Hi Pawel
Do you have the TWR-MCF51CN?
If this is the case yes, you can program the MC9S08MP16 Controller Daughter Board using the TWR-MCF51CN, you only need to do
1) open the MCU_IDD (J6) on the tower.
2) plug the wire on the J8 also on the tower
3) plug the other side of the wire on the J3 of the daughter MP
4) plug the USB cable on the J14 of the tower
5) Program it using code warrior.
I hope this help you.
have a good weekend
regards
Vicente Gomez