A lot of CAN analyzing software is available. Most of them belongs to special hardware. But some are working with generic CAN drivers like COTI or can4linux. Simple but often useful analyzing tools are commonly available for free when buying the hardware.
There are two different kinds of hardware to consider:
(as opposite to protocol analyzers)
Matlab and Mathworks Simulink may be used with these products (a CAN Toolset for Matlab may be purchased separately).