Hi,
There is a problem in header files.
Header file msCANReg.h defines unions (such as CANCTL0) that are already defined in the original S12G128 header file mc9s12g128.h and used in the mc9s12g128.c file.
I have commented all the declarations in the mc9s12g128.h, mc9s12g128.c files and the CW5.1 doesn’t complain anymore. But I haven't tested the driver after the modification.
Regards,
Daniel