Scheduling the transmision of CAN frames in an RTOS
Use a single timer.
Setup the timer for 10&nbsp;ms.
Define elapsed time as static and initialize to 0
Define albtable selector as static and initialize to 0
At each interrupt:


Increment elapsed time by 10
Check  albtable[albtable selector] to see if time field matches elapsed time
If times match,
then


Send frame using albtable[albtable selector]
Increment albtable selector

Endif
If albtable selector >= number of entries in albtable[]:


Turn off timer

Return from interrupt