If you want to work with Raspberry Pi or BeagleBone Black and Linux-os I can help you to install EPICS. If you want to use the I2C interface I recommend the BeagleBone Black.
Before starting to work with MEDM try to work with EPICS and the ca-command.
What do you want to develop exactly? Do you work with a raspberry, a BeagleBone of arduino? Do you want to communicate via CAN, I2C or SPI? Do I want to control an ADC oder DAC? You have to give more information...