def METHOD_NAME(packer, frame, apply_steer, steer_req):
  values = {
    "COUNTER": frame % 0x08,
    "LKAS_Command": apply_steer,
    "LKAS_Active": steer_req,
  }
  values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
  return packer.make_can_msg("ES_LKAS", CanBus.main, values)