text: def create_steer_command(packer, steer, steer_req, raw_cnt):
    """Creates a CAN message for the Toyota Steer Command."""
  
    values = {
      "STEER_REQUEST": steer_req,
      "STEER_TORQUE_CMD": steer,
      "COUNTER": raw_cnt,
      "SET_ME_1": 1,
    }
    return packer.make_can_msg("STEERING_LKA", 0, values)
  
  
  def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
    """Creates a CAN message for the Toyota LTA Steer Command."""
  
    values = {
      "COUNTER": raw_cnt + 128,
      "SETME_X1": 1,
      "SETME_X3": 3,
      "PERCENTAGE": 100,
      "SETME_X64": 0x64,
      "ANGLE": 0,  # Rate limit? Lower values seeem to work better, but needs more testing
      "STEER_ANGLE_CMD": steer,
      "STEER_REQUEST": steer_req,
      "STEER_REQUEST_2": steer_req,
      "BIT": 0,
    }
    return packer.make_can_msg("STEERING_LTA", 0, values)
  
  
  def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, distance):
    # TODO: find the exact canceling bit that does not create a chime
    values = {
      "ACCEL_CMD": accel,
      "ACC_TYPE": acc_type,
      "DISTANCE": distance,
      "MINI_CAR": lead,
      "PERMIT_BRAKING": 1,
      "RELEASE_STANDSTILL": not standstill_req,
      "CANCEL_REQ": pcm_cancel,
      "ALLOW_LONG_PRESS": 1,
    }
    return packer.make_can_msg("ACC_CONTROL", 0, values)
  
  
  def create_acc_cancel_command(packer):
    values = {
      "GAS_RELEASED": 0,
      "CRUISE_ACTIVE": 0,
      "STANDSTILL_ON": 0,
      "ACCEL_NET": 0,
      "CRUISE_STATE": 0,
      "CANCEL_REQ": 1,
    }
    return packer.make_can_msg("PCM_CRUISE", 0, values)
  
  
  def create_fcw_command(packer, fcw):
    values = {
      "PCS_INDICATOR": 1,
      "FCW": fcw,
      "SET_ME_X20": 0x20,
      "SET_ME_X10": 0x10,
      "PCS_OFF": 1,
      "PCS_SENSITIVITY": 0,
    }
    return packer.make_can_msg("ACC_HUD", 0, values)
  
  
  def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart):
    values = {
      "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
      "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
      "BARRIERS" : 3 if left_lane_depart else 2 if right_lane_depart else 0,
      "SET_ME_X0C": 0x0c,
      "SET_ME_X2C": 0x2c,
      "SET_ME_X38": 0x38,
      "SET_ME_X02": 0x02,
      "SET_ME_X01": 1,
      "SET_ME_X01_2": 1,
      "REPEATED_BEEPS": 0,
      "TWO_BEEPS": chime,
      "LDA_ALERT": steer,
    }
    return packer.make_can_msg("LKAS_HUD", 0, values)
  