def create_steer_command(packer, angle_cmd, enabled, action, angleReq):
  """Creates a CAN message for the Ford Steer Command."""
  
  values = {
    "ApaSys_D_Stat": action,
    "EPASExtAngleStatReq": angleReq,
    "ExtSteeringAngleReq2": angle_cmd,
  }
  return packer.make_can_msg("ParkAid_Data", 2, values)