You join Made for iPod and collaborate with the iPhone Licensing Program - it employs several NDAs and legal documents, after which they give you specifications for connecting and exchanging data via the I / O port or Bluetooth.
Here's a blog post that details what one person went through to get into this program and access documentation:
Part 1:
http://www.stackoverthrow.com/?p=97
Part 2:
http://www.stackoverthrow.com/?p=100
It seems that there is no additional charge (higher than the usual program for the developer program for $ 99), but there are many documents back and forth, including faxes, mail, etc., which stretched the process for him to almost 2.5 months.
He did not give a lot of detailed details, so there may be more (i.e. you may have to disclose your intended application, and if they donโt like it, they may refuse you), but this gives the process from a recent program applicant. It would be nice if it changed, so everything was online, but I think they can still require all the documents.
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