$ wget http://svn.openrtm.org/Embedded/trunk/RaspberryPi/tools/rpi.sh
 $ chmod 755 rpi.sh
 $ sudo rpi.sh rtunit0 --type rtunit
 $ sudo rpi.sh rtunit0 --type rtunit_examples

 Usage: rpi.sh hostname --type <TYPE>
 
 TYPE are:  basic kobuki kobuki_only rtunit rtunit_only
   basic:           Installing avahi, cmake, subversion/git and OpenRTM
   kobuki:          Installing basic + Kobuki RTC
   kobuki_only:     Installing Kobuki RTC only
   rtunit:          Installing basic + spi/i2c tools and modules
   rtunit_only:     Installing spi/i2c tools and modules only
   rtunit_examples: Installing basic + PiRT-Unit examples
 
 EXAMPLE:
 1) Just change hostname
 # rpi.sh kobuki0
 
 2) Basic setup: Installing OpenRTM-aist (C++/Python)
 # rpi.sh kobuki --type basic
 "
 3) Kobuki setup: Installing OpenRTM-aist (C++/Python) and Kobuki RTC
 # rpi.sh kobuki --type kobuki

 blacklist spi-bcm2708
 blacklist i2c-bcm2708

 # blacklist spi and i2c by default (many users don't need them)
 
 #blacklist spi-bcm2708
 #blacklist i2c-bcm2708

 KERNEL=="spidev*", SUBSYSTEM=="spidev", GROUP="spi", MODE="0666"

 sudo apt-get update
 sudo apt-get upgrade
 sudo apt-get install python-dev git-core i2c-tools python-smbus

 $ cd ~ (or 適当なディレクトリー)
 $ git clone git://github.com/doceme/py-spidev 
 $ cd py-spidev
 $ chmod 755 setup.py
 $ sudo ./setup.py install

 $ sudo python
 sudo: unable to resolve host raspbian-armhf
 Python 2.7.3 (default, Jan 13 2013, 11:20:46)
 [GCC 4.6.3] on linux2
 Type "help", "copyright", "credits" or "license" for more information.
 >>> import spidev
 >>> spi = spidev.SpiDev()
 >>> spi.open(0,0)
 >>> print spi.xfer2([0x00,0,0,0])

 >>> r = spi.xfer2([0x00,0,0,0])
 >>> print r[0] * 5.0 / 1024.0, " [V]"

 $ git clone git://git.drogon.net/wiringPi
 $ cd cd wiringPi
 $ git pull origin
 $ ./build

 $ sudo apt-get install python-dev  
 $ git clone https://github.com/WiringPi/WiringPi-Python.git  
 $ cd WiringPi-Python  
 $ git submodule update --init  
 $ sudo python setup.py install

 #!/usr/bin/env python
 # -*- coding: euc-jp -*- 
 import sys
 import time
 import spidev
 
 class ADC:
   def __init__(self):
     self.spi = spidev.SpiDev()
     self.spi.open(0, 0)
 
   def get_value(self, channel):
     sned_ch = [0x00,0x08,0x10,0x18]
     if ((channel > 3) or (channel < 0)):
       return -1
     r = self.spi.xfer2([sned_ch[channel],0,0,0])
     ret = ((r[2] << 6 ) & 0x300) |  ((r[2] << 6) & 0xc0) | ((r[3] >> 2) & 0x3f)
     return ret     
 
   def get_voltage(self, channel):
     ret = self.get_value(channel) * 5.0 / 1024
     return ret     
 
 def main():
   adc = ADC()
   while 1:
     adc1 = adc.get_value(0)
     msg1 = "%1.5fV(%04x)" % ((float(adc1)*5/1024),adc1)
     print msg1,
 
     adc1 = adc.get_value(1)
     msg1 = "%1.5fV(%04x)" % ((float(adc1)*5/1024),adc1)
     print msg1,
 
     adc2 = adc.get_value(2)
     msg2 = "%1.5fV(%04x)" % ((float(adc2)*5/1024),adc2)
     print msg2,
 
     adc3 = adc.get_value(3)
     msg3 = "%1.5fV(%04x)" % ((float(adc3)*5/1024),adc3)
     print msg3,
 
     sys.stdout.write("\n")
     time.sleep(0.5)
 
 if __name__ == '__main__':
   main()

 #!/usr/bin/env python
 # -*- coding: euc-jp -*- 
 import spidev
 from time import sleep
 
 spi = spidev.SpiDev()
 spi.open(0,1)
 
 def changeLevel(ch,  onOff, percent):
   bit7 = ch    << 7
   bit6 = 0     << 6
   bit5 = 1     << 5
   bit4 = onOff << 4
   size=12
   number=(2**size-1)*percent/100
   number= number<<(12-size)
   number= number<<(12-size)
   bottomPart= number % 256
   topPart=(number-bottomPart)>>8
   firstByte=bit7+bit6+bit5+bit4+topPart
   secondByte=bottomPart
   return spi.xfer2([firstByte,secondByte])
 
 
 def which_channel():
   channel = raw_input("Which channel do you want to test? Type 0 or 1.\n")
   while not channel.isdigit():
       channel = raw_input("Try again - just numbers 0 or 1 please!\n")
   return channel
 
 
 def main():
   channel = 3
   while not (channel == 1 or channel == 0):
       channel = int(which_channel())
   
   print "These are the connections for the digital to analogue test:"
   print "jumper connecting GP11 to SCLK"
   print "jumper connecting GP10 to MOSI"
   print "jumper connecting GP9 to MISO"
   print "jumper connecting GP7 to CSnB"
   print "Multimeter connections (set your meter to read V DC):"
   print "  connect black probe to GND"
   print "  connect red probe to DA%d on J29" % channel
   
   raw_input("When ready hit enter.\n")
   percent=[0,25,75,100]
   
   for p in percent:
       r = changeLevel(channel,1,p)
       print "Your meter should read about {0:.2f}V".format(p*2.048/100.0)
       raw_input("When ready hit enter.\n")
 
   r = changeLevel(0,0,0)
   r = changeLevel(1,0,0)
 
 if __name__ == '__main__':
   main()
 

 #!/usr/bin/env python
 # -*- coding: euc-jp -*- 
 import smbus
 import time
 
 def main():
   # LCD initialize
   i2c = smbus.SMBus(1)
   addr = 0x3e
   contrast = 42   # 0-63
   i2c.write_byte_data(addr, 0, 0x38)  # function set(IS=0)
   i2c.write_byte_data(addr, 0, 0x39)  # function set(IS=1)
   i2c.write_byte_data(addr, 0, 0x14)  # internal osc
   i2c.write_byte_data(addr, 0,(0x70 | (contrast & 0x0f))) # contrast
   i2c.write_byte_data(addr, 0,(0x54 | ((contrast >> 4) & 0x03)))  # contrast/icon/power
   i2c.write_byte_data(addr, 0, 0x6c)  # follower control
   time.sleep(0.2)
   i2c.write_byte_data(addr, 0, 0x38)  # function set(IS=0)
   i2c.write_byte_data(addr, 0, 0x0C)  # Display On
   i2c.write_byte_data(addr, 0, 0x01)  # Clear Display
   i2c.write_byte_data(addr, 0, 0x06)  # Entry Mode Set
   time.sleep(0.2)
 
   # LCD Clear
   i2c.write_byte_data(addr, 0, 0x38)  # function set(IS=0)
   i2c.write_byte_data(addr, 0, 0x0C)  # Display On
   i2c.write_byte_data(addr, 0, 0x01)  # Clear Display
   i2c.write_byte_data(addr, 0, 0x06)  # Entry Mode Set
   time.sleep(0.2)
 
   # Send to LCD
   line1 = '__test__'
   for c in line1:
     i2c.write_byte_data(addr, 0x40, ord(c))
   i2c.write_byte_data(addr, 0, 0xc0)  # 2nd line
   line2 = '__!(^^)!__'
   for c in line2:
     i2c.write_byte_data(addr, 0x40, ord(c))
       
 
 if __name__ == '__main__':
   main()

 #!/usr/bin/env python
 # -*- coding: euc-jp -*- 
 import sys
 import time
 import spidev
 
 class ADC:
   def __init__(self):
     self.spi = spidev.SpiDev()
     self.spi.open(0, 0)
 
   def get_value(self, channel):
     sned_ch = [0x00,0x08,0x10,0x18]
     if ((channel > 3) or (channel < 0)):
       return -1
     r = self.spi.xfer2([sned_ch[channel],0,0,0])
     ret = ((r[2] << 6 ) & 0x300) |  ((r[2] << 6) & 0xc0) | ((r[3] >> 2) & 0x3f)
     return ret     
 
   def get_voltage(self, channel):
     ret = self.get_value(channel) * 5.0 / 1024
     return ret     
 
 def main():
   adc = ADC()
   while 1:
     adc1 = adc.get_value(0)
     msg1 = "%1.5fV(%04x)" % ((float(adc1)*5/1024),adc1)
     print msg1,
 
     adc1 = adc.get_value(1)
     msg1 = "%1.5fV(%04x)" % ((float(adc1)*5/1024),adc1)
     print msg1,
 
     adc2 = adc.get_value(2)
     msg2 = "%1.5fV(%04x)" % ((float(adc2)*5/1024),adc2)
     print msg2,
 
     adc3 = adc.get_value(3)
     msg3 = "%1.5fV(%04x)" % ((float(adc3)*5/1024),adc3)
     print msg3,
 
     sys.stdout.write("\n")
     time.sleep(0.5)
 
 if __name__ == '__main__':
   main()

 Linux raspbian-armhf 3.2.27+ #307 PREEMPT Mon Nov 26 23:22:29 GMT 2012 armv6l
 
 The programs included with the Debian GNU/Linux system are free software;
 the exact distribution terms for each program are described in the
 individual files in /usr/share/doc/*/copyright.
 
 Debian GNU/Linux comes with ABSOLUTELY NO WARRANTY, to the extent
 permitted by applicable law.
 Last login: Tue May 14 07:07:04 2013 from dhcpe2078.a02.aist.go.jp
 pi@raspbian-armhf ~ $ vi adc_test.py
 pi@raspbian-armhf ~ $ chmod 755 adc_test.py
 pi@raspbian-armhf ~ $ ./adc_test.py

 # Import RTM module
 import RTC
 import OpenRTM_aist
 
 import math
 import spidev

 class Ministick(OpenRTM_aist.DataFlowComponentBase):
   def __init__(self, manager):
     OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
 
     self._scaling = [1.0]
     self._tread = [0.2]
     self._print_xy = ["NO"]
     self._print_vel = ["NO"]
     self._print_wvel = ["NO"]
     self.x = 0.0
     self.y = 0.0
     self.spi = spidev.SpiDev()
     self.spi.open(0, 0)

  def get_adc(self, channel):
    sned_ch = [0x00,0x08,0x10,0x18]
    if ((channel > 3) or (channel < 0)):
      return -1
    r = self.spi.xfer2([sned_ch[channel],0,0,0])
    ret = ((r[2] << 6 ) & 0x300) |  ((r[2] << 6) & 0xc0) | ((r[3] >> 2) & 0x3f)
    return ret

 dev xy_to_wvel(self, x, y):
   th = math.atan2(y, x)
   v = math.hypot(x, y)
   vl = v * math.cos(th - (math.pi/4.0))
   vr = v * math.sin(th - (math.pi/4.0))
   return (vl, vr)

 def wvel_to_vel2d(self, vl, vr):
   v = (vr + vl) / 2.0
   if v < 0.0:
     w = - (vr - vl) / self._tread[0]
   else:
     w = (vr - vl) / self._tread[0]
   return RTC.Velocity2D(v, 0.0, w)

 def onInitialize(self):
     : 中略
    self.x_offset_v = 0.0
    self.y_offset_v = 0.0
    for i in range(1, 100):
      self.x_offset_v += self.get_adc(0)
      self.y_offset_v += self.get_adc(1)
    self.x_offset_v = self.x_offset_v / 100.0
    self.y_offset_v = self.y_offset_v / 100.0
 
    return RTC.RTC_OK

 def onExecute(self, ec_id):
    self.x = - (self.get_adc(0) - self.x_offset_v) * self._scaling[0] / 1000.0
    self.y = (self.get_adc(1) - self.y_offset_v) * self._scaling[0] / 1000.0
    if self._print_xy[0] != "NO":
      print "(x, y) = ", self.x, self.y
    self._d_pos.data = [self.x, self.y]
    
    self._d_wvel.data = self.xy_to_wvel(self.x, self.y)
    if self._print_wvel[0] != "NO":
      print "(vl, vr) = ", self._d_wvel.data[0], self._d_wvel.data[1]
    self._d_vel.data = self.wvel_to_vel2d(self._d_wvel.data[0],
                                          self._d_wvel.data[1])
    if self._print_vel[0] != "NO":
      print "(vx, va) = ", self._d_vel.data.vx, self._d_vel.data.va
 
    self._posOut.write()
    self._velOut.write()
    self._wvelOut.write()
 
    return RTC.RTC_OK

 $ rtm-naming
 $ ./Ministick.py
 

 pi@raspbian-armhf ~ $ ./adc_text.py
 Traceback (most recent call last):
   File "./adc_text.py", line 47, in <module>
     main()
   File "./adc_text.py", line 25, in main
     adc = ADC()
   File "./adc_text.py", line 10, in __init__
     self.spi.open(0, 0)
 IOError: [Errno 13] Permission denied

 i2c-dev

 # blacklist i2c-bcm2708

 sudo apt-get install i2c-tools

 $ sudo i2cdetect 1

 // LSM303DLHCの地磁気センサーへアクセス
 $ sudo i2cset -y 1 0x1e 0x00 0x14
 $ sudo i2cset -y 1 0x1e 0x01 0x20
 $ sudo i2cset -y 1 0x1e 0x02 0x00
 $ sudo i2cget -y 1 0x1e 0x32
 $ sudo i2cget -y 1 0x1e 0x31
 $ sudo i2cget -y 1 0x1e 0x03
 $ sudo i2cget -y 1 0x1e 0x04
 $ sudo i2cget -y 1 0x1e 0x05
 $ sudo i2cget -y 1 0x1e 0x06
 $ sudo i2cget -y 1 0x1e 0x07
 $ sudo i2cget -y 1 0x1e 0x08
 $ sudo i2cget -y 1 0x1e 0x09
 // LSM303DLHCの加速度センサーへアクセス
 $ sudo i2cset -y 1 0x19 0x20 0x27
 $ sudo i2cget -y 1 0x19 0x28
 $ sudo i2cget -y 1 0x19 0x29
 $ sudo i2cget -y 1 0x19 0x2a
 $ sudo i2cget -y 1 0x1e 0x2b
 $ sudo i2cget -y 1 0x1e 0x2c
 $ sudo i2cget -y 1 0x1e 0x2d

 #include <stdio.h>
 #include <stdlib.h>
 #include <time.h>
 #include <unistd.h>
 
 #include <linux/i2c-dev.h> // I2C用インクルード
 #include <fcntl.h>
 #include <sys/ioctl.h>
 
 #include <wiringPi.h> // delay関数用にインクルード
 
 // プロトタイプ宣言
 void L3GD20_readData(int *gyrodata, int fd);
 void L3GD20_write(unsigned char address, unsigned char data, int fd);
 unsigned char L3GD20_read(unsigned char address, int fd);
 void L3GD20_init(int fd);
 
 int main(int argc, char **argv)
 {
     int i2c_fd;       // デバイスファイル用ファイルディスクリプタ
    // char *i2cFileName = "/dev/i2c-0"; // I2Cデバイスファイル名
     char *i2cFileName = "/dev/i2c-1"; // RaspberryPiのリビジョンに合わせて変更
     int i2cAddress = 0x6a;   // L3GD20のI2Cアドレス
     int gyroData[3]; // ジャイロ3軸（x,y,z）データ格納用
     
     printf("i2c Gyro(L3GD20) test program\n");
     delay(500);
    // I2Cデバイスファイルをオープン
     if ((i2c_fd = open(i2cFileName, O_RDWR)) < 0) 
     {
         printf("Faild to open i2c port\n");
         exit(1);
     }
     // L3GD20用にセット
     if (ioctl(i2c_fd, I2C_SLAVE, i2cAddress) < 0) 
     {
         printf("Unable to get bus access to talk to slave\n");
         exit(1);
     }
     //デバイス初期化
     L3GD20_init(i2c_fd);
     
     // 1秒ごとに20回ジャイロデータを取得、表示
     int i;
     for(i=0; i<20; i++){
         // デバイスからデータ取得
         L3GD20_readData(gyroData, rtc); 
         // 取得したデータを校正して表示、1秒待ち
         printf("x, y, z : %5.2f, %5.2f, %5.2f\n",
               (float)gyroData[0]*0.00875,(float)gyroData[1]*0.00875,
               (float)gyroData[2]*0.00875);
         delay(1000); 
     }
     return;
 }
 
 // L3GD20用 1バイト書き込みルーチン：addressで示すレジスタにdataを書き込む
 void L3GD20_write(unsigned char address, unsigned char data, int fd)
 {
     unsigned char buf[2];
     buf[0] = address;
     buf[1] = data;
    if((write(fd,buf,2))!=2){
         printf("Error writing to i2c slave\n");
         exit(1);
    }
     return;
 }
   
 // L3GD20用 1バイト読み出しルーチン： addressで示すレジスタの値を読み出す
 // 戻り値がレジスタ値
 unsigned char L3GD20_read(unsigned char address, int fd)
 {
     unsigned char buf[1];
     buf[0] = address;
     if((write(fd,buf,1))!= 1){ // addressを一度書き込む所に注意
         printf("Error writing to i2c slave\n");
         exit(1);}
     if(read(fd,buf,1)!=1){
         printf("Error reading from i2c slave\n");
         exit(1);}
     return buf[0];
 }
 
 // L3GD20用 ジャイロデータ読み出しルーチン：
 // 整数値配列へのポインタを使ってデータを受け渡す
 void L3GD20_readData(int *gyrodata, int fd)
 {
     unsigned char data[6];
     // センサから3軸に対して2バイトずつデータを読み出す
     int i;
     for(i=0; i<6; i++){
         data[i]=L3GD20_read(0x28+i,fd);
     }
     // 各数値を32bit幅の整数に整形する
     // センサの数値精度が16bit・2の補数表現での出力のため、シフトで加工
     gyrodata[0]=((int)data[1]<<24|(int)data[0]<<16)>>16;
     gyrodata[1]=((int)data[3]<<24|(int)data[2]<<16)>>16;
     gyrodata[2]=((int)data[5]<<24|(int)data[4]<<16)>>16;
     return;
 }
 
 // L3GD20用 ジャイロデータイニシャライズルーチン
 void L3GD20_init(int fd)
 {
     unsigned char Data;
     printf("L3GD20 init seq. start\n");
     // L3GD20 動作確認
     // L3GD20の0x0fレジスタは常に0xd4にセットされているため動作確認ができる
     Data = L3GD20_read(0x0f,fd);
     if(Data != 0xd4){
         printf("L3GD20 is not working\n");
         exit(1);}
     delay(10);
     // レジスタへの書き込みチェックとイニシャライズを同時に行う
     printf("read OK, Now writing check...\n");
     // 0x20レジスタに0x0fを書き込むことで動作させる
     L3GD20_write(0x20, 0x0f, fd);
     // 0x20レジスタに実際に0x0fが書かれたか確認
     Data = L3GD20_read(0x20,fd); if(Data != 0x0f){
         printf("Writing miss\n");
         exit(1);
     } 
     printf("Writing OK\n");
     delay(10);     
     return;
 }