ENGL

ISH

Eff icient Solutions for

Networking in Commercial Vehicles

SOLUTIONS FOR

Commercial Vehicles

2 Efficient Networking Solutions in Commercial Vehicles

Development tasks in commercial vehicle networking are growing in complexity. Specialized tools, software components and individual services can help you to accelerate development and increase efficiency.

Efficient Networking Solutions in Commercial Vehicles

Electronic components are extensively networked in commercial

vehicles. Open protocols are predestined to fulfill the special re-

quirements of commercial vehicle networking. Back in the times

of RS232/485-related bus-systems, OEMs and suppliers partici-

pating in the Society of Automotive Engineers (SAE) in the USA

joined together to create standards for the use of bus systems.

One example is the SAE J1708/J1587 standard, which still plays

a role in the diagnostics area today. The most widely used pro-

tocol today is SAE J1939, which is an advanced development of

the J1587 standard based on CAN. Other noteworthy examples

are CANopen and ISOBUS for implementing networking of super-

structures for special vehicles and mobile machines, ISO11992

for interfacing trailers as well as the growing use of LIN – famil-

iar from the automotive area. Protocols such as KWP2000 on CAN

and UDS (Unified Diagnostic Services) are from the diagnostics

area. Meanwhile, there is even discussion of implementing Eth-

ernet / WLAN based interfaces, e.g. for diagnostics and software

downloads.

In developing your networks with the mentioned bus sys-

tems and protocols, Vector can support you with a profes-

sional and open platform of tools, software components and

services. Benefit from Vector’s 20-plus years of experience in

the field of in-vehicle networking.

Ideal world? Return on investment?

Essentially, electronic networking opens up many possibilities;

building upon this are open protocols that offer the potential for

greater efficiencies: there is a uniform language on the entire

bus, ECUs from different suppliers communicate with another

without having to write extensive new specifications in each

case – total effort is significantly reduced and numerous sources

of error are excluded from the outset. This should not obscure

the fact that these benefits also have their price. While overall

system costs are reduced, complexity is shifted to development.

Seeds must be sowed here before it is possible to harvest the

rewards in production.

Certain precautions are necessary to assure overall success.

In particular, a number of key questions must be resolved in

advance:

> Do OEM and suppliers have the necessary know-how, or do

developers need training courses and consultations?

> Can the standard be clearly applied, or will the total system

require a special variant?

> Does an implementation already exist? Is a custom protocol

implementation needed, or do mature software components

already exist? Does this also apply to microcontrollers used

at the company? What would be the consequences of chang-

ing over to a different controller for the future?

> Do available development tools support the preferred proto-

col? Do they contain functions for improving efficiency? Do

the tools support all development phases?

> What consequences does use of the protocol have for testing

strategy?

> Which diagnostic approach is best? Protocol-specific? UDS?

How well does the protocol fit in with an external diagnostic

approach? How can the after-sales infrastructure be prepared?

Answering these questions in early project phases and planning

investments will safeguard your schedule and in the end will save

on resources and costs – the sustained success of SAE J1939

proves out the soundness of this approach.

Reach your goal quickly and efficiently with individualized service

The experts at Vector can be helpful in evaluating open proto-

cols and bus systems for your applications. This support may

include:

> Project coaching

> Feasibility studies

> Testing

> Program creation

> Creating requirements specification

Efficient Networking Solutions in Commercial Vehicles 3

>> CONTENT S

Rapid Prototyping & Simulation 6

Analysis 10

Testing 14

Diagnostics 18

Efficient Networking Solutions in Commercial Vehicles

4 Efficient Networking Solutions in Commercial Vehicles

Effects on the developer – Burden or blessing?

When open protocols are first introduced, they are associated

with extra initial effort, and they confront developers with new

terminologies, technologies and development tools. However, it

is precisely these aspects that occur in any new project. In the

end analysis, the advantages far outweigh the disadvantages.

For example, if you need a Transport Protocol to transmit larger

quantities of data over CAN in an application, you do not need

to develop it yourself at all. Why should it be necessary to rein-

vent the wheel a second time in commercial vehicle electronics?

Why make the performance of tests tedious? SAE J1939 already

provides field-tested methods such as BAM or CMDT, so you only

need to be concerned about integration aspects.

Are existing tools sufficient? In principle, yes; after all, a CAN

trace in a CANalyzer tool will also depict CAN messages prop-

erly under J1939 too. However, the development process can

be made significantly more efficient with a tool that specializes

in the protocol, such as CANalyzer.J1939. It displays informa-

tion in prepared form, is capable of detecting potential errors by

relevant protocol checks, makes numerous detailed work tasks

unnecessary and thereby delivers results quicker.

As well as in other tasks such as rapid prototyping, simulation,

testing and much more, you benefit from a protocol-optimized

tool such as CANoe.J1939. This tool automatically considers all

of the layers defined in the standard. For example, it is possible

to simulate, analyze and check specifications for communication

behavior and their application at defined interfaces. This makes

the development process noticeably more efficient.

Fitting solutions for all development tasks

The lineup of solutions from Vector seamlessly supports you in all

phases of the development process. You benefit from our many

years of experience and close cooperation with automotive and

commercial vehicle manufacturers as well as producers in many

other industries:

> Your ECUs and your network are efficiently developed and extensively tested

> Specialized solutions significantly reduce your develop-ment time and cost

You will find detailed information on Vector products and ser-

vices on the pages that follow.

ECU Software 20

Networking Vehicle & Superstructure 22

Support for Commercial Cehicle Development 23

Efficient Networking Solutions in Commercial Vehicles 5

There are many ways to develop communication between ECUs, document results and finally test them – make sure you choose the best one.

Optimized Network Development, Efficient Simulation, Easy Prototyping

How to optimize your network development process

Often, different tools are used in network design – with differ-

ent, incompatible data formats. This results in multiple speci-

fications and inadequate tests. Not only is this approach time

consuming when exchanging data between OEM and its suppliers

or even between different departments; the primary concern is

that it is also prone to errors. You can make your development

of distributed communication systems simpler and more robust

with a versatile tool like CANoe.J1939. The software tool can

be used throughout all development phases, and it accesses a

single central database (DBC) to describe the communication.

This database is the foundation for all development steps, such

as simulating and analyzing the bus communication, configur-

ing the ECU software and conducting detailed ECU tests. In the

development process, CANdb++ Admin.J1939 is an important

tool for developers of communication networks and component

suppliers, since it offers functionality specially adapted to J1939

and integration of the database in the Vector tool chain for

J1939.

6 Rapid Prototyping & Simulation

Simulation and remaining bus simulation

At the beginning of a development, the network models are

created based on information from the database. The commu-

nication behavior of these models can be fully simulated and

analyzed. Over the course of further development processes, the

individual node models within this simulation are replaced by real

ECUs. This remaining bus and environment simulation gives the

supplier a development and test environment for both the overall

system and individual ECUs and modules. When standards such

as SAE J1939 are used, you can use CANoe.J1939 and the J1939

CAPL code generator to generate large portions of the models,

even automatically.

The development process with CANoe from network simulation to the real overall system:In developing distributed communi-cation systems with CANoe, network models are created from database information. The communication be-havior of these models can be fully simulated and analyzed.

Over the course of further develop-ment processes, you can replace indi-vidual models in the simulation with real ECUs. This remaining bus and environment simulation gives the sup-plier a development and test environ-ment for both the overall system and individual ECUs and modules.

If all devices to be developed exist physically, they replace the associated simulation models. The simulation model and tests can already be applied to test device functionality during de-velopment. Potential errors are local-ized early so that they can be corrected cost-effectively.

Rapid Prototyping & Simulation 7

User definable panels let you quickly view and modify any signal, system or environment variable values. This figure shows visualization of exhaust gas temperatures using different colors.

Optimized Network Development, Efficient Simulation, Easy Prototyping

Models and the outside world

CANoe offers the CAPL programming language that is used to

describe the models for initial prototype tests of communication

and functions. CAPL is easy to learn, C-like and provides exten-

sions for event handling and bus access. It is also possible to link

modules written in other languages. Thanks to the tool’s open

architecture, this also applies to models created in MATLAB /

Simulink.

A key property of a simulation is the ability to adequately con-

sider the environment of the simulated system. This is done using

environment variables, which are either simulated parameters

themselves, data from physical IOs, or variables that you as a

user control from what are referred to as panels.

CANoe supports the following bus systems and protocols:

> Bus systems: CAN, LIN, FlexRay, MOST, J1708, Ethernet

> Protocols: J1939, NMEA2000, ISO 11783, J1587, CANopen,

UDS, KWP2000, TCP / IP, ISO 11992 and others.

In the Simulation Setup, the overall system is shown graphically with buses and all bus nodes.

8 Rapid Prototyping & Simulation

Convenient visualization of signals with the help of the Trace, Graphic, Data Windows and panels.

Rapid Prototyping & Simulation 9

What really happens on your bus

In CANalyzer.J1939 you have a universal tool for networks and

distributed systems that simultaneously offer a convenient

entry into CAN technology. It is equipped with an intuitive user

interface and optimally covers all use cases requiring observa-

tion, analysis and supplementation of the data traffic.

An analysis tool for all tasks and for all networks

CANalyzer is designed to be a multibus tool that gives users a

system-wide perspective of all communication networks in the

commercial vehicle. It is even possible to conduct complex

measurements on an individual ECU by targeted stimulation

using graphic controls or the CAPL programming language.

Extensive trigger and filter options enable customized recording

of the communication (logging).

Are you looking for errors in your communication system? Do you need qualified findings on bus load? Do you want to test for proper functionality and transmis-sion of signals?

Comprehensive ECU and Network Analysis

10 Analysis

Analysis using CANalyzer.J1939, Interactive Generator block (IG) for sending parameter groups and J1939 Scanner for clearly organized representation of network communication.

Functional versatility leaves no wishes unfulfilled

Basic functions offer an abundance of potential uses. They

include:

> Tracing the bus data traffic

> Graphic and textual display of signal values

> Interactive sending of predefined messages

> Sending out recorded messages

> Statistics on messages

> Statistics on bus utilization and bus faults

> Logging messages for replay or offline evaluation

> Generating bus faults

CANalyzer supports the following bus systems and protocols:

> Bus systems: CAN, LIN, FlexRay, MOST, J1708, Ethernet

> Protocols: J1939, NMEA2000, J1587, CANopen, UDS,

KWP2000, TCP/IP, ISO 11992

No need to struggle with raw values

As an alternative to just presenting raw values with little mean-

ing, CANalyzer can display values symbolically or immediately

compute physical values based on information from its database.

Moreover, the database represents the central link between the

various Vector tools. Besides storing standardized parameter

groups and parameters in the database, proprietary communi-

cation may of course also be stored there as well.

The multi-talented tool for development and testing: CANoe

If you want to benefit from all of the features described above,

but also want to extend your tasks to areas such as simulation,

testing and diagnostics, then CANoe is your tool of choice. The

CANoe development and test system contains all of CANalyzer’s

analysis functions and combines them with many other powerful

functions.

Analysis 11

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The Trace Window is used to list all bus activities such as messages, error and remote frames. It is possible to have individual signal values displayed for each message – even during the measurement.

Comprehensive ECU and Network Analysis

12 Analysis

�

Tracking the bus:

�Configurable, column-based display with domain knowledge

�Resolution into signals with display of physical values and raw values (choose either decimal or hexadecimal)

�Protocol interpretation simplifies readability

�Context-sensitive color-coding for quick recog-nition (e.g. transport protocols – connection management: dark green, data PG: light green, diagnostic message: blue, diagnostic message with active DTC: red)

�Representation of signals, even for messages with DLC > 8

�Display filter for temporary / reversible filters of the Trace Window content

�Window synchronization with other blocks, e.g. the Graphic Window

�Quick search is a convenient way to find similar events

�Difference View compares signal values of selected message and a reference message

Analysis 13

A universal and multifaceted test environment

Are any of the following situations familiar to you? Requirements

have changed during development, delivery has already been

delayed numerous times, the project is nearing its deadline and

in-depth tests are sacrificed under time pressure. This is where

you can exploit the strengths of CANoe.J1939 as an ideal test

environment, for both overall system testing and efficient ECU,

module and integration tests as well as compliance tests.

Vision of the executable specification

Regardless of whether you are a developer responsible for

running tests in parallel to functional development or whether

you work in a testing department – you can plan testability right

from the start. Requirements often change during development.

This problem is largely alleviated by an executable test specifi-

cation. The Test Feature Set in CANoe lets you specify tests and

check their effectiveness using a simulated prototype. This also

provides a test environment for module development directly.

Changes to requirements can be immediately mapped to the test

specification. Instead of re-implementing the tests, they are

simply re-generated at the press of a button.

Specify or program?

You have the choice of describing the tests using patterns in XML

or programming them in the problem-oriented CAPL language –

or utilizing a mix of both. This approach enables both manual

and largely automated test runs.

In this process, CANoe.J1939 focuses especially on tests de-

scribed in the SAE document J1939-82 (Compliance).

Organize your test sequences – for systematic and reproducible ECU tests. Efficient test systems accelerate the development of your network.

Maximum Test Quality and Test Depth in All Phases of Development

14 Testing

Conveniently create tests with the J1939 XML Test Module Manager of CANoe.J1939.

In test observation, messages concerning the running test module are continually displayed. This gives you a picture of current test execution. The displayed information is a subset of information that is written to the test report.

Flexible test flow control with CANoe’s Test Feature Set.

Testing 15

Why write reports yourself?

CANoe automatically writes detailed test reports to an XML

file that offers flexibility in further processing. You can use

stylesheets to adapt the output format to your needs, so that

you have individually customized reports. The test report in

HTML format gives you a quick overview of the test reports.

The test report in HTML format gives the user a quick over-view of test results. The layout for results of compliance tests, which is based on the test report from SAE J1939-82, simplifies sharing of test results between supplier and OEM.

Automated testing of implementation and integration of the diagnostic protocol in ECUs

DiVa extends CANoe to make it a tool for automatically gener-

ating and executing reproducible test cases to implement and

integrate the diagnostic protocol. At the supplier, CANoe.DiVa

supports the ECU’s diagnostic implementation. The commercial

vehicle manufacturer can use CANoe.DiVa for automated accep-

tance tests when an ECU sample is delivered. Integration tests on

the development platform or in the vehicle are also supported.

Automated validation can reduce testing effort during develop-

ment by a factor of 4 to 20, depending on the project phase.

Maximum Test Quality and Test Depth in All Phases of Development

16 Testing

Flexible I / O interface modules for ECU testing

In addition to connecting the communication networks, I / O

interfaces also need to be connected to the test system to fully

test ECUs. The Vector VT System handles this job. It makes it

considerably easier to set up test benches by integrating – in one

module – all of the components needed to electrically connect

an I / O channel. Examples of I / O channels: an ECU output for

driving a headlight or an ECU input for connecting a brightness

sensor. CANoe is the related test automation software here.

Simple setup, low costs and high reliability

In the VT System, all of the components needed to test an ECU

input or output are integrated in one module. This significantly

reduces the complexity of the test bench setup and wiring, and

it has a positive effect on costs and reliability. The system is

set up modularly, where one module typically services four ECU

inputs or outputs. The required number of modules is mounted

in a rack, and the setup can be adapted to changing conditions

at any time.

The VT System, together with CANoe, provides a high-perfor-mance, flexible test solution for testing ECU functions and important error cases.

Modular test environment for efficient ECU tests: In testing, the VT System is placed between the ECU and its external sensors/actuators.

Texting 17

Optimal Development of In-Vehicle Diagnostics

How good are your system’s diagnostic capabilities?

Diagnostics is a topic that relates to both individual ECUs and the

entire system. Many advantages are realized by implementing a

well thought-out diagnostic concept. For one, diagnostics is a

valuable tool in development. For another, experience gained

from diagnostics during development makes error correction in

the service garage more focused and cost-effective. So, consid-

ering diagnostics early in development is very beneficial.

CANoe.J1939 access to diagnostic memory for reading and changing data in ECU memory.

Extended diagnostic functionality accelerates development

Diagnostic functionality is beneficial during development: Read

and write access to a function’s specific parameters is especially

helpful in optimizing an algorithm. Supplemental measurement

functions offer additional analysis options. Intensive use of the

diagnostic concept during development makes it possible to

continually refine it. Experience and knowledge gained in this

process serve as an important source of information in coming

up with corrective measures for errors. Difficult to diagnose

error states are revealed early on, and so the system can be

optimized in a timely manner.

CANoe supports you in implementing an ECU’s diagnostic functionality. It also provides access to the diagnostic interface for the purpose of testing ECUs.

18 Diagnostics

The key to focused service interventions

In the service garage, the most important tool for handling

networked systems is the diagnostic tester. Nonetheless, its

capabilities depend on how much care was invested in prepar-

ing the necessary information in the development department.

Well-tuned analysis methods bundled with concrete measures

for error correction are the key to greater customer satisfaction.

The associated minimization of the “No Trouble Found” (NTF)

rate results in savings, enabling a focus on the analysis of com-

ponents actually found to be defective.

Diagnostic tools for development

CANoe gives you symbolic access to all data and functions that

are accessible via the diagnostic protocol. CANoe already con-

tains the functionality of a diagnostic tester in its Diagnostic

Feature Set: Users can call up diagnostic services, read data from

the ECU and modify parameters effortlessly.

In J1939 systems, the DTC Monitor of CANalyzer.J1939 and

CANoe.J1939 guarantees easy and reliable handling of the J1939

diagnostic protocol. The tool handles Diagnostic Trouble Codes

(DTCs) based on the standard and displays the information in

an easy to understand form. In addition, access to diagnostic

memory makes it easy to use other standardized diagnostic

services. This lets you read data directly from ECU memory and

modify it. Parameters (Suspect Parameter Numbers) or explicit

memory addresses may be used for addressing. It is even pos-

sible to implement OEM-specific authentication.

In J1708/J1587 systems, the Error Code Monitor of the .J1587

Option for CANalyzer and CANoe supports you with symbolic

interpretation of PID/SID (Parameter Identifier/Subsystem

Identifier) and FMI (Failure Mode Identifier). Diagnostic data

can be quickly and reliably acquired and evaluated without pro-

gramming effort.

CANoe.J1939 diagnostic extensions: DTC and OBD I/M Monitor for well-organized display of Diagnostic Trouble Codes and OBD information.

Diagnostics 19

CANbedded J1939: Overview of the components

Special communication modules are needed to exchange infor-

mation between ECUs over a bus system like CAN. Vector offers

such modules in the form of embedded standard software com-

ponents based on generic code. ECU developers configure them

individually to obtain a solution that is perfectly tailored to their

applications.

Reach your objectives quickly with standardized software components

The CANbedded product line gives you many standardized soft-

ware components to choose from for use in your ECU. CANbedded

J1939 is the seamlessly integratable extension that adds func-

tionalities for the SAE J1939 protocol.

Building upon the CAN driver, a suitable communications stack

can be assembled for the specific application. The standard

software components of the CANbedded packet let you start up

CAN communication very quickly without having to train in the

details of the J1939 standard.

The communication matrix stored in the database (DBC file)

is the element that interconnects the Vector tools CANoe and

CANalyzer as well as the communication stack. You can use the

GENy generation tool, which also accesses the DBC file, to conve-

niently create the basic configuration for the ECU. You can then

use a convenient user interface for subsequent configuration of

specific parameters.

Effiziente Steuergeräte-Software

Accelerate your embedded software development by using standardized basic software. Utilize scalable software modules for J1939 that are being used successfully worldwide.

Efficient ECU Software

20 ECU Software

The use of standardized software components reduces the time

and costs required for implementation and tests. Uniform signal

interpretation improves ECU compatibility on the CAN bus. You

get optimal quality and flexibility in the J1939 communications

stack.

The stack not only covers J1939 requirements such as the BAM

and CMDT transport protocols, but also enables parallel imple-

mentation of ISO diagnostics (UDS or KWP2000). Measurement

and Calibration protocols such as CCP or XCP can be integrated in

the ECU code just as efficiently.

Vector also supports you in extensions related to the J1939

stack, e.g. with the ISO11783/ISOBUS and NMEA2000 protocols.

We would be glad to provide you with a project proposal that

meets your individual requirements.

AUTOSAR in the commercial vehicle

Vector is intensively involved in standardization efforts for

J1939 in AUTOSAR. In anticipation of AUTOSAR 4.0, Vector can

already provide CMDT and BAM transport layers in the MICROSAR

J1939TP product today.

MICROSAR J1939TP already supports the CMDT and BAM transport layers today.

Support for many hardware platforms

CAN drivers from Vector are available for many different micro-

controllers. They are designed for low ROM and RAM memory

requirements as well as high runtime efficiency. You will find

a current list of supported hardware platforms at this website:

www.canbedded.com/J1939

Overview of your advantages:

> Compatible with the SAE J1939 standard

> Easy to integrate in the application software

> Easily configurable

> Mature and reliable, since widely used in the market

> Support a large number of microcontrollers

> High flexibility, quick availability

> Extendable, e.g. for diagnostic (UDS, KWP2000) or

calibration (CCP, XCP) functionality

> Multichannel, gateway functionality

> Low ROM and RAM memory requirements due to high

scalability

> High runtime efficiency

> Also available for AUTOSAR

ECU Software 21

Option .CANopen for CANoe covers all major tasks related to

simulations and tests. You can conveniently define the network

of a vehicle’s superstructure and also involve real ECUs in this

simulation. Tests are indispensible in verifying an ECU’s function-

ality and lack of defects. Regardless of whether you execute these

tests during product development or as an acceptance test for

further use of the ECU – you will find your best possible support

for solving your testing tasks in CANoe.CANopen.

CANalyzer.CANopen is the optimal tool for protocol-specific

analysis in CANopen networks. It not only displays bus traffic

symbolically, it also gives you the reassurance that communi-

cation conforms to the CANopen® protocol and that signals are

being transmitted properly.

Easy implementation of CANopen devices

To integrate CANopen in ECUs, the relevant software compo-

nents are available in the form of CANopen Source Code. Vector

supports a wide variety of processors and CAN controllers and

would be glad to support you in integrating software compo-

nents in your target environment.

This allows the developer to focus entirely on the application,

since they do not have to be concerned with the details of CAN-

open. For a current list of available hardware platforms go to:

www.canopen-solutions.com/sourcecode

Overview of your advantages:

> Comprehensive support in networking the superstructure

using test and analysis tools, embedded software compo-

nents and services

> Widely proven solution that is used in production

> Vector is an active member of the user organization CiA®,

participating in its standardization and advanced develop-

ment activities for CANopen. Vector’s comprehensive know-

how flows into products and services and is directly available

to you

Incidentally: For communication between the towing machine

and trailer, Vector offers a special Physical Layer for CAN inter-

face cards based on ISO11992-1.

Reliably Networking Vehicle and Superstructure

In the commercial vehicle industry, the CANopen protocol has become established for networking the superstructure and acting as a gateway between vehicle and superstructure. Vector offers a comprehensive product lineup in this area as well.

22 Networking Vehicle & Superstructure

Wherever networking is performed in commercial vehicles,

all vehicle OEMs and their suppliers work together with world

market leader Vector. Whether CAN, SAE J1939, SAE J1587, LIN

or AUTOSAR – Vector supports you with a professional and open

platform of tools, software components and services:

Development of Distributed Systems

Testing of ECUs and Entire Networks

Vehicle Diagnostics

ECU Calibration

ECU Software

Management of Development Processes

Seminars and workshops

Vector offers training courses in the German and English lan-

guages on current bus technologies and protocols as well as on

Vector software tools. The J1939 Workshop, for example, offers

you comprehensive insight into the fundamentals of the J1939

protocol; then the second day of the workshop covers Option

.J1939 for CANoe and CANalyzer. In the CANbedded J1939 Work-

shop you learn everything you will need to know, based on prac-

tical examples, in order to use embedded software components

in J1939 applications.

You will find the latest information on current dates, additions

to the training offerings, and information about registration of

the Vector Group at: www.vector-academy.com

Optimization of product development

Vector Consulting Services supports you with a high-performance

line of consultation services covering the entire product life

cycle and related processes and tools. Its goal-oriented approach

to consulting and pragmatic implementations makes Vector Con-

sulting a valued partner in the commercial vehicle industry.

For more information go to:

www.vector.com/consulting

Comprehensive Support for Networking in Commercial Vehicles

Vector supports manufacturers and suppliers in the commercial vehicle industry with a professional and open platform of tools, software components and ser-vices for the development of embedded systems.

Support for Commercial Vehicle Development 23

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Your contact

Germany and all countries, not named below

Vector Informatik GmbH Ingersheimer Str. 24 70499 Stuttgart GERMANY Tel.: +49 711 80670-0 Fax: +49 711 806070-111

France, Belgium, Luxembourg

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Fax: +86 21 6432 5308

USA, Canada, Mexico

Vector CANtech, Inc. Suite 550 39500 Orchard Hill Place Novi, Mi 48375 USA Tel.: +1 248 449 9290 Fax: +1 248 449 9704

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