will get you started to build an EPICS system with the synApps software tool suite. While it was written a few years ago (and is due for an update since things change over time), it describes the necessary steps.
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...