Modify & transmit params via CAN

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