Modify & transmit params via CAN

Core/Inc/params.h

@@ -5,8 +5,14 @@
 extern "C" {
 #endif
 
+#include <stddef.h>
 #include <stdint.h>
 
+#include "util.h"
+
+CountedEnum(ParamType, size_t, PF_BBAL, PF_TC1, PF_TC2, PF_TORQUEMAP, PF_TEST1,
+            PF_TEST2, PF_TEST3, PF_TEST4);
+
 typedef struct {
   float bbal;
   unsigned tc1;
@@ -17,6 +23,11 @@ typedef struct {
 
 extern Params params;
 
+void params_init();
+void params_inc(ParamType param);
+void params_dec(ParamType param);
+void params_broadcast(ParamType param);
+
 #ifdef __cplusplus
 }
 #endif

Core/Inc/util.h

@@ -0,0 +1,11 @@
+#ifndef INC_UTIL_H
+#define INC_UTIL_H
+
+// This is wacky preprocessor magic that allows us to count the number of
+// members of an enum. Unfortunately, it doesn't work with enum classes, so we
+// have to use C-style enums.
+#define CountedEnum(NAME, TYPE, ...)                                           \
+  typedef enum { __VA_ARGS__ } NAME;                                           \
+  static const size_t NAME##_COUNT = sizeof((int[]){__VA_ARGS__}) / sizeof(int);
+
+#endif // INC_UTIL_H

Core/Inc/vehicle.h

@@ -1,6 +1,7 @@
 #ifndef __INC_VEHICLE_H
 #define __INC_VEHICLE_H
 
+#include "params.h"
 #include "stw_defines.h"
 #include "tx_port.h"
 
@@ -106,6 +107,8 @@ void vehicle_thread_entry(ULONG hfdcan_addr);
 
 void vehicle_select_mission(Mission mission);
 
+void vehicle_broadcast_param(ParamType param, int32_t value);
+
 #ifdef __cplusplus
 }
 #endif