Is ther a possibility to programm the MPC5602P over flexcan?
there are two options - flash resident bootloader or serial boot using BAM module.
In case of flash resident bootloader, you can take a look at my draft of application note:
It uses UART but I hope this is a nice start point also for CAN version.
Then take a look at BAM chapter in reference manual for MPC5602P and also check this application note:
Retrieving data ...