Assuming you are having wheezy (but it will probably work with another debian based distro)

Download latest pthsem and bcusdk from the Sourceforge project bcusdk, current versions right now:
Move them to your raspberry pi and do:
tar xvfz pthsem_2.0.8.tar.gz
tar xvfz bcusdk_0.0.5.tar.gz 
cd pthsem-2.0.8
sudo make install
cd ../bcusdk-0.0.5 
export LD_LIBRARY_PATH=/usr/local/lib 
./configure --with-pth=yes --without-pth-test --enable-onlyeibd --enable-eibnetip --enable-eibnetiptunnel --enable-eibnetipserver
sudo make install
You have to load the dynamic library in /usr/local/lib in order for eibd to work, do the following:
echo "/usr/local/lib" | sudo tee -a /etc/
sudo ldconfig
Try it out with:
sudo route add dev eth0
sudo touch /var/log/eibd.log
sudo chown $USER /var/log/eibd.log
/usr/local/bin/eibd -D -S -T -i --eibaddr=0.0.1 --daemon=/var/log/eibd.log --no-tunnel-client-queuing ipt:
/usr/local/bin/groupsocketlisten ip:
(change the ip number to the ip number of your knx gateway)