Hi Flavio,
When working on the patches for FlexCAN support in mainline Linux, I discovered that the Memory error detection puts the device back into freeze state. You can find my solution in the patch I sent to the mailing lists:
[PATCH v2 4/4] can: flexcan: add vf610 support for FlexCAN
(the work around is commented with "On Vybrid, disable memory error detection interrupts...")
There is also a Errata in this area (e5295). By disabling the Memory error detection one can easily work around those issues.
--
Stefan