CAN communication with the SM470R1B1M-HT microcontroller
As far as tools go, no you are not likely to find anything. Luckily the CAN protocol is relatively simple and you can gather a lot of information through your good friends at google. 

ex: First 3 links when googling CAN Protocol:

http://www.ni.com/white-paper/2732/en/

http://en.wikipedia.org/wiki/CAN_bus

http://www.ti.com/lit/an/sloa101a/sloa101a.pdf‎

One thing that you will need if you are trying to implement CAN comms is what is called a CAN transceiver. Check out the MCP2551 IC, I have had luck with it in the past (provided that your MCU has 5V IO levels).

3.3V CAN Transciever

http://www.ti.com/lit/ds/symlink/sn65hvd233-ht.pdf‎

MCP 2551

http://www.microchip.com/MCP2551‎

In order to communicate with the PC you will need some kind of interface that will connect to your PC anc interpret the CAN messages. There are multiple ways that this can be done. There are USB transcievers as you see here: http://www.amazon.com/USB-CAN-Converter-Adapter-Support-64-bit/dp/B009SG6OL6

There are also CAN cards that will attach to your PCI-X slots on your motherboard.  

In regards to existing examples, look for examples that are not specific to your platform. While the implementation may be slightly different, the concept and protocols are the same. 

Also...it looks like most of the information that you would need is provided in the links that you posted. Take your time, read through the datasheets and try to write some simple CAN communications that you can debug with a scope or better yet, logic probe!

If there is anything else that needs to be added to make his as an accepted answer, please let me know!