Here is a link to the CD that comes with the Jaguar (BDC24) reference design kit:
http://www.ti.com/tool/rdk-bdc24-cd.
You'll have to create a free My TI account to download it (annoying... but it has to do with software export compliance). Once you do, you'll find a a file on the CD called "SW-RDK-BDC24-UG-xxxx.pdf" (the xxxx is the release version).
That document will describe the CAN API for Jaguar. You will also find a self extracting zip file "SW-RDK-BDC24-xxxx.exe" that will unzip the source code for Jaguar on your system. It might be helpful to see the Jaguar source code to see how things work in the Jaguar. It also might help to look at the BDC-COMM source too. It is communicating over serial to the Black Jaguar, but the API calls are the same.
Hope this helps!
-David