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Re: CAN bus async receive
The ideal solution would be to store most of the config in NV memory so they don't have to be reset all the time. PID gains and control mode are the only exception, ideally you could use a single 8-byte packet for the setpoint + gains and code the control mode into the message ID (there are only a few control modes, this would be OK).
But, since the Jaguar protocol isn't exactly designed for isochronous communication and packet efficiency, sending a bunch of individual config packets is as close you can get without modifying the CAN protocol on the Jaguar side.
OP did say he was using a 2CAN, which does support higher data rates than the serial bridge.
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