typedef struct
{
  unsigned int ID;                 // Message Identifier 
  unsigned char LEN;                 // Data length (0-8) 
  unsigned char dummy32bit;          // Fill it to 32-bit width
  unsigned char BUF[8];              // Data buffer 
} CAN_MSG;
typedef struct                     //add baudrate,heartbeat time parameters.etc here.
{
  unsigned char NodeID;
} CANOpenConfig;