def METHOD_NAME(packer, CP, CAN, enabled, lat_active, apply_steer):
  ret = []
  values = {
    "LKA_MODE": 2,
    "LKA_ICON": 2 if enabled else 1,
    "TORQUE_REQUEST": apply_steer,
    "LKA_ASSIST": 0,
    "STEER_REQ": 1 if lat_active else 0,
    "STEER_MODE": 0,
    "SET_ME_1": 0,
    "NEW_SIGNAL_1": 0,
    "NEW_SIGNAL_2": 0,
  }
  if CP.flags & HyundaiFlags.CANFD_HDA2:
    if CP.openpilotLongitudinalControl:
      ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
    ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
  else:
    ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
  return ret