Hi marcin99,
K22P64M120SF5V2RM is the reference manual for MK22FX512AVLH12.
You will find the Chapter 46 CAN (FlexCAN) in that document.

I didn't find bare metal code examples for using the CAN peripheral under MX22FX.
Maybe you can refer the flexcan examples in SDK_2.3.0_MK22FX512Axxx12.

Best Regards,
Robin
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