[zbrozek]

I read the Jaguar source code last night, mostly just for my own amusement. The CAN baud rate is not dynamic. There's basically no support for handling accumulated errors.

That said, I'm nearly certain you have a wiring problem. An oscilloscope and some diligent cable wiggling while watching the bus will almost certainly reveal your problem. The hard part is when you have multiple problems - de-convolving many problems is really hard.