"This is a quick tutorial to show how to hook up a dIMU (An Accelerometer and Gyroscope for the LEGO MINDSTORMS NXT) to a Raspberry Pi."
"This is also a great example of how to get started with I2C on the Raspberry Pi. We chose the dIMU because it’s easy to access and use, with just four lines to connect (SDA, SCL, GND, and VCC).You may have to make modifications to attach other sensors."
If this really floats your boat then watch this space, because here at Rainsbury.net we have just started working on a PCB that will allow you to connect any Mindstorms device to your PI. Once its ready you will be the first to know.