First purchase and install the PI Extension from Busware.

busware
Here there documentation: Busware documentation
But first of all install stuff from TU Vienna.

wget http://www.auto.tuwien.ac.at/~mkoegler/debian/pool/main/p/pthsem/pthsem_2.0.8.tar.gz
tar -xzvf pthsem_2.0.8.tar.gz
cd pthsem-2.0.8
./configure
make install
ldconfig -v</code>
cd ..
wget http://www.auto.tuwien.ac.at/~mkoegler/debian/pool/main/b/bcusdk/bcusdk_0.0.5.tar.gz
tar -xzvf bcusdk_0.0.5.tar.gz
cd bcusdk-0.0.5
./configure --enable-onlyeibd --enable-tpuarts --enable-eibnetip --enable-eibnetipserver
make install