these are instructions for hardware version 1!
install dependencies
apt-get install raspberrypi-kernel-headers
build module
make -C /lib/modules/$(uname -r)/build M=$PWD
install module
sudo make -C /lib/modules/$(uname -r)/build M=$PWD modules_install
sudo depmod -a
compile and install device tree overlay
sudo dtc -@ -I dts -O dtb -o /boot/overlays/mcp2517fd-can0.dtbo mcp2517fd-can0.dts
sudo dtc -@ -I dts -O dtb -o /boot/overlays/mcp2517fd-can1.dtbo mcp2517fd-can1.dts
activate device tree overlay
sudo sh -c 'echo "dtparam=spi=on" >> /boot/config.txt'
sudo sh -c 'echo "dtoverlay=mcp2517fd-can0,oscillator=40000000,interrupt=25" >> /boot/config.txt'
sudo sh -c 'echo "dtoverlay=mcp2517fd-can1,oscillator=40000000,interrupt=5" >> /boot/config.txt'
sudo sh -c 'echo "dtoverlay=spi-bcm2835-overlay" >> /boot/config.txt'