      elif ECU.APGS in self.fake_ecus:
        can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
  
      # we can spam can to cancel the system even if we are using lat only control
      if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
        lead = lead or CS.v_ego < 12.    # at low speed we always assume the lead is present do ACC can be engaged
  
        # Lexus IS uses a different cancellation message
        if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
          can_sends.append(create_acc_cancel_command(self.packer))
 
</s> remove                                                  ECU.APGS in self.fake_ecus))
    elif ECU.APGS in self.fake_ecus:
 </s> add                                                  Ecu.apgs in self.fake_ecus))
    elif Ecu.apgs in self.fake_ecus: </s> remove     if ECU.CAM in self.fake_ecus:
 </s> add     if Ecu.fwdCamera in self.fake_ecus: </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[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or \
 </s> add     ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or \
    if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (pcm_cancel_cmd and Ecu.fwdCamera in self.fake_ecus):
      elif ECU.APGS in self.fake_ecus:
        can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
  
      # we can spam can to cancel the system even if we are using lat only control
    if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (pcm_cancel_cmd and Ecu.fwdCamera in self.fake_ecus):
        lead = lead or CS.v_ego < 12.    # at low speed we always assume the lead is present do ACC can be engaged
  
        # Lexus IS uses a different cancellation message
        if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
          can_sends.append(create_acc_cancel_command(self.packer))
keep keep keep keep 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