FAQ
I've never had time to use it, but I pointed a friend to embd and he's had good success with it on the original raspberry pi; I'm pretty sure RPi2 is at least somewhat supported. Depending on what they want to actually do it might be a little too low level, but you might be able to write a simple wrapper library for any peripherals with especially confusing data sheets.

https://github.com/kidoman/embd

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