          can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
  
      if self.angle_control:
        can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
                                                   ECU.APGS 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.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
 
</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     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 has_relay
 </s> add     ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
                                                 Ecu.apgs in self.fake_ecus))
    elif Ecu.apgs in self.fake_ecus:
          can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
  
      if self.angle_control:
        can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
                                                 Ecu.apgs in self.fake_ecus))
    elif Ecu.apgs in self.fake_ecus:
                                                 Ecu.apgs 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.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
keep keep keep keep 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