SocketCAN documentation is avaible within Linux kernel documentation online on
https://www.kernel.org/doc/Documentation/networking/can.txt
or in linux-doc packages.

Upstream site is hosted on gitorious:
https://gitorious.org/linux-can

Mailing list:
http://vger.kernel.org/vger-lists.html#linux-can

There are some (outdated) documentation for can-tools on old project site:
http://svn.berlios.de/wsvn/socketcan/tags/final/doc/

Most actual documentation could be obtained from utilities themselves with
--help option.