      self.last_fault_frame = -200
      self.steer_rate_limited = False
  
      self.fake_ecus = set()
      if enable_camera: self.fake_ecus.add(ECU.CAM)
      if enable_dsu: self.fake_ecus.add(ECU.DSU)
      if enable_apg: self.fake_ecus.add(ECU.APGS)
  
      self.packer = CANPacker(dbc_name)
  
    def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
               left_line, right_line, lead, left_lane_depart, right_lane_depart):
 
</s> remove       self.fake_ecus.add(ECU.CAM)
 </s> add       self.fake_ecus.add(Ecu.fwdCamera) </s> remove     if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
 </s> add     if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus: </s> remove     if frame % 100 == 0 and ECU.DSU in self.fake_ecus:
 </s> add     if frame % 100 == 0 and Ecu.dsu in self.fake_ecus: </s> remove       ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
 </s> add       ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay </s> remove     self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
 </s> add     self.gear_shifter = parse_gear_shifter(self.shifter_values.get(can_gear, None))
    if enable_camera: self.fake_ecus.add(Ecu.fwdCamera)
    if enable_dsu: self.fake_ecus.add(Ecu.dsu)
    if enable_apg: self.fake_ecus.add(Ecu.apgs)
      self.last_fault_frame = -200
      self.steer_rate_limited = False
  
      self.fake_ecus = set()
    if enable_camera: self.fake_ecus.add(Ecu.fwdCamera)
    if enable_dsu: self.fake_ecus.add(Ecu.dsu)
    if enable_apg: self.fake_ecus.add(Ecu.apgs)
    if enable_camera: self.fake_ecus.add(Ecu.fwdCamera)
    if enable_dsu: self.fake_ecus.add(Ecu.dsu)
    if enable_apg: self.fake_ecus.add(Ecu.apgs)
    if enable_camera: self.fake_ecus.add(Ecu.fwdCamera)
    if enable_dsu: self.fake_ecus.add(Ecu.dsu)
    if enable_apg: self.fake_ecus.add(Ecu.apgs)
  
      self.packer = CANPacker(dbc_name)
  
    def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
               left_line, right_line, lead, left_lane_depart, right_lane_depart):
keep keep keep keep replace replace replace keep keep keep keep keep
 Clean up ECU redundancy in selfdrive/car/* (#963)

* clean up ecu redundancy in selfdrive/car

* clean up gear parsing 
selfdrive/car/toyota/carcontroller.py