PCAN-USB(PEAK-System)를 사용한 SocketCAN

#
# Retrieve kernel source
FIRMWARE_REV=`cat /boot/.firmware_revision` # rpi-update generates.
KERNEL_REV=`curl -L https://github.com/Hexxeh/rpi-firmware/raw/${FIRMWARE_REV}/git_hash`
echo Firmware Rev: ${FIRMWARE_REV}
echo kernel Rev  : ${KERNEL_REV}
curl -L https://github.com/Hexxeh/rpi-firmware/raw/${FIRMWARE_REV}/Module.symvers >Module.symvers
curl -L https://github.com/Hexxeh/rpi-firmware/raw/${FIRMWARE_REV}/Module7.symvers >Module7.symvers
curl -L https://github.com/raspberrypi/linux/archive/${KERNEL_REV}.tar.gz >rpi-linux.tar.gz
#
# Extract
sudo mkdir -p /usr/src/rpi-linux
sudo chown pi.pi -R /usr/src/rpi-linux
cd /usr/src/rpi-linux
tar --strip-components 1 -xf ${HOME}/rpi-linux.tar.gz
#
# Place Module.symvers and .config to the proper folder.
sudo modprobe configs
gunzip -c /proc/config.gz >.config
sudo rmmod configs
[ -e /lib/modules/$(uname -r)/build  ] || sudo ln -sv /usr/src/rpi-linux /lib/modules/$(uname -r)/build
# cp $HOME/Module.symvers Module.symvers  ## RPi1 ????
cp $HOME/Module7.symvers Module.symvers
#

cd /usr/src/rpi-linux
sed -i -e 's/# CONFIG_CAN_PEAK_USB is not set/CONFIG_CAN_PEAK_USB=m/g' .config
make oldconfig
make modules_prepare
cd drivers/net/can/usb/peak_usb
make -C /usr/src/rpi-linux M=`pwd` clean
make -C /usr/src/rpi-linux M=`pwd` modules
#
# !! This copies to Not "4.4.xx-v7+" but "/lib/modules/4.4.xx-v7/extra/" 
# sudo make -C /usr/src/rpi-linux M=`pwd` modules_install
#
# Manually copied
sudo mkdir -p /lib/modules/`uname -r`/kernel/drivers/net/can/usb/peak_usb
sudo cp -v ./*.ko /lib/modules/`uname -r`/kernel/drivers/net/can/usb/peak_usb
#
# おまじない、して、再起動.
sudo depmod -a
sudo reboot

pi@raspberrypi:~ $ lsmod
Module                  Size  Used by
peak_usb               27417  0 
can_dev                 9907  1 peak_usb
bnep                   10340  2 
bluetooth             326105  5 bnep
cfg80211              428431  0 
rfkill                 16037  3 cfg80211,bluetooth
snd_bcm2835            20447  1 
snd_pcm                75762  1 snd_bcm2835
snd_timer              19288  1 snd_pcm
snd                    51908  5 snd_bcm2835,snd_timer,snd_pcm
bcm2835_gpiomem         3040  0 
bcm2835_wdt             3225  0 
uio_pdrv_genirq         3164  0 
uio                     8000  1 uio_pdrv_genirq
i2c_dev                 5859  0 
fuse                   84037  3 
ipv6                  347594  65 
pi@raspberrypi:~ $ lsusb
Bus 001 Device 004: ID 0c72:0012 PEAK System 
Bus 001 Device 003: ID 0424:ec00 Standard Microsystems Corp. SMSC9512/9514 Fast Ethernet Adapter
Bus 001 Device 002: ID 0424:9514 Standard Microsystems Corp. 
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
pi@raspberrypi:~ $ 
pi@raspberrypi:~ $ sudo ip link set can0 type can bitrate 500000
pi@raspberrypi:~ $ ifconfig can0
can0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
      NOARP  MTU:16  Metric:1
      RX packets:0 errors:0 dropped:0 overruns:0 frame:0
      TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
      collisions:0 txqueuelen:10 
      RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

sudo apt install -y can-utils

pi@raspberrypi:~/can-utils$ ./candump -cae -t z can0,0:0,#FFFFFFFF
 (000.000000)  can0  xxxxxxxx   [8]  01 20 34 F3 34 F3 34 F3   '. 4.4.4.'
 (000.000464)  can0  xxxxxxxx   [6]  01 43 34 F3 34 F3         '.C4.4.'
 (000.001028)  can0  xxxxxxxx   [8]  08 20 34 F3 34 F3 00 00   '. 4.4...'
 (000.001603)  can0  xxxxxxxx   [8]  08 00 00 00 00 00 00 00   '........'
...

sudo apt-get install -y wireshark tshark
#
#>Configuring wireshark-common
# --> YES! 
#  <Yes> wiresharkグループに所属する、nonsuperuserがパケットキャップできる.
#  <No> rootだけ.
# 
sudo usermod -aG wireshark pi
# logout and login

pi@raspberrypi:~ $ tshark -D  # List interfaces
1. eth0
2. can0
3. any
4. lo (Loopback)
5. nflog
6. nfqueue
7. usbmon1
pi@raspberrypi:~ $ tshark -i 2 # Interface Index
Capturing on 'can0'
  1   0.000000              ->              CAN 16 STD: 0x00000123   02 7e d0 37 4e bd d0 17
  2   0.009879              ->              CAN 16 STD: 0x00000223   02 7e d0 37 4e bd d0 17
  3   0.019870              ->              CAN 16 STD: 0x00000443   02 7e d0 37 4e bd d0 17
  4   0.029968              ->              CAN 16 STD: 0x00000342   02 7e d0 37 4e bd d0 17
  5   0.039877              ->              CAN 16 STD: 0x00000123   02 7e d0 37 4e bd d0 17