Install and use the can-utils package on a Raspberry Pi 3 B

raspy-can.sh

# Board: Raspberry Pi 3 Model B
# OS: Raspbian Jessie Lite (https://www.raspberrypi.org/downloads/raspbian/)
# GPIO reference image: http://imgur.com/a/Cqi9p

# Requirements
#   - 4GB at least compatible SD card
#   - LAN connection for configuration
#   - CAN enabled module
#   - HDMI cable for first configuration

# Installation 
#   Guide: https://www.raspberrypi.org/documentation/installation/installing-images/README.md
#   Quick how to:
#   - Download Etcher portable (https://etcher.io/)
#   - Download the compressed image
#   - Unzip the image
#   - Use etcher to create an SD card

# First setup
#   Username: pi
#   Password: raspberry

# reconfigure the board
raspi-config

# enable SSH
# enable SPI
# enable i2c
# disable UART

# OPTIONAL: update software
sudo apt update
sudo apt upgrade

# Bus CAN setup
#   Guide: https://www.raspberrypi.org/forums/viewtopic.php?f=44&t=141052

# check boot configuration
sudo vi /boot/config.txt

# some of these values are changed by the raspi-config utility
# to enable, remove the '#' symbol
#   enable i2c:   dtparam=i2c_arm=on
#   enable spi:    dtparam=spi=on
#   enable mpc2515

# append following lines to enable interface with bus CAN
# we are using a mcp2515 with 8MHz quartz and the interrupt is on GPIO 6
dtoverlay=mcp2515-can0,oscillator=8000000,interrupt=6
# the SPI works with a bcm2835 chip
dtoverlay=spi-bcm2835-overlay

# install can-utils
sudo apt install can-utils

# setup can interface for testing purposes
#   baudrate of 125k
sudo ip link set can0 down
sudo ip link set can0 up type can bitrate 500000 loopback off listen-only off

# to make this configuration definitve, edit the interfaces file
sudo vi /etc/network/interfaces

# and append following text
auto can0
iface can0 can static
        bitrate 500000
        loopback off
        listen-only off

# reboot
sudo reboot -h 0

# for more information on can-utils package refer to the following GitHub page:
#   https://github.com/linux-can/can-utils

# var & utils

# alias for quick details on can0 interface 
alias candet='ip -details -statistics link show can0'

# quick monitor of the can0 interface status
while true; do clear; candet; date; sleep 1; done