I found the exact solution to my question in Vim help, and I am posting it here if someone needs it in the future. This is exactly what I want: a way to read the code and highlight it accordingly.
syntax.txt
Section 15: Highlighting Tags
[...] Only highlighting typedefs, unions and structs can be done too. For this you must use Exuberant ctags (found at http://ctags.sf.net). Put these lines in your Makefile:
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