      # disengage msg causes a bad fault sound so play a good sound instead
      if pcm_cancel_cmd:
        send_ui = True
  
      if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
        can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
  
      if frame % 100 == 0 and ECU.DSU in self.fake_ecus:
        can_sends.append(create_fcw_command(self.packer, fcw))
  
 
</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     if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
 </s> add     if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (pcm_cancel_cmd and Ecu.fwdCamera in self.fake_ecus): </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 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)
 </s> add     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 (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:
      # disengage msg causes a bad fault sound so play a good sound instead
      if pcm_cancel_cmd:
        send_ui = True
  
    if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:
        can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
  
      if frame % 100 == 0 and ECU.DSU in self.fake_ecus:
        can_sends.append(create_fcw_command(self.packer, fcw))
  
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