Hello Robert:
If you installed CodeWarrior v10.6, there is a Flash example for your board using processor expert at the next path:
C:\Freescale\CW MCU v10.6\MCU\CodeWarrior_Examples\Processor_Expert\Kinetis\TWR-K20D72M\FLASH
In case you do not like or simply don't want to use PEx, you can always download the C90TFS Driver from the next link:
http://cache.freescale.com/files/32bit/software/C90TFS_FLASH_DRIVER.exe
The package includes examples and instructions on how to use the flash APIs.
Regards!,
Jorge Gonzalez
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