This video demonstrates how to interface a CAN board to RaspberryPi

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Run below command
sudo raspi-config

now navigate to Interface Options → SPI and select Yes to enable the SPI interface.

Edit the config file
sudo nano /boot/config.txt

Add this line to the file:
dtoverlay=mcp2515-can0,oscillator=12000000,interrupt=25,spimaxfrequency=2000000

Now reboot your Pi and after bootup run below command to check setup CAN interface

sudo /sbin/ip link set can0 up type can bitrate 500000

Verify the interface is up with below command

ip addr | grep "can"

Install CAN utilities with below command
sudo apt install can-utils

To receive data from other nodes run below command
candump -tz can0

To send a sample data
cansend can0 7FF#0102030405060708

This will send a CAN 11-bit ID of 7FF. Data 01 02 03 04 05 06 07 08

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