Hello Caio Carriel:
I would recommend you to download the KSDK platform: Software Development Kit for Kinetis MCUs|Freescale
Once installed you will find CAN examples. The examples are for the TWR-K60D100M, but you can create a new K20 project as indicated in the next document. Just select the K20 device in the New Project Wizard:
Then copy the source files and code from the CAN example.
Besides of KSDK, then depending on your software platform (CodeWarrior, KDS, IAR, with/without Processor Expert) there are some other examples available:
- In our webpage: K20_100 |Kinetis 20 100 MHz MCUs|Freescale (Kinetis 100 MHz Rev 2 Example projects)
- Other posts by searching in this community:
Most examples are for K60_100 MHz, but the module is the same in your K20_100 MHz device, so you can copy the code in a new project, or for the Processor Expert projects you can copy the components to a new K20 project and replicate the source files, like next tutorials by colleague Erich Styger: