg_random, &ctr_drbg );
  #if DEBUG_LEVEL > 0
  mbedtls_ssl_conf_dbg( &conf, my_debug, NULL );
  #endif
  /* mbedtls_ssl_cache_get() and mbedtls_ssl_cache_set() are thread-safe if
   * MBEDTLS_THREADING_C is set.
   */
  mbedtls_ssl_conf_session_cache( &conf, &cache,
                                 mbedtls_ssl_cache_get,
                                 mbedtls_ssl_cache_set );

  mbedtls_ssl_conf_ca_chain( &conf, &cachain, NULL );
  if( ( ret = mbedtls_ssl_conf_own_cert( &conf, &srvcert, &pkey ) ) != 0 )
  {
    snprintf(s,sizeof(s),"[SSL Server] failed\n  ! mbedtls_ssl_conf_own_cert returned %d\n\n", ret );
    trace(s);
    goto thread_exit;
  }
  trace( "[SSL Server] ok\n" );
  /*
   * 2. Setup the listening TCP socket
   */

  snprintf(s,sizeof(s),"[SSL Server] Bind on localhost: %s ...","8080");
  trace(s);
  fflush( stdout );
  if( ( ret = mbedtls_net_bind( &listen_fd, NULL, "8080", MBEDTLS_NET_PROTO_TCP ) ) != 0 )
  {
    snprintf(s,sizeof(s),"[SSL Server] failed\n  ! mbedtls_net_bind returned %d\n\n", ret  );
    trace(s);
    goto thread_exit;
  }
  trace( "[SSL Server] ok\n" );

  pthread_mutex_lock(&listen_fd1_mutex);
  listen_fd1 = listen_fd;
  pthread_mutex_unlock(&listen_fd1_mutex);

  while(true)
  {
    //reset:
    if(ret!=0)
    {
      char error_buf[100];
      mbedtls_strerror( ret, error_buf, 100 );
      snprintf(s,sizeof(s),"[SSL Server] Last error was: -0x%04x - %s\n", -ret, error_buf );
      trace(s);
    }
    /*
     * 3. Wait until a client connects
     */
    trace( "[SSL Server] Waiting for a remote connection\n" );
    int ret =mbedtls_net_accept(&listen_fd,&client_socket_ssl,NULL,0,NULL);
    if(ret != 0)
    {
      snprintf(s,sizeof(s), "[SSL Server] failed: mbedtls_net_accept returned -0x%04x\n", ret);
      trace(s);
      break;
    }
    trace( "[SSL Server] ok\n" );
    //do whatever we do with connections.
    //put the connection somewhere so that an available thread
    //can find it.

    mbedtls_net_context *pclient = malloc(sizeof(mbedtls_net_context));
    *pclient = client_socket_ssl;
    pthread_mutex_lock(&client_socket_ssl_mutex);
    enqueue_ssl(pclient);
    pthread_cond_signal(&condition_var_ssl);
    pthread_mutex_unlock(&client_socket_ssl_mutex);
    ret = 0;
  }
  thread_exit:
  mbedtls_x509_crt_free( &srvcert );
  mbedtls_pk_free( &pkey );
  mbedtls_ssl_cache_free( &cache );
  mbedtls_ctr_drbg_free( &ctr_drbg );
  mbedtls_entropy_free( &entropy );
  mbedtls_ssl_config_free( &conf );
  mbedtls_net_free( &listen_fd );
  deleteThreadPoolSSLArray();
  return NULL;
}
static void *handleConnectionSSL(mbedtls_net_context *p_net_context)
{
  int ret, len;
  char s[100];
  struct packet_handler handler={};
  handler.net_context = *p_net_context;
  free(p_net_context);// we really don't need this anymore
  unsigned char buf[1024];
  /* Make sure memory references are valid */
  mbedtls_ssl_init( &handler.ssl );
  snprintf(s,sizeof(s),"[SSL client_socket=%d] Setting up SSL/TLS data\n", handler.net_context.fd );
  trace(s);

  /*
   * 4. Get the SSL context ready
   */
  if( ( ret = mbedtls_ssl_setup( &handler.ssl, config ) ) != 0 )
  {
    snprintf(s,sizeof(s),"[SSL client_socket=%d] failed: mbedtls_ssl_setup returned -0x%04x\n",handler.net_context.fd, -ret );
    trace(s);
    goto thread_exit;
  }
  mbedtls_ssl_set_bio( &handler.ssl, (mbedtls_net_context*)&handler.net_context, mbedtls_net_send, mbedtls_net_recv, NULL );
  /*
   * 5. Handshake
   */
  snprintf(s,sizeof(s),"[SSL client_socket=%d] Performing the SSL/TLS handshake\n", handler.net_context.fd);
  trace(s);
  while( ( ret = mbedtls_ssl_handshake( &handler.ssl ) ) != 0 )
  {
      if( ret != MBEDTLS_ERR_SSL_WANT_READ && ret != MBEDTLS_ERR_SSL_WANT_WRITE )
      {
          snprintf(s,sizeof(s),"[SSL client_socket=%d] failed: mbedtls_ssl_handshake returned -0x%04x\n", handler.net_context.fd, -ret );
          trace(s);
          goto thread_exit;
      }
  }
  snprintf(s,sizeof(s),"[SSL client_socket=%d] ok\n", handler.net_context.fd );
  trace(s);

  ret = runPacketHandler(&handler);

  snprintf(s,sizeof(s),  "[SSL client_socket=%d] . Closing the connection...", handler.net_context.fd );
  trace(s);
  while( ( ret = mbedtls_ssl_close_notify( &handler.ssl ) ) < 0 )
  {
    if( ret != MBEDTLS_ERR_SSL_WANT_READ &&
            ret != MBEDTLS_ERR_SSL_WANT_WRITE )
    {
      snprintf(s,sizeof(s),  "[SSL client_socket=%d] failed: mbedtls_ssl_close_notify returned -0x%04x\n", handler.net_context.fd, ret);
      trace(s);
      goto thread_exit;
    }
  }
  trace( " ok\n" );
  ret = 0;
  thread_exit:
  if( ret != 0 )
  {
    char error_buf[100];
    mbedtls_strerror( ret, error_buf, 100 );
    snprintf(s,sizeof(s),  "[SSL client_socket=%d] Last error was: -0x%04x - %s\n\n", handler.net_context.fd, -ret, error_buf );
    trace(s);
  }
  mbedtls_net_free((mbedtls_net_context*)&handler.net_context);
  mbedtls_ssl_free(&handler.ssl);
  return NULL;
}
void *threadFunctionSSL(void *arg)
{
  (void)(arg);
  while(true)
  {
    mbedtls_net_context *pclient;
    pthread_mutex_lock(&client_socket_ssl_mutex);
    if((pclient=dequeue_ssl())==NULL)
    {
      pthread_cond_wait((pthread_cond_t *)&pclient,&client_socket_ssl_mutex);
      //try again
      pclient = dequeue_ssl();
    }
    pthread_mutex_unlock(&client_socket_ssl_mutex);
    if(pclient!=NULL)
    {
      //we have a connection
      handleConnectionSSL(pclient);
    }
  }
}

File contents thread_pool_ssl.h:
#ifndef SSL_THREAD_POOL_H
#define SSL_THREAD_POOL_H
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdbool.h>
#include <pthread.h>
#include "mbedtls/net_sockets.h"

extern pthread_t *thread_pool_ssl;
extern pthread_mutex_t client_socket_ssl_mutex;
extern pthread_cond_t condition_var_ssl;
void createThreadPoolSSLArray(int n);
void deleteThreadPoolSSLArray();
extern void *handleSSLConnection(int* p_client_socket);
extern void *threadFunctionSSL(void *arg);
#endif // SSL_THREAD_POOL_H

File contents thread_pool_ssl.c:
#include "thread_pool_ssl.h"
pthread_t *thread_pool_ssl=NULL;
pthread_mutex_t client_socket_ssl_mutex = PTHREAD_MUTEX_INITIALIZER;
pthread_cond_t condition_var_ssl = PTHREAD_COND_INITIALIZER;
void *threadFunctionSSL(void *arg);
void createThreadPoolSSLArray(int n)
{
  thread_pool_ssl = (pthread_t*)malloc(n);
  //first off create a bunch of threads to handle future connections
  for(int i=0; i<n;i++)
  {
    pthread_create(&thread_pool_ssl[i],NULL,threadFunctionSSL,NULL);
  }
}
void deleteThreadPoolSSLArray()
{
  free(thread_pool_ssl);
}
File contents main.c:
#include <stdio.h>
#include "log.h"
#include "ssl_server.h"
#include <signal.h>

void catchSigterm();
void catchSigint();
void runPortListening();
int main()
{
  catchSigterm();
  catchSigint();
  runPortListening();
  return 0;
}

void runPortListening()
{
  trace("Starting port listening...");
  pthread_t handleID;
  pthread_create(&handleID,NULL,runSSLServer,NULL);
  trace("Port listening started.");
  pthread_join(handleID,NULL);
  trace("Port listening complete.");
}
void closeServer()
{
  trace("Shutdown SSL Server...");
  pthread_mutex_lock(&listen_fd1_mutex);
  mbedtls_net_free(&listen_fd1);
  pthread_mutex_unlock(&listen_fd1_mutex);
}

void sigTermHandler(int signum, siginfo_t *info, void *ptr)
{
  (void)signum;
  (void)info;
  (void)ptr;
  closeServer();
}
void catchSigterm()
{
    static struct sigaction _sigact;
    memset(&_sigact, 0, sizeof(_sigact));
    _sigact.sa_sigaction = sigTermHandler;
    _sigact.sa_flags = SA_SIGINFO;
    sigaction(SIGTERM, &_sigact, NULL);
}
void sigIntHandler(int signum, siginfo_t *info, void *ptr)
{
  (void)signum;
  (void)info;
  (void)ptr;
  closeServer();
}
void catchSigint()
{
    static struct sigaction _sigact;
    memset(&_sigact, 0, sizeof(_sigact));
    _sigact.sa_sigaction = sigIntHandler;
    _sigact.sa_flags = SA_SIGINFO;
    sigaction(SIGINT, &_sigact, NULL);
}

Log files attached to the email.
 
Regards, Michael.