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AI, FreeRTOS и Linux в кармане: возможности LicheeRV Nano
В этой статье речь пойдет о разработке под отладочную плату LicheeRV Nano - компактное устройство размером с две пятирублевые монеты, но обладающее впечатляющими возможностями.
Плата способна одновременно запускать Linux и FreeRTOS, выполнять инференс нейронных сетей (будет разобран запуск YOLO и LLama2.c) благодаря встроенному NPU с производительностью 1 TOPS, а также управлять периферийными устройствами: GPIO, I2C, UART, SPI, CSI камерой, Wi-Fi, Bluetooth и Ethernet.
Это первая часть статьи, представляющая собой методическое руководство по работе с платой. Во второй части будет рассмотрена разработка полноценного проекта на её основе.
Обзор возможностей
SG2002
Плата построена вокруг SoC SG2002. Полный список аппаратных возможностей изображён на схемах ниже.
System Framework
System Framework
В первую очередь в глаза бросаются четыре отдельных ядра: два RISC-V с разными тактовыми частотами (1 GHz и 700 MHz), одно ядро ARM Cortex-A53 и одно ядро 8051. Разработчикам предоставляется выбор архитектуры “главного” ядра (на котором будет запускаться Linux) - ARM или RISC-V. Эти ядра не могут работать параллельно; выбор осуществляется посредством подтяжки определённого вывода микросхемы перед запуском. Однако разработчики LicheeRV Nano (Sipeed) заранее предопределили этот выбор: соответствующий пин изначально подтянут к линии 1,8 В, что приводит к запуску платы на RISC-V.
Для сравнения, на плате Milk-V Duo 256, использующей тот же SoC, линия CPU_SEL выведена на отдельный пин, что позволяет выбирать процессор вручную. Недавно был выпущен официальный образ операционной системы для ARM, но он пока не полностью функционален. В целом, акцент делается на архитектуру RISC-V, поэтому вся дальнейшая разработка под плату в статье будет под эту архитектуру.
Второе RISC-V ядро. Это ядро позиционируется как предназначенное для работы с RTOS. Для него уже портирована FreeRTOS. В результате получается архитектура, востребованная, например, в робототехнике: на быстром ядре с Linux выполняются задачи навигации, локализации и обработки видеопотока с камеры, а на ядре с FreeRTOS обсчитываются ПИД-регуляторы, одометрия и управление периферией - моторами, сервоприводами и другими актуаторами. Это даёт возможность создать компактное решение, заменяющее связку из отдельного микропроцессора и микроконтроллера (например, Raspberry Pi + STM32/Atmega).
Ядро 8051. Это ядро работает на низкой частоте и потребляет значительно меньше энергии по сравнению с основными ядрами. Оно имеет собственную систему питания и может управлять энергопотреблением других ядер, что позволяет реализовать режим энергосбережения (сон).
NPU и CSI. SoC оснащён нейронным процессором (NPU) с производительностью 1 TOPS при вычислениях с точностью INT8. В данной статье мы будем использовать его для инференса нейросети YOLO, которая выполняет детекцию объектов на кадрах, полученных с CSI камеры.
LicheeRV Nano
Вариации платы
Существует 4 версии платы: с Ethernet портом, с WiFi трансивером, WiFi + Ethernet и базовая плата. Сама плата во всех версиях одинаковая, поэтому при желании на базовую плату вы можете сами припаять WiFi трансивер/Ethernet коннектор. У меня плата с WiFi (вместе с Bluetooth).
CPU | SG2002: 1GHz RISC-V C906 / ARM A53 700MHz RISC-V C906 25 - 300 Mhz 8051 |
NPU | 1TOPS INT8, поддержка BF16 |
Memory | 256 Мб DDR3 |
IO | 2 x 14 pins 2.54 mm |
Размеры | 22.86 x 35.56 mm |
Документация и другая информация
Документация на плату находится здесь. Стоит обратить внимание на то, что в китайской версии в разделе “периферия” документация более подробная (больше информации про работу с различными интерфейсами). Я постепенно перевожу этот раздел на английский, но процесс принятия Pull Request’ов и обновления информации на сайте занимает некоторое время, поэтому можете обращаться к моему форку (хотя в этой статье про периферию написано больше). Либо просто используйте китайскую версию вместе с переводчиком. Также существует плата Milk-V Duo 256, которая также построена на базе SG2002, у них с документацией и форумом дела обстоят получше, часть информации можно найти там.
Основные фреймворки, которые будут упоминаться в статье:
CVI TDL SDK - набор готовых алгоритмов нейронных сетей, инференс которых проводится на NPU
TPU SDK - более низкоуровневый SDK для взаимодействия с NPU и периферией SoC’а
MMF (Multimedia Framework) - фреймворк с унифицированным API для работы с видео/изображениями/аудио на SoC’е
Все остальные ссылки/файлы, так же как и для прошлой статьи про Luckfox Pico я собрал в одном посте в телеграмм канале.
Энергопотребление
В даташите на SG2002 про энергопотребление сказано немного: “1080P + Video encode + AI : ~ 500mW”. Ниже я приведу графики энергопотребления платы в разных сценариях использования при питании от USB Type C.
Загрузка платы и скачивание файла через wget по http с другого компьютера в локальной сети:
Отправка файла через python http.server на компьютер из локальной сети, скачивающий файл с платы через wget:
Стрим CSI камеры в MJPEG через http на одного клиента:
Инференс YOLOv8n COCO на изображениях 640x640. Другие yolo модели имеют примерно такое же энергопотребление:
Инференс LLama (stories15M) на RISC-V CPU:
Отключение WiFi трансивера:
Работа с платой
Установка ОС
Официальный buildroot образ можно скачать из релизов в GitHub репозитории. Я использовал версию 20241021 (все примеры также были протестированы на более свежей версии - 20250114). Также под плату есть экспериментальный образ на базе Debian, но в нём отсутствуют драйвера под NPU и CSI камеру.
В статье будет использоваться Buildroot образ, так как его легко конфигурировать и можно считать стандартом для Embedded Linux.
Загрузка операционной системы происходит с SD карты. Записать на неё образ из под Linux’а можно с помощью dd:
xzcat "НАЗВАНИЕ.img.xz" | sudo dd of=/dev/sdX conv=sync status=progressЕсли архив с образом распакован, то команда примерно такая же:
cat "НАЗВАНИЕ.img" | sudo dd of=/dev/sdX conv=sync status=progressВместо /dev/sdX подставляйте путь к вашей SD карте, она должна быть полностью отформатирована с таблицей разделов MBR (msdos), без разделов (без файловой системы, только неразмеченное пространство).
На Windows можете использовать Rufus или Balena Etcher.
У меня плата с WiFi модулем, поэтому сразу после прошивки образа можно сконфигурировать данные для подключения к WiFi сети, чтобы подключаться по ssh (он стартует автоматически).
Для этого примонтируйте раздел rootfs (после прошивки SD карты на ней будет два раздела: boot и rootfs) и отредактируйте файл /etc/wpa_supplicant.conf следующим образом:
ctrl_interface=/var/run/wpa_supplicant
ap_scan=1
network={
ssid="NAME"
psk="PASSWORD"
}Замените NAME и PASSWORD на данные от своей сети.
5GWiFi трансивер на плате поддерживает сети 5G и антенна, идущая в комплекте (N2425D) двухдиапазонная, поэтому вы можете использовать плату с 5G WiFi сетью.
Теперь можно извлекать SD карту, вставлять её в одноплатник и подавать на него питание. Если всё сделано правильно, то на одноплатнике сначала загорятся оба светодиода (красный - питание, синий - user), но затем синий светодиод начнёт мигать (если запускать плату без SD карты или с некорректным образом системы, то синий светодиод будет постоянно светиться).
Чтобы найти устройство в локальной сети, можно воспользоваться nmap (или любым другим сканером):
# поиск всех активных устройств в сети
sudo nmap -sN 192.168.1.0/24
# или сразу поиск по открытому 22 порту
nmap -sV -p 22 192.168.1.0/24Теперь можно подключаться через ssh (по умолчанию имя пользователя и пароль - root).
ssh [email protected]Если у вас плата без Ethernet или WiFi, то взаимодействовать с ней можно через отладочный UART0. Для этого подключите USB TTL переходник к пинам A17 (RX платы - TX переходника), A16 (TX платы - RX переходника) и общую землю.
Далее через терминальную программу (или screen на линуксе) вы можете взаимодействовать с платой на скорости 115200 бод.
screen /dev/ttyUSB0 115200Также имеется возможность работать с платой через ACM (/dev/ttyACM0) и локальную сеть поверх USB. Но для меня самыми удобными оказались ssh через WiFi и отладочный UART0 (в него плата посылает дополнительную отладочную информацию, которая иногда бывает полезна).
Плата имеет всего 256 Мб оперативной памяти (из которых 128 Мб занято под MIPI - CSI камеру и дисплей), чего может не хватать для некоторых задач. Решить эту проблему можно, добавив swap. Процесс можно перенести в Buildroot, чтобы итоговый образ уже был сконфигурирован с swap файлом, но самый простой способ - сделать его вручную, внутри работающей операционной системы. Все необходимые для этого утилиты идут из коробки в утилитах BusyBox:
fallocate -l 1G /swapfile # размер можете изменить на нужный вам
chmod 600 /swapfilemkswap /swapfile
swapon /swapfileЧтобы swap активировался автоматически после загрузки платы, необходимо добавить информацию о swap’е в fstab.
echo '/swapfile none swap sw 0 0' | tee -a /etc/fstabТеперь после перезагрузки swap будет автоматически активироваться.
Далее в статье будут примеры программ, использующих библиотеки OpenCV Mobile, TDL SDK, которые при сборке линкуются динамически, поэтому для запуска примеров, необходимо, чтобы на плате были их корректные версии. При использовании некорректных библиотек адекватной работы не добиться: TDL SDK работает очень медленно, перестаёт обрабатывать модели для cv181x, детектирует > 2000 классов на одном изображении, а также может быть конфликт между OpenCV Mobile и TDL SDK.
Все необходимые библиотеки я собрал здесь. Данный архив надо скачать и распаковать на плате:
# На компьютере
scp required_libs.zip [email protected]:/root
# На плате
cd /root
unzip required_libs.zip
export LD_LIBRARY_PATH=/root/libs_patch/lib:/root/libs_patch/middleware_v2:/root/libs_patch/middleware_v2_3rd:/root/libs_patch/tpu_sdk_libs:/root/libs_patch:/root/libs_patch/opencvУстановку правильного значения LD_LIBRARY_PATH можно автоматизировать (добавить export в конец файла /etc/profile):
echo "export LD_LIBRARY_PATH=/root/libs_patch/lib:/root/libs_patch/middleware_v2:/root/libs_patch/middleware_v2_3rd:/root/libs_patch/tpu_sdk_libs:/root/libs_patch:/root/libs_patch/opencv" | tee -a /etc/profileКастомная сборка Buildroot
Официальной сборки достаточно для первых простых тестов с платой, но для более сложных задач образ придется собирать из исходников. Кроме того, официальный образ содержит очень много лишнего (он весит 1.2 Gb, что немало). Например, в нём есть Python и куча ненужных библиотек для него. Использование Python на этой плате нецелесообразно, ввиду ограниченности ресурсов. Также образ универсальный для всех плат, т.е. если вы не используете WiFi или Ethernet, то вам и в образе не нужны драйверы для них. По-хорошему buildroot надо конфигурировать и собирать “с нуля” под конкретный набор задач, но на это потребуется много времени, поэтому в этой статье рассмотрим модификацию официального образа.
Его исходники находятся в GitHub репозитории. Сборку проще всего проводить в Docker контейнере, чтобы не было проблем с зависимостями, нужными для основной системы и компиляторам/сборщикам образа.
Для этого сначала скачаем исходники и соберём Docker контейнер:
git clone https://github.com/sipeed/LicheeRV-Nano-Build --depth=1
cd LicheeRV-Nano-Build
git clone https://github.com/sophgo/host-tools --depth=1
cd host/ubuntu
docker build -t licheervnano-build-ubuntu .Для запуска контейнера используем следующую команду:
docker run -v /path/to/LicheeRV-Nano-Build/:/workspace -it licheervnano-build-ubuntu /bin/bashВместо “/path/to/LicheeRV-Nano-Build/” нужно указать путь к скачанному ранее git репозиторию LicheeRV-Nano-Build. В итоге после запуска, в контейнере будет директория /workspace, в которой и происходит сборка Buildroot’а. Она синхронизируется с директорией LicheeRV-Nano-Build на вашей основной системе, поэтому после остановки контейнера все изменения и кэшированные бинарники сохранятся.
Для полной сборки образа нужно выполнить следующие действия:
cd /workspace # переход в директорию с исходниками
source build/cvisetup.sh # настройка окружения
defconfig sg2002_licheervnano_sd # выбор конфига под RISC-V ядро
git config --global --add safe.directory /workspace
build_allПервая сборка займёт достаточно много времени, но последующие будут гораздо быстрее, потому что компилироваться будут только изменившиеся части. После сборки готовый к прошивке образ будет находиться в директории: /workspace/install/soc_sg2002_licheervnano_sd/images
Также можно собирать только отдельные компоненты системы, список команд ниже:
build_fsbl # сборка fsbl (First Stage Bootloader), на выходе fip.bin
build_uboot # сборка загрузчика uboot
build_rtos # сборка freertos
build_kernel # сборка ядра linuxКонфигурация отдельных частей Buildroot’а будет подробнее описана в следующих разделах, здесь же я приведу краткое описание того, что где находится и конфигурируется.
В корне репозитория (директория /workspace в контейнере) можно вызвать menuconfig с общими настройками:
menuconfig
Общий menuconfig от CVITEK
Здесь можно настроить версию ядра Linux, драйвера под CSI камеры и некоторые пакеты.
Сохранять изменения нужно в файл (чтобы после перезапуска контейнера для сборки изменения сохранились):
/workspace/build/boards/sg200x/sg2002_licheervnano_sd/sg2002_licheervnano_sd_defconfig
В директории /workspace/buildroot можно выполнить make menuconfig для его настройки.
menuconfig Buildroot
После изменении конфигурации её нужно сохранять в файл:
/workspace/buildroot/configs/cvitek_SG200X_musl_riscv64_defconfig
В директории /workspace/linux_5.10 находятся исходники ядра, которое так же можно сконфигурировать через menuconfig.
menuconfig Linux kernel
После изменении конфигурации её нужно сохранить в файл:
/workspace/build/boards/sg200x/sg2002_licheervnano_sd/linux/sg2002_licheervnano_sd_defconfig
Конфигурировать мультиплексор (PINMUX) можно перед запуском Linux’а через U-Boot в файле /workspace/build/boards/sg200x/sg2002_licheervnano_sd/u-boot/cvi_board_init.c. Более подробно процесс конфигурации будет описан в разделе GPIO.
Device Tree описывается в файле:
/workspace/build/boards/sg200x/sg2002_licheervnano_sd/dts_riscv/sg2002_licheervnano_sd.dts
Hello, world!
Все примеры в виде готовых структурированных проектов с Makefile/CMake (для некоторых) можно взять из моего GitHub репозитория.
git clone https://github.com/ret7020/LicheeRVNanoТекущий пример находится в Projects/HelloWorld.
Разработка под плату будет вестись на языках C/C++. Кросс-компилятор можно скачать здесь. В архиве находится три варианты кросс-компилятора. Официальный Buildroot образ использует musl реализацию libc, поэтому необходимо использовать riscv64-linux-musl-x86_64.
В директории riscv64-linux-musl-x86_64/bin находится бинарник gcc с названием riscv64-unknown-linux-musl-gcc.
Кросс-компилятор работает только под x86 Linux, но я подготовил специальный Jupyter ноутбук на Google Colab, благодаря которому проекты под плату можно собирать прямо в браузере практически на любой системе (главное, чтобы работал браузер). По опыту статьи про Luckfox такой метод оказался для некоторых актуальным и удобным.
Google Colab Jupyter Notebook для кросс-компиляции
В некоторых примерах, где используется ioctl (например, работа с sysfs - gpio) могут возникнуть проблемы при компиляции, которые решаются правкой ioctl.h (./gcc/riscv64-linux-musl-x86_64/sysroot/usr/include/sys/ioctl.h): необходимо закомментировать 9 строку (#include <bits/alltypes.h>). В Google Colab ноутбуке кросс-компилятор патчится автоматически.
Все следующие примеры используют переменную окружения COMPILER, чтобы получить абсолютный путь к кросс-компилятору. В ней необходимо указать путь к бинарникам кросс-компилятора.
export COMPILER=/ПУТЬ/К/КОМПИЛЯТОРУ/gcc/riscv64-linux-musl-x86_64/binЗамените /ПУТЬ/К/КОМПИЛЯТОРУ на свой.
Исходный код примера:
#include <stdio.h>
int main(){
printf("Hello, world from LicheeRV Nano!\n");
return 0;
}Makefile:
build:
mkdir -p bin
echo Using: ${COMPILER}
${COMPILER}/riscv64-unknown-linux-musl-gcc main.c -o ./bin/hello
deploy:
scp ./bin/hello root@${LICHEERV_IP}:/root/helloЕсли в переменную окружения LICHEERV_IP записать IP адрес платы, то можно использовать make deploy, чтобы после компиляции загружать бинарник на плату через scp. Также большинство Linux’овых файловых менеджеров поддерживают протокол sftp, через который удобно работать с файлами на плате.
При отладке ПО на плате полезно смотреть логи. Основные источники логов:
dmesg
cat /var/log/messages # при отладке проектов с TDL SDK (чтение камеры, инференс нейронок) очень полезно
cat /proc/cvitek/vi_dbg # отладочная информация по VI (video input), т.е. CSI камеры
cat /proc/cvitek/vi # информация о CSI камере
cat /proc/mipi-rxИ конечно же ещё могут оказаться полезными, логи идущие на отладочный UART0.
Логи на стороне Linux ядра
Периферия с Linux
В этом разделе будет рассказано, как использовать различные аппаратные возможности платы.
GPIO
На скриншоте опечатка: пин GPIO A15 в Linux имеет номер 495
На скриншоте выше показана распиновка платы. Чтобы работать с пинами из под Linux’а нам нужно знать их номера (второе трехзначное число, напротив каждого пина на схеме сверху). Все пины идут через мультиплексор, поэтому нам необходимо выбирать какой пин от SoC’а идёт на определённый пин на плате. Таким образом мы можем выбрать, например, задачу пина GPIO P18 - UART/I2C/PWM/SPI.
Адреса пинов в мультиплексоре описаны в старой версии (1.0) даташита на SG2002 в главе “10.1 PINMUX”. Но лучше использовать эту таблицу (лист “1. QFN”), она намного удобнее.
Также стоит обратить внимание на то, что некоторые пины могут быть заняты другой периферией на плате. WiFi модуль занимает пины с P18 по P23 и пин A26. Bluetooth использует пины A18, A19, A28, A29.
Сконфигурировать работу пина можно в процессе запуска платы через U-Boot или уже внутри запущенной операционной системы с помощью утилиты devmem. При этом конфигурация пина через U-Boot потребует пересборки и обновления загрузчика. Рассмотрим оба варианта.
Конфигурация в U-Boot. Для этого необходимо отредактировать функцию cvi_board_init файле /workspace/build/boards/sg200x/sg2002_licheervnano_sd/u-boot/cvi_board_init.c
Например, если у вас плата без WiFi модуля или он вам не нужен, то вы можете закомментировать следующие строки:
// (строки 66-89)
// wifi power reset
mmio_write_32(0x0300104C, 0x3); // GPIOA 26
val = mmio_read_32(0x03020004); // GPIOA DIR
val |= (1 << 26); // output
mmio_write_32(0x03020004, val);
val = mmio_read_32(0x03020000); // signal level
val &= ~(1 << 26); // set level to low
mmio_write_32(0x03020000, val);
suck_loop(50);
user_led_toggle();
val = mmio_read_32(0x03020000); // signal level
val |= (1 << 26); // set level to high
mmio_write_32(0x03020000, val);
// wifi sdio pinmux
mmio_write_32(0x030010D0, 0x0); // D3
mmio_write_32(0x030010D4, 0x0); // D2
mmio_write_32(0x030010D8, 0x0); // D1
mmio_write_32(0x030010DC, 0x0); // D0
mmio_write_32(0x030010E0, 0x0); // CMD
mmio_write_32(0x030010E4, 0x0); // CLKЧтобы перевести пин в GPIO режим (или любой другой) нам нужно узнать его адрес по таблице мультиплексора. Продемонстрирую на примере пина A24. Для этого в таблице ищем “XGPIOA[24]”.
Примера описания пина в таблице
Адрес пина - третий слева столбец, в данном случае его значение - 0x03001060, а значение для выбора режима 0x03 (по последнему столбцу).
При конфигурации через U-Boot добавьте вызов функции mmio_write_32(АДРЕС, ЗНАЧЕНИЕ) внутри cvi_board_init:
// GPIO A24 PINMUX
mmio_write_32(0x03001060, 0x03)Далее необходимо пересобрать U-Boot и обновить образ на плате.
Если времени на пересборку и обновление операционной системы нет, то для тестов, мультиплексор можно переконфигурировать внутри запущенного Linux’а. После перезагрузки все изменения сбросятся до тех, которые описаны в U-Boot, но для экспериментов этого достаточно. Для такой конфигурации можно воспользоваться утилитой devmem, в официальном образе её из коробки нет, но можно скачать бинарник под плату здесь.
Пример использования для пина A24:
./devmem 0x03001060 b 0x03Если всё сделано правильно, то вывод будет примерно таким:
/dev/mem opened.
Memory mapped at address 0x3fcaa97000.
Value at address 0x3001060 (0x3fcaa97060): 0x3
Written 0x3; readback 0x3Теперь пин сконфигурирован как цифровой GPIO. Управлять им можно с помощью Linux API, gpio sysfs. То есть записыванием нужных значений в различные файлы в директории /sys/class/gpio. В Linux пин A24 имеет номер 504 (из схемы выше).
Пример взаимодействия через терминал:
# Экспортируем в userspace
echo 504 > /sys/class/gpio/export
# Переводим его в режим “выхода”
echo out > /sys/class/gpio/gpio504/direction
# Устанавливаем его в HIGH
echo 1 > /sys/class/gpio/gpio504/value
# Устанавливаем его в LOW
echo 0 > /sys/class/gpio/gpio504/value
# В конце делаем unexport
echo 504 > /sys/class/gpio/unexportДля проверки можно воспользоваться простым bash скриптом, который генерирует меандр:
while true; do
echo 0 > /sys/class/gpio/gpio504/value
sleep 0.1
echo 1 > /sys/class/gpio/gpio504/value
sleep 0.1
done
Меандр
Аналогично можно программно управлять пином из C кода.
Пример кода в Projects/GPIO.
Для удобства я написал отдельные функции и выделил их в файл gpio.h (ниже основные функции):
int exportPin(int pin)
{
FILE *exportFile = fopen("/sys/class/gpio/export", "w");
if (exportFile == NULL)
return -1;
fprintf(exportFile, "%d", pin);
fclose(exportFile);
return 0;
}
int unexportPin(int pin)
{
FILE *exportFile = fopen("/sys/class/gpio/unexport", "w");
if (exportFile == NULL)
return -1;
fprintf(exportFile, "%d", pin);
fclose(exportFile);
return 0;
}
int setDirPin(int pin, const char *dir)
{
char directionPath[50];
snprintf(directionPath, sizeof(directionPath), "/sys/class/gpio/gpio%d/direction", pin);
FILE *directionFile = fopen(directionPath, "w");
if (directionFile == NULL)
return -1;
fprintf(directionFile, dir);
fclose(directionFile);
return 0;
}
int writePin(int pin, int value)
{
char valuePath[50];
snprintf(valuePath, sizeof(valuePath), "/sys/class/gpio/gpio%d/value", pin);
FILE *valueFile = fopen(valuePath, "w");
if (valueFile == NULL)
return -1;
if (value)
fprintf(valueFile, "1");
else
fprintf(valueFile, "0");
fflush(valueFile);
fclose(valueFile);
return 0;
}
int setPin(int pin, int value) // wrapper
{
return exportPin(pin) + setDirPin(pin, "out") + writePin(pin, value) + releasePin(pin);
}
Пример их использования (digitalTest.c):
#include <stdio.h>
#include "gpio.h"
int main(){
int pinId = 0;
int pass = 0;
scanf("%d", &pinId);
printf("Working with pin: %d\n", pinId);
exportPin(pinId);
setDirPin(pinId, "out");
writePin(pinId, 1);
printf("Write 1\n");
scanf("%d", &pass);
writePin(pinId, 0);
printf("Write 0\n");
unexportPin(pinId);
return 0;
}make build_digitalПрограмма считывает номер пина из stdin (нужно вводить номер в Linux’е), записывает в него 1 и ждет ввода любого символа, после чего выключает пин (записывает 0) и освобождает его (корректно завершает работу с ним в sysfs).
PWM
Пример кода в Projects/GPIO.
Конфигурация мультиплексора под PWM пины аналогична GPIO пинам.
PWM функции пинов в таблице
Из под линукса взаимодействие с ними происходит также через sysfs.
Конфигурация мультиплексора:
./devmem 0x03001068 b 0x2 # PWM 6
./devmem 0x03001064 b 0x2 # PWM 7Внутри SG2002 находится 4 шим контроллера, каждый на 4 канала. Следовательно PWM пины распределены между ними таким образом:
pwmchip0 | PWM[0, 1, 2, 3] |
pwmchip4 | PWM[4, 5, 6, 7] |
pwmchip8 | PWM[8, 9, 10, 11] |
pwmchip12 | PWM[12, 13, 14, 15] |
В таблице в правом столбце приведены абсолютные номера шим каналов, но при экспорте пина нужно указывать номер канала внутри контроллера. То есть PWM 7 находится внутри pwmchip4 с номером 7 - 4 = 3. У PWM 6 номер 2.
Управление через bash, на примере PWM 6 и PWM 7:
# PWM 6
echo 2 > /sys/class/pwm/pwmchip4/export
echo 10000 > /sys/class/pwm/pwmchip4/pwm2/period
echo 5000 > /sys/class/pwm/pwmchip4/pwm2/duty_cycle
echo 1 > /sys/class/pwm/pwmchip4/pwm2/enable
# PWM 7
echo 3 > /sys/class/pwm/pwmchip4/export
echo 10000 > /sys/class/pwm/pwmchip4/pwm3/period
echo 2500 > /sys/class/pwm/pwmchip4/pwm3/duty_cycle
echo 1 > /sys/class/pwm/pwmchip4/pwm3/enable
Работа двух ШИМ каналов
Для управления PWM пинами из кода я написал две функции в gpio.h:
int pwmSetParam(int pin, int val, int type){
// type == 0: set pwm period
// type == 1: set pwm duty cycle
// type == 2: set enable/disable (1/0)
char typeMap[3][15] = {"period", "duty_cycle", "enable"};
char valPath[50];
snprintf(valPath, sizeof(valPath), "/sys/class/pwm/pwmchip4/pwm%d/%s", pin, typeMap[type]);
printf("Path: %s\n", valPath);
FILE *exportFile = fopen(valPath, "w");
if (exportFile == NULL)
return -1;
fprintf(exportFile, "%d", val);
fclose(exportFile);
return 0;
}
int pwmUnexport(int pin){
FILE *exportFile = fopen("/sys/class/pwm/pwmchip4/unexport", "w");
if (exportFile == NULL)
return -1;
fprintf(exportFile, "%d", pin);
fclose(exportFile);
return 0;
}Эти функции захардкожены под pwmchip4, потому что пины остальных контроллеров заняты другими функциями, поэтому управлять ими нет необходимости.
Пример использования:
#include <stdio.h>
#include "gpio.h"
int main(){
int pin = 0, period = 0, dutyCycle = 0, enableStatus = 0;
while (1) {
printf("Pin (PWM_X, supported: 3 (pwm7) and 2 (pwm6)): \n");
scanf("%d", &pin);
printf("Period; duty cycle; enable/disable: \n");
scanf("%d %d %d", &period, &dutyCycle, &enableStatus);
printf("Export status: %d\n", pwmExport(pin));
printf("Setting period: %d\n", pwmSetParam(pin, period, 0));
printf("Setting duty cycle: %d\n", pwmSetParam(pin, dutyCycle, 1));
printf("Setting enable: %d\n", pwmSetParam(pin, enableStatus, 2));
pwmUnexport(pin);
}
return 0;
}make build_pwmПосле запуска программы необходимо ввести номер канала четвёртого PWM контроллера (2 или 3, соответствующие пинам PWM6 и PWM7 на плате) и настройки модуляции.
Прерывания
Пример кода в Projects/Interrupts.
В данном примере будет показана обработка прерываний средствами Linux’а (poll/select), то есть без настройки полноценных прерываний в dts. Скорость реакции на такие прерывания ниже, чем у полноценных, так как на самом деле идёт опрос состояния пина, но для большинства задач этого хватает.
Пример кода, отслеживающий “rising” прерывания на пине A15 (в официальном образе сконфигурирован, как GPIO, поэтому перенастройка мультиплексора не требуется):
#include <stdio.h>
#include <poll.h>
#include <pthread.h>
#include "gpio.h"
int main()
{
exportPin(GPIOA_15);
setDirPin(GPIOA_15, "in");
setInterruptType(GPIOA_15, "rising");
char valuePath[50];
snprintf(valuePath, sizeof(valuePath), "/sys/class/gpio/gpio%d/value", GPIOA_15);
int fd = open(valuePath, O_RDONLY | O_NONBLOCK);
if (fd < 0)
{
perror("Unable to open GPIO value file");
return 1;
}
struct pollfd pfd;
pfd.fd = fd;
pfd.events = POLLPRI;
// Read first 'init' interrupt
poll(&pfd, 1, -1);
lseek(fd, 0, SEEK_SET);
char tmp[3];
read(fd, tmp, sizeof(tmp));
while (1)
{
int ret = poll(&pfd, 1, -1);
if (ret > 0)
{
char buf[3];
lseek(fd, 0, SEEK_SET);
read(fd, buf, sizeof(buf));
printf("Interrupt detected!\n");
}
}
close(fd);
return 0;
}Настройка пина реализована в gpio.h:
int setInterruptType(int pin, const char *type)
{
char interruptPath[50];
snprintf(interruptPath, sizeof(interruptPath), "/sys/class/gpio/gpio%d/edge", pin);
FILE *interruptFile = fopen(interruptPath, "w");
if (interruptFile == NULL)
return -1;
fprintf(interruptFile, type);
fclose(interruptFile);
return 0;
}UART
Пример кода в Projects/Interfaces/UART.
На плате выведено 4 UART’а: UART0 - отладочный, UART1 и UART2 (если не используется bluetooth) можно использовать для своих задач, а UART3 доступен только, если выключен WiFi.
Рассмотрим пины A28 и A29. Мультиплексор для этих пинов имеет интересную особенность, на них может работать оба (1 и 2) UART’а:
UART в таблице пинов
На распиновке пины A28 и A29 отмечены как UART2:
UART1 и UART2
При этом никто не запрещает сконфигурировать их так, чтобы на них шёл сигнал с аппаратного UART1. Этот факт нужно учитывать при конфигурации мультиплексора.
Если есть необходимость использовать сразу оба UART’а, то ещё нужны адреса для пинов A19 и A18:
Их, кстати, может использовать только UART1 (и остальная периферия).
Пример использования UART1 на пинах A18 (RX), A19 (TX):
# Конфигурация мультиплексора
./devmem 0x03001068 b 0x6 # GPIOA 18 UART1 RX
./devmem 0x03001064 b 0x6 # GPIOA 19 UART1 TXКод:
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#define UART_PATH "/dev/ttyS1"
int main()
{
printf("UART test %s\n", UART_PATH);
char serialPort[] = UART_PATH;
char txBuf[] = "abcd";
struct termios tty;
ssize_t writeLen;
int serialFd;
char rxBuffer[256];
int bytesRead;
serialFd = open(serialPort, O_RDWR | O_NOCTTY);
printf("%d\n", serialFd);
memset(&tty, 0, sizeof(tty));
// Setting baud
cfsetospeed(&tty, B115200);
cfsetispeed(&tty, B115200);
// Generic flags
tty.c_cflag &= ~PARENB;
tty.c_cflag &= ~CSTOPB;
tty.c_cflag &= ~CSIZE;
tty.c_cflag |= CS8;
while (1)
{
writeLen = write(serialFd, txBuf, sizeof(txBuf));
printf("%d\n", writeLen);
usleep(50000);
}
return 0;
}
UART1 TX
SPI
SPI SCK и SPI MOSI
Пример кода в Projects/Interfaces/SPI.
SG2002 имеет 3 аппаратных SPI. На плате выведен только один - SPI2, который при использовании WiFi занят под него. SPI4 - эмулируется через BitBang драйвер.
В этой статье будет рассмотрено использование аппаратного SPI2, при отключенном WiFi модуле.
Конфигурация мультиплексора:
/etc/init.d/S30wifi stop # корректная остановка wifi (чтобы потом без перезагрузки включить обратно)
./devmem 0x030010D0 b 0x1 # GPIO P18 CS
./devmem 0x030010DC b 0x1 # GPIO P21 MISO
./devmem 0x030010E0 b 0x1 # GPIO P22 MOSI
./devmem 0x030010E4 b 0x1 # GPIO P23 SCKЕсли у вас плата с WiFi, то вы можете без перезагрузки восстановить работоспособность WiFi модуля:
./devmem 0x030010D0 b 0x0
./devmem 0x030010DC b 0x0
./devmem 0x030010E0 b 0x0
./devmem 0x030010E4 b 0x0
/etc/init.d/S30wifi startДля быстрой проверки можно воспользоваться предустановленной утилитой spidev_test, также соединив MISO (P21) и MOSI (P22), образовав некоторый физический “loopback”:
spidev_test -D /dev/spidev2.0 -p "hello, world!" -vРезультат должен быть примерно таким:
Максимальная скорость при которой сообщения совпадали (TX и RX) - 93 MHz
Пример кода для программного взаимодействия с SPI:
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <fcntl.h>
#include <unistd.h>
#include <linux/spi/spidev.h>
#include <sys/ioctl.h>
#define SPI_DEVICE_PATH "/dev/spidev2.0"
int main()
{
int spi_file;
uint8_t tx_buffer[5] = {1, 2, 3, 4, 5};
uint8_t rx_buffer[5];
// Open the SPI device
if ((spi_file = open(SPI_DEVICE_PATH, O_RDWR)) < 0)
{
perror("Failed to open SPI device");
return -1;
}
uint8_t mode = SPI_MODE_0;
uint8_t bits = 8;
if (ioctl(spi_file, SPI_IOC_WR_MODE, &mode) < 0)
{
perror("Failed to set SPI mode");
close(spi_file);
return -1;
}
struct spi_ioc_transfer transfer = {
.tx_buf = (unsigned long)tx_buffer,
.rx_buf = (unsigned long)rx_buffer,
.len = sizeof(tx_buffer),
.speed_hz = 1000000, // SPI speed in Hz
.delay_usecs = 0,
.bits_per_word = 8,
};
if (ioctl(spi_file, SPI_IOC_MESSAGE(1), &transfer) < 0)
{
perror("Failed to perform SPI transfer");
close(spi_file);
return -1;
}
for (uint8_t i = 0; i < 5; i++) {printf("%d ", rx_buffer[i]);}
printf("\n");
close(spi_file);
return 0;
}Программа отправляет 5 байт (1, 2, 3, 4, 5) и выводит ответ, в случае с соединёнными MOSI и MISO ответ тоже будет “1 2 3 4 5”.
I2C
AHT20 + BMP280 + LicheeRV Nano
Пример кода в Projects/Interfaces/I2C.
SG2002 имеет 5 аппаратных I2C. На плате выведены только 2: 1, 3. Их пины также пересекаются с пинами для WiFi, поэтому эксперименты с I2C будут проводиться с выключенном WiFi модулем. I2C-5 программно эмулируется через BitBang драйвер.
В качестве примера будет продемонстрирована работа с модулем AHT20 (датчик влажности и температуры) + BMP280 (барометр). Он будет подключен на I2C-1, соответствующая конфигурация мультиплексора:
/etc/init.d/S30wifi stop # корректная остановка WiFi
./devmem 0x030010D0 b 0x2 # GPIO P18 SCL
./devmem 0x030010DC b 0x2 # GPIO P21 SDAТеперь с помощью i2cdetect можно узнать адреса модулей:
i2cdetect -ry 1Вывод будет примерно таким:
0x38 и 0x77
0x38 - адрес AHT20
0x77 - адрес BMP280
Для ручного тестирования можно использовать команды:
i2cget - прочитать значение регистра
i2cset - записать значение в регистр
i2cdump - прочитать все регистры устройства
Пример программного чтения температуры с AHT20:
#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include <stdint.h>
#include <time.h>
#define I2C_BUS "/dev/i2c-1" // bus
#define AHT20_ADDR 0x38 // AHT20 I2C address
#define CMD_TRIGGER_MEASURE 0xAC
#define CMD_INIT 0xBE
#define CMD_SOFT_RESET 0xBA
int open_i2c_device() {
int file = open(I2C_BUS, O_RDWR);
if (file < 0) {
exit(1);
}
if (ioctl(file, I2C_SLAVE, AHT20_ADDR) < 0) {
exit(1);
}
return file;
}
void aht20_reset(int file) {
uint8_t cmd = CMD_SOFT_RESET;
if (write(file, &cmd, 1) != 1) {
exit(1);
}
usleep(20000);
}
void aht20_init(int file) {
uint8_t cmd[3] = {CMD_INIT, 0x08, 0x00};
if (write(file, cmd, 3) != 3) {
exit(1);
}
usleep(10000);
}
void aht20_start_measurement(int file) {
uint8_t cmd[3] = {CMD_TRIGGER_MEASURE, 0x33, 0x00};
if (write(file, cmd, 3) != 3) {
exit(1);
}
usleep(80000);
}
uint32_t aht20_read_raw_temperature(int file) {
uint8_t data[6];
if (read(file, data, 6) != 6) {
exit(1);
}
uint32_t raw_temp = ((data[3] & 0x0F) << 16) | (data[4] << 8) | data[5];
return raw_temp;
}
float convert_temperature(uint32_t raw_temp) {
return ((raw_temp * 200.0) / 1048576.0) - 50.0;
}
int main() {
int file = open_i2c_device();
aht20_reset(file);
aht20_init(file);
aht20_start_measurement(file);
uint32_t raw_temp = aht20_read_raw_temperature(file);
float temperature = convert_temperature(raw_temp);
printf("Temperature: %.2f°C\n", temperature);
close(file);
return 0;
}CSI камера и OpenCV
GC4653
Пример кода в Projects/OpenCV_CSI_Camera.
Для разных CSI камер требуются разные драйверы, поэтому проще всего использовать камеру, которая поддерживается в официальном образе операционной системы. В корне репозитория Buildroot через menuconfig можно выбрать камеры/сенсоры, для которых необходима поддержка. Также заявлена совместимость со всеми CSI камерами для Raspberry Pi, однако мне пока не удалось заставить работать камеру на сенсоре OV5647 (синяя Raspberry PI Camera V2). В репозитории Sipeed я открыл issue, касающееся этой камеры, и планируется вести обсуждение поддержки камеры там. В итоге все тесты будут проводится на поддерживаемой камере GC4653 от Sipeed.
Список драйверов, которые можно собрать "из коробки"
Для подобных маломощных плат лучше использовать OpenCV Mobile - форк OpenCV, который оптимизирован под конкретную платформу (включая поддержку чтения CSI камеры, потому что на разных платформах она реализуется по-разному). Последний релиз OpenCV Mobile под LicheeRV Nano использует пины CSI камеры старой ревизии (70405) платы, поэтому чтение камеры с новых плат не работает (ревизия написана на нижней стороне платы). Я покупал плату на Aliexpress в ноябре 2024 года, и она уже была свежей 70415 ревизии.
Изменение пинаута между ревизиями
Я пропатчил и пересобрал библиотеку под новую ревизию, а также отправил Pull Request. Также в библиотеку я добавил возможность получить указатель на “сырое” изображение с камеры, подробнее об этом будет написано позднее. Готовую собранную библиотеку вы можете скачать здесь. Архив с библиотекой необходимо распаковать в директорию libs. Также в примере кода в директории libs есть скрипт download.sh, который автоматически скачает и распакует библиотеку.
Иерархия файлов:
.
├── CMakeLists.txt
├── libs
│ ├── download.sh
│ └── opencv-mobile-4.10.0-licheerv-nano
├── main.cpp
└── README.mdКод для чтения камеры стандартный:
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <stdio.h>
#include <chrono>
#define VIDEO_RECORD_FRAME_WIDTH 640
#define VIDEO_RECORD_FRAME_HEIGHT 640
int main()
{
cv::VideoCapture cap;
// cap.set(cv::CAP_PROP_FRAME_WIDTH, VIDEO_RECORD_FRAME_WIDTH);
// cap.set(cv::CAP_PROP_FRAME_HEIGHT, VIDEO_RECORD_FRAME_HEIGHT);
cap.open(0);
cv::Mat bgr;
// "Warmup" camera
for (int i = 0; i < 5; i++) cap >> bgr;
for (int i = 0; i < 25; i++)
{
std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
cap >> bgr;
std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
printf("Get frame - OK\n");
double fps = 1 / std::chrono::duration<double>(end - begin).count();
printf("%lf", fps);
if (bgr.empty())
break;
cv::imwrite("captured.jpg", bgr);
}
cap.release();
return 0;
}CMakeLists.txt:
cmake_minimum_required(VERSION 3.5)
project(CSIRead)
set(CMAKE_CXX_STANDARD 11)
SET(CMAKE_C_COMPILER "$ENV{COMPILER}/riscv64-unknown-linux-musl-gcc")
SET(CMAKE_CXX_COMPILER "$ENV{COMPILER}/riscv64-unknown-linux-musl-g++")
SET(CMAKE_C_LINK_EXECUTABLE "$ENV{COMPILER}/riscv64-unknown-linux-musl-ld")
set(CMAKE_SYSTEM_PROCESSOR arm)
set(OpenCV_DIR "${CMAKE_CURRENT_SOURCE_DIR}/libs/opencv-mobile-4.10.0-licheerv-nano/lib/cmake/opencv4")
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
add_executable(CSIRead main.cpp)
target_link_libraries(CSIRead ${OpenCV_LIBS})Важно корректно завершать работу камеры через cap.release(), так как если этого не сделать, то без перезапуска платы камера снова не запустится.
Сборка проекта:
mkdir build
cd build
cmake ..
makeДалее бинарник CSIRead нужно скопировать на плату, но перед его запуском необходимо “проинициализировать камеру”. Я пока не разобрался с этой проблемой, но для корректного чтения камеры через OpenCV Mobile после загрузки платы один раз надо запустить sensor_test (/mnt/system/usr/bin/sensor_test). И экспортировать LD_LIBRARY_PATH, если не настроили автоматический экспорт в /etc/profile:
/mnt/system/usr/bin/sensor_test
# В нём написать 255 для выхода
export LD_LIBRARY_PATH=/root/libs_patch/lib:/root/libs_patch/middleware_v2:/root/libs_patch/middleware_v2_3rd:/root/libs_patch/tpu_sdk_libs:/root/libs_patch:/root/libs_patch/opencv
./CSIReadВидимо необходимо перенести часть кода из sensor_test в VideoCapture::open в OpenCV Mobile, чтобы взаимодействовать с камерой без таких костылей.
После запуска программа выведет FPS чтения каждого из 25 кадров, а также последний будет сохранён в captured.jpg. Чтение кадров 640x640 идёт примерно в 60 FPS.
Стрим камеры в MJPEG
GIF стрима
Пример кода в Projects/MJPEGStream.
По отдельным кадрам, сохраненным на SD карту, не очень удобно взаимодействовать с камерой. А когда необходимо собирать датасет, то очень желательно видеть текущее изображение с камеры, чтобы точнее нацелить камеру и не сохранять фотографии, где необходимого объекта нет. Самый простой способ реализовать стриминг изображений с камеры - MJPEG. Принцип простой: в сетевой http поток, отправляются кадры, закодированные в JPEG. Преимущества - не очень высокая вычислительная нагрузка (по сравнению с rtsp), а также возможность смотреть MJPEG в любом современном браузере (или ffplay, vlc). Также с помощью ffmpeg можно достаточно просто записать его в mp4, чтобы в дальнейшем размечать датасет по видео, а не набору кадров.
Реализацию MJPEG я взял из этого репозитория.
Пример его использования:
#include "MJPEGWriter.h"
#include <opencv2/opencv.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <unistd.h>
#include <signal.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdio.h>
volatile uint8_t interrupted = 0;
void interrupt_handler(int signum)
{
printf("Signal: %d\n", signum);
interrupted = 1;
}
int main()
{
signal(SIGINT, interrupt_handler);
cv::VideoCapture cap;
cv::Mat bgr;
cap.open(0);
MJPEGWriter test(7777);
cap >> bgr;
cv::cvtColor(bgr, bgr, cv::COLOR_BGR2GRAY);
test.write(bgr);
test.start();
while (!interrupted)
{
cap >> bgr;
cv::cvtColor(bgr, bgr, cv::COLOR_BGR2GRAY);
test.write(bgr);
bgr.release();
}
printf("Stopping stream:\n");
test.stop();
cap.release();
return 0;
}CMakeLists.txt:
cmake_minimum_required(VERSION 3.5)
project(CSIStream)
set(CMAKE_CXX_STANDARD 11)
SET(CMAKE_C_COMPILER "$ENV{COMPILER}/riscv64-unknown-linux-musl-gcc")
SET(CMAKE_CXX_COMPILER "$ENV{COMPILER}/riscv64-unknown-linux-musl-g++")
SET(CMAKE_C_LINK_EXECUTABLE "$ENV{COMPILER}/riscv64-unknown-linux-musl-ld")
set(CMAKE_SYSTEM_PROCESSOR arm)
set(OpenCV_DIR "${CMAKE_CURRENT_SOURCE_DIR}/libs/opencv-mobile-4.10.0-licheerv-nano/lib/cmake/opencv4")
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
add_executable(CSIStream main.cpp MJPEGWriter.cpp)
target_link_libraries(CSIStream ${OpenCV_LIBS})Хочу обратить внимание на функцию interrupt_handler, которая обрабатывает сигнал SIGINT (Ctrl + C в терминале). Она позволяет корректно завершать работу программы, освобождая http порт и CSI камеру (очень важно, в отличии от USB камер).
В 29 строке я провожу конвертацию изображения в Ч/Б, если не нужно, то можете закомментировать, чтобы передавать цветное изображение.
Программа собирается, так же как и пример с OpenCV Mobile. В директории libs должна быть распакована OpenCV Mobile.
Открыть стрим можно в браузере или через ffplay/vlc:
ffplay http://192.168.1.21:7777192.168.1.21 замените на IP адрес вашей платы.
OTG
USB флешка и LicheeRV Nano
Type C USB порт на плате можно использовать в двух режимах: host (otg) и device. В device режиме к плате можно подключаться по ACM с компьютера, а в host (otg) режиме подключать периферию: флешки, камеры и т.д. (тот же самый otg есть и в android смартфонах, позволяющий подключать usb устройства).
По-умолчанию порт работает в device режиме, но я подключаюсь к плате по ssh через WiFi, поэтому возможностями порта в device режиме я просто не пользуюсь, а host режим может быть полезен. Для перевода порта в host режим необходимо удалить файл /boot/usb.dev и создать /boot/usb.host. После этого перезагрузить плату:
touch /boot/usb.host
rm /boot/usb.dev
rebootТеперь через OTG переходник можно подключить, например, флешку или SSD. Наверное, можно реализовать загрузку операционной системы с SSD, хотя при этом на SD карте всё-равно должен быть U-Boot. Я таких экспериментов не проводил, поэтому не знаю насколько это легко сделать. Но на самом деле, не думаю, что в этом есть необходимость, так как ресурса хорошей SD карты должно хватить надолго, а внешний SSD лишит плату компактности.
Взаимодействие с флешкой выполняется стандартными командами:
lsusb # для проверки, что система обнаружила флешку
mkdir /mnt/test_usb # создание точки монтирования
fdisk -l # просмотр всех разделов/дисков
mount /dev/sda1 /mnt/test_usb # монтирование флешки
Работа с USB флешкой
Пример кода в Projects/OTGCamera.
USB-камера потребляет довольно много тока, которого USB-порт на плате не способен обеспечить. Из-за этого камера даже не запускается и не отображается в списке устройств. Чтобы решить эту проблему, ей необходимо отдельное питание. Самый простой вариант — использовать USB-хаб с дополнительным питанием.
USB камера, подключенная через хаб к LicheeRV Nano
Для считывания кадров с USB-камеры чаще всего применяется OpenCV. Однако на этой плате целесообразно использовать OpenCV Mobile, из которого, в целях оптимизации, была убрана поддержка USB (UVC) камер (но можно пересобрать с модулем UVC, при этом нужно будет внести модификации в VideoCapture, чтобы оставить поддержку CSI камеры). В Linux работа с USB-камерами (и не только) осуществляется через V4L (Video for Linux) — универсальный интерфейс, применяемый практически везде. Поэтому следующий пример кода для работы с UVC-камерами можно использовать и на других платах, таких как Luckfox Pico или Milk-V Duo. В официальном образе Buildroot, V4L уже предустановлен, так что его не нужно собирать вручную.
Чтение кадров происходит в цветовой схеме YUV (на всех дешёвых камерах). Более качественные камеры могут передавать изображения в других форматах. Но, хотелось бы обратить внимание, что считывать большие кадры c USB-камеры (хотя бы, в разрешении Full HD - 1920x1080) в 30 FPS на таких слабых платах не получится. Их можно использовать только для тестов и экспериментов, в которых высокий FPS не нужен.
Пример кода, который считывает кадры через V4L API и переводит их в OpenCV::Mat:
#include <linux/videodev2.h>
#include <opencv2/opencv.hpp>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <cstring>
#include <chrono>
#define DEBUG
#define IMAGE_WIDTH 640
#define IMAGE_HEIGHT 480
#define DEVICE "/dev/video0"
struct Buffer
{
void *start;
size_t length;
};
#define CLEAR(x) memset(&(x), 0, sizeof(x))
int main()
{
const char *device = DEVICE;
int fd = open(device, O_RDWR);
if (fd == -1)
{
perror("Opening video device");
return -1;
}
// Query device capabilities
struct v4l2_capability cap;
if (ioctl(fd, VIDIOC_QUERYCAP, &cap) == -1)
{
perror("Querying Capabilities");
close(fd);
return -1;
}
#ifdef DEBUG
printf("Driver: %s\nCard: %s\nVersion: %d.%d.%d", cap.driver, cap.card,
((cap.version >> 16) & 0xFF), ((cap.version >> 8) & 0xFF), (cap.version & 0xFF));
#endif
struct v4l2_format fmt;
CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = IMAGE_WIDTH; // Image width
fmt.fmt.pix.height = IMAGE_HEIGHT; // Image height
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
if (ioctl(fd, VIDIOC_S_FMT, &fmt) == -1)
{
perror("Setting Pixel Format");
close(fd);
return -1;
}
struct v4l2_requestbuffers req;
CLEAR(req);
req.count = 1;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
if (ioctl(fd, VIDIOC_REQBUFS, &req) == -1)
{
perror("Requesting Buffer");
close(fd);
return -1;
}
// Query buffer to map memory
struct v4l2_buffer buf;
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = 0;
if (ioctl(fd, VIDIOC_QUERYBUF, &buf) == -1)
{
perror("Querying Buffer");
close(fd);
return -1;
}
Buffer buffer;
buffer.length = buf.length;
buffer.start = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, fd, buf.m.offset);
if (buffer.start == MAP_FAILED)
{
perror("Mapping Buffer");
close(fd);
return -1;
}
// Start streaming
enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (ioctl(fd, VIDIOC_STREAMON, &type) == -1)
{
perror("Starting Stream");
close(fd);
return -1;
}
// Capture loop
cv::Mat yuyv(IMAGE_HEIGHT, IMAGE_WIDTH, CV_8UC2, buffer.start);
cv::Mat bgr;
auto last = std::chrono::steady_clock::now();
auto curr = std::chrono::steady_clock::now();
while (true)
{
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (ioctl(fd, VIDIOC_QBUF, &buf) == -1)
{
perror("Queue Buffer");
break;
}
if (ioctl(fd, VIDIOC_DQBUF, &buf) == -1)
{
perror("Dequeue Buffer");
break;
}
cv::cvtColor(yuyv, bgr, cv::COLOR_YUV2BGR_YUYV);
curr = std::chrono::steady_clock::now();
printf("Frame latency: %lf\n", std::chrono::duration<double>(curr - last).count());
last = curr;
// cv::imwrite("res.jpg", bgr);
}
return 0;
}С моей камеры этот код читает кадры 640x480 и переводит в OpenCV::Mat примерно со скоростью в 7 FPS (на LicheeRV Nano).
Docker
Производительности платы недостаточно для комфортной работы с крупными Docker-контейнерами, однако образы на базе Alpine или Ubuntu в целом запускаются, хотя и довольно медленно — порядка 5 минут. Тем не менее, проведённый эксперимент был полезен.
Установка и сборка Docker’а будет выполняться через Buildroot. Для этого в его конфиг (/workspace/buildroot/configs/cvitek_SG200X_musl_riscv64_defconfig) нужно добавить следующие пакеты:
BR2_PACKAGE_LIBSECCOMP_ARCH_SUPPORTS=y
BR2_PACKAGE_LIBSECCOMP=y
BR2_PACKAGE_CA_CERTIFICATES=y
BR2_PACKAGE_DOCKER_CLI=y
BR2_PACKAGE_DOCKER_COMPOSE=y
BR2_PACKAGE_DOCKER_ENGINE=y
BR2_PACKAGE_CONTAINERD=y
BR2_PACKAGE_RUNC=yДля корректной работы Docker также требуется поддержка CGROUPS и некоторых других параметров ядра. Дамп конфигурационного файла, с которым Docker успешно запустился, доступен здесь. Его содержимое необходимо скопировать в /workspace/linux_5.10/build/sg2002_licheervnano_sd/.config.
Docker Daemon стартует автоматически при загрузке операционной системы. Как уже было сказано, с лёгкими контейнерами работать можно, но более тяжёлые загружаются очень долго. Также стоит учитывать, что не все контейнеры поддерживают архитектуру RISC-V (например, ROS2).
Вывод: Docker запускается и работает, но производительности процессора недостаточно для его полноценного использования в реальных задачах.
FreeRTOS
В начале статьи упоминалось, что внутри SG2002 имеется отдельное ядро, которое разработчики предлагают использовать для RTOS. Оно работает на частоте 700 MHz, чего вполне достаточно для управления периферией. Таким образом, на одном кристалле можно параллельно запускать как полноценную операционную систему, так и ОСРВ.
Для данной платы существует порт FreeRTOS, который и будет использоваться в этой статье. Его исходники уже включены в официальный Buildroot-образ LicheeRV Nano (/workspace/freertos/cvitek), однако по умолчанию его сборка отключена.
Сборка и запуск
Чтобы включить сборку FreeRTOS, необходимо открыть menuconfig с общими настройками:
cd /workspace
menuconfigЗатем перейти во вкладку RTOS и активировать FreeRTOS.
Включение сборки FreeRTOS
За сборку самого FreeRTOS и кода, который будет выполняться на втором ядре, отвечает скрипт build_cv181x.sh. Пользовательские задачи можно добавлять в файл comm_main.c (/workspace/freertos/cvitek/task/comm/src/riscv64/comm_main.c). В репозитории уже содержится достаточно обширный пример, но для теста я предлагаю заменить его на более простой код, состоящий всего из одной задачи, которая выводит "Hello, world".
Linux и FreeRTOS совместно используют отладочный UART0, поэтому оба могут выводить сообщения в один и тот же лог. Сообщения от RTOS-ядра помечены префиксом ‘RT:’.
Пример кода в Projects/FreeRTOS.
comm_main.c:
/* Standard includes. */
#include <stdio.h>
#include <stdint.h>
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "mmio.h"
#include "delay.h"
/* cvitek includes. */
#include "printf.h"
#include "rtos_cmdqu.h"
#include "cvi_mailbox.h"
#include "intr_conf.h"
#include "top_reg.h"
#include "memmap.h"
#include "comm.h"
#include "cvi_spinlock.h"
//#define __DEBUG__
#ifdef __DEBUG__
#define debug_printf printf
#else
#define debug_printf(...)
#endif
/****************************************************************************
* Function prototypes
****************************************************************************/
void app_task(void *param);
/****************************************************************************
* Global parameters
****************************************************************************/
/* mailbox parameters */
volatile struct mailbox_set_register *mbox_reg;
volatile struct mailbox_done_register *mbox_done_reg;
volatile unsigned long *mailbox_context; // mailbox buffer context is 64 Bytess
/****************************************************************************
* Function definitions
****************************************************************************/
DEFINE_CVI_SPINLOCK(mailbox_lock, SPIN_MBOX);
void app_task_demo(void *param)
{
while (1) {
printf("Hello RISC-V from the small core!\r\n");
vTaskDelay(50); // 0.25 of second (1 second 200 ticks check config)
}
}
void main_cvirtos(void)
{
printf("create cvi task\n");
/* Start the tasks and timer running. */
xTaskCreate(app_task_demo, "task_demo", 1024, NULL, 1, NULL);
vTaskStartScheduler();
printf("cvi task end\n");
for (;;);
}За компиляцию comm_main.c отвечает /workspace/freertos/cvitek/task/comm/CMakeLists.txt, в который можно добавить библиотеки (например, hal или uart):
file(GLOB _SOURCES "src/${RUN_ARCH}/*.c")
if (CONFIG_FAST_IMAGE_TYPE STRGREATER "0")
add_compile_definitions(FAST_IMAGE_ENABLE)
endif()
include_directories(include)
include_directories(${CMAKE_INSTALL_INC_PREFIX}/arch)
include_directories(${CMAKE_INSTALL_INC_PREFIX}/common)
include_directories(${CMAKE_INSTALL_INC_PREFIX}/kernel)
include_directories(${CMAKE_INSTALL_INC_PREFIX}/driver/spinlock)
include_directories(${CMAKE_INSTALL_INC_PREFIX}/driver/jenc)
include_directories(${CMAKE_INSTALL_INC_PREFIX}/driver/rtos_cmdqu)
include_directories(${CMAKE_INSTALL_INC_PREFIX}/driver/fast_image)
include_directories(${CMAKE_INSTALL_INC_PREFIX}/hal/config)
include_directories(${CMAKE_INSTALL_INC_PREFIX}/hal/uart)
include_directories(${CMAKE_INSTALL_INC_PREFIX}/hal/pinmux1)
add_library(comm STATIC ${_SOURCES})
install(TARGETS comm DESTINATION lib)После инициализации платы в task/main вызывается функция main_cvirtos, где создаются задачи и запускается планировщик (vTaskStartScheduler). В целом, можно писать код непосредственно в task/main после вызова функции post_system_init, однако, чтобы отделить код инициализации ядра от пользовательского кода, рекомендуется работать с FreeRTOS в файле comm_main.c.
Пересобрать FreeRTOS можно вместе со всем образом (build_all), но это займет больше времени и потребует обновления всей системы ради одного бинарника. Гораздо проще пересобрать только FSBL (First Stage Bootloader):
build_fsbl
scp /workspace/install/soc_sg2002_licheervnano_sd/fip.bin [email protected]:/boot/fip.binПосле этого необходимо просто перезагрузить плату. Теперь в логах загрузки (UART0) должно появиться что-то подобное (у меня выводится дополнительная отладочная информация):
Сначала запускается RTOS ядро, а затем Linux ядро
В итоге второе ядро будет “спамить” сообщениями в UART0:
200 тиков - 1 секунда, delay в 50 тиков -> 4 раза за секунду
Примеры
Для дальнейших примеров в репозитории представлен только код задачи (app_task_demo) и необходимые includ’ы. Основной код базируется на примере, приведенном выше (hello, world). Также рекомендую ознакомиться с готовыми библиотеки для работы с периферией, которые находятся в директории hal (./freertos/cvitek/hal) исходников FreeRTOS.
GPIO
Пример кода в Projects/FreeRTOS.
Для удобства управления GPIO пинами в пример были добавлены функции pinMode, writePin, readPin, которые упрощают работу с пинами.
Необходимые дефайны:
#define TOP_BASE 0x03000000
// GPIO Register base
#define XGPIO (TOP_BASE + 0x20000)
// GPIO Port offset
#define GPIO_SIZE 0x1000
// Port A external port register (read from here when configured as input)
#define GPIO_EXT_PORTA 0x50
// Port A data register
#define GPIO_SWPORTA_DR 0x00
// Port A data direction register
#define GPIO_SWPORTA_DDR 0x04
#define PORT_A 0
#define PORT_B 1
#define PORT_C 2
#define PORT_D 3
#define GPIO_INPUT 0
#define GPIO_OUTPUT 1
#define GPIO_LOW 0
#define GPIO_HIGH 1
#define PINMUX_BASE (TOP_BASE + 0x1000)
#define FMUX_GPIO_FUNCSEL_BASE 0xd4
#define FMUX_GPIO_FUNCSEL_MASK 0x7
#define FMUX_GPIO_FUNCSEL_GPIOC 3
#define FUNCSEL(port, pin) (FMUX_GPIO_FUNCSEL_BASE + port * 0x20u + pin)
#define BIT(x) (1UL << (x))Имплементация функций управления пинами:
void pinMode(uint8_t port, uint8_t pin, uint8_t value)
{
mmio_clrsetbits_32(XGPIO + GPIO_SIZE * port + GPIO_SWPORTA_DDR,
BIT(pin), // erase Bit of PIN_NO( LED )
BIT(pin) // set Bit of PIN_NO( LED )
);
}
void writePin(uint8_t port, uint8_t pin, uint8_t value)
{
uint32_t base_addr = XGPIO + GPIO_SIZE * port;
uint32_t reg_val = mmio_read_32(base_addr + GPIO_SWPORTA_DR);
reg_val = (value == GPIO_HIGH ? (reg_val | BIT(pin)) :
(reg_val & (~BIT(pin))));
mmio_write_32(base_addr + GPIO_SWPORTA_DR, reg_val);
}
uint8_t readPin(uint8_t port, uint8_t pin)
{
uint32_t base_addr = XGPIO + GPIO_SIZE * port;
uint32_t reg_val = 0;
// let's find out if this pin is configured as GPIO and INPUT or OUTPUT
uint32_t func = mmio_read_32(PINMUX_BASE + FUNCSEL(port, pin));
if (func == FMUX_GPIO_FUNCSEL_GPIOC) {
uint32_t dir = mmio_read_32(base_addr + GPIO_SWPORTA_DDR);
if (dir & BIT(pin)) {
reg_val = mmio_read_32(GPIO_SWPORTA_DR + base_addr);
} else {
reg_val = mmio_read_32(GPIO_EXT_PORTA + base_addr);
}
} else {
printf("%d not configured as GPIO\n", pin);
}
return ((reg_val >> pin) & 1);
}Управление пином из FreeRTOS задачи:
uint8_t PIN = 15; // Addr 0x0300103C
uint8_t PORT = PORT_A;
mmio_write_32(0x0300103C, 0x3); // GPIOA 15 GPIO_MODE
pinMode(PORT, PIN, GPIO_OUTPUT);
printf("Port %d, pin %d\n", PORT, PIN);
while (1) {
writePin(PORT, PIN, GPIO_HIGH);
vTaskDelay(50);
writePin(PORT, PIN, GPIO_LOW);
vTaskDelay(50);
}Стоит обратить внимание на конфигурацию мультиплексора, которая делается так же, как и в U-Boot, через mmio_write_32. Регистр и необходимое значение для пина определяется по даташиту, как описано выше, в разделе Linux-GPIO.
UART
Пример кода в Projects/FreeRTOS.
Код задачи:
// INCLUDES
#include "hal_uart_dw.h"
/*
...
*/
// TASK source
void app_task_demo(void *param)
{
// HAL UART1 test
mmio_write_32(0x03001064, 0x6); // TX; UART1 on pins 18,19
mmio_write_32(0x03001068, 0x6); // RX 0x03001068 0x6
static struct dw_regs *uart = 0;
int baudrate = 115200, uart_clock = 25 * 1000 * 1000;
int divisor = (uart_clock + 8 * baudrate) / (16 * baudrate);
uart = (struct dw_regs *)UART1_BASE;
uart->lcr = uart->lcr | UART_LCR_DLAB | UART_LCR_8N1;
uart->dll = divisor & 0xff;
uart->dlm = (divisor >> 8) & 0xff;
uart->lcr = uart->lcr & (~UART_LCR_DLAB);
uart->ier = 0;
uart->mcr = UART_MCRVAL;
uart->fcr = UART_FCR_DEFVAL;
uart->lcr = 3;
while (1) {
for (int i = 0; i < 10; i++) {
while (!(uart->lsr & UART_LSR_THRE))
;
uart->rbr = 'Z';
}
vTaskDelay(200); // 1 second
}
}Сначала настраивается мультиплексор для UART1 на пинах A18 (RX) и A19 (TX), после чего инициализируется UART1 на рабочую скорость 115200 бод. Инициализацию желательно вынести в отдельную функцию, но чтобы не усложнять пример, весь код находится внутри функции одной задачи. Также для более простой инициализации и использования UART вы можете использовать готовые функции hal_uart_init, hal_uart_putc, hal_uart_getc из файла hal_uart_dw.c.
UART1 TX
Связь с другими ядрами
Пример Linux-кода в Projects/FreeRTOS.
Пример RTOS-кода в Projects/FreeRTOS.
Все ядра в SoC'е поддерживают Intel Mailbox. В данной статье будет рассмотрена связь между Linux ядром и RTOS, хотя также существует возможность реализовать связь между ядром 8051 и Linux/RTOS.
Взаимодействие с RTOS со стороны Linux ядра реализуется следующим образом:
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <unistd.h>
enum SYSTEM_CMD_TYPE {
CMDQU_SEND = 1,
CMDQU_REQUEST,
CMDQU_REQUEST_FREE,
CMDQU_SEND_WAIT,
CMDQU_SEND_WAKEUP,
};
enum IP_TYPE {
IP_ISP = 0,
IP_VCODEC,
IP_VIP,
IP_VI,
IP_RGN,
IP_AUDIO,
IP_SYSTEM,
IP_CAMERA,
IP_LIMIT,
};
#define RTOS_CMDQU_DEV_NAME "/dev/cvi-rtos-cmdqu"
#define RTOS_CMDQU_SEND _IOW('r', CMDQU_SEND, unsigned long)
#define RTOS_CMDQU_SEND_WAIT _IOW('r', CMDQU_SEND_WAIT, unsigned long)
#define RTOS_CMDQU_SEND_WAKEUP _IOW('r', CMDQU_SEND_WAKEUP, unsigned long)
enum SYS_CMD_ID {
SYS_CMD_INFO_LINUX = 0x50
};
enum DUO_LED_STATUS {
DUO_LED_ON = 0x02,
DUO_LED_OFF,
DUO_LED_DONE,
};
struct valid_t {
unsigned char linux_valid;
unsigned char rtos_valid;
} __attribute__((packed));
typedef union resv_t {
struct valid_t valid;
unsigned short mstime; // 0 : noblock, -1 : block infinite
} resv_t;
typedef struct cmdqu_t cmdqu_t;
/* cmdqu size should be 8 bytes because of mailbox buffer size */
struct cmdqu_t {
unsigned char ip_id;
unsigned char cmd_id : 7;
unsigned char block : 1;
union resv_t resv;
unsigned int param_ptr;
} __attribute__((packed)) __attribute__((aligned(0x8)));
int main()
{
int ret = 0;
int fd = open(RTOS_CMDQU_DEV_NAME, O_RDWR);
if(fd <= 0)
{
printf("open failed! fd = %d\n", fd);
return 0;
}
struct cmdqu_t cmd = {0};
cmd.ip_id = IP_SYSTEM;
cmd.cmd_id = SYS_CMD_INFO_LINUX;
cmd.resv.mstime = 100;
cmd.param_ptr = 0x2;
ret = ioctl(fd , RTOS_CMDQU_SEND_WAIT, &cmd);
if(ret < 0)
{
printf("ioctl error!\n");
close(fd);
}
printf("%d", cmd.param_ptr); // 0x7 - response from RTOS
// Measure latency on RTOS core
// for (int i = 0; i < 100; i++){
// ret = ioctl(fd , RTOS_CMDQU_SEND, &cmd);
// if(ret < 0)
// {
// printf("ioctl error!\n");
// close(fd);
// }
// // printf("%d\n", cmd.resv);
// usleep(16000);
// }
close(fd);
return 0;
}Структура cmdqu_t описывает сообщение, передаваемое между ядрами. Поле IP_TYPE определяет обработчик сообщений: например, IP_SYSTEM обрабатывается нашей задачей внутри FreeRTOS, а остальные могут использоваться для взаимодействия с ISP, аудиосистемой и другими интерфейсами. Подробнее это можно изучить в полном примере задачи для FreeRTOS от Sipeed.
Существует два способа отправки сообщений по Mailbox на FreeRTOS ядро:
RTOS_CMDQU_SEND - отправка без ожидания ответа
RTOS_CMDQU_SEND_WAIT - отправка с ожиданием ответа от ядра
В текущем примере рассматривается второй вариант, так как он позволяет реализовать двустороннюю связь между ядрами. При этом связь инициируется со стороны Linux ядра, однако RTOS ядро также может в любой момент отправить сообщение на Linux.
В результате Linux клиент отправит на RTOS ядро команду с параметрами:
ip_id = IP_SYSTEM
cmd_id = SYS_CMD_INFO_LINUX
param_ptr = 0x2
После отправки он будет ожидать ответа от RTOS ядра, которое выведет отладочные сообщения в UART0 и отправит ответное сообщение с param_ptr = 0x7.
Список команд описан в enum SYS_CMD_ID. Его определения в коде Linux клиента и FreeRTOS должны совпадать, чтобы команды корректно обрабатывались. В качестве примера в SYS_CMD_ID содержится единственная команда - SYS_CMD_INFO_LINUX.
Код FreeRTOS задачи в файле comm_main.c:
/* Standard includes. */
#include <stdio.h>
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "mmio.h"
#include "delay.h"
/* cvitek includes. */
#include "printf.h"
#include "rtos_cmdqu.h"
#include "fast_image.h"
#include "cvi_mailbox.h"
#include "intr_conf.h"
#include "top_reg.h"
#include "memmap.h"
#include "comm.h"
#include "cvi_spinlock.h"
//#define __DEBUG__
#ifdef __DEBUG__
#define debug_printf printf
#else
#define debug_printf(...)
#endif
extern struct transfer_config_t transfer_config;
struct trace_snapshot_t snapshot;
typedef struct _TASK_CTX_S {
char name[32];
u16 stack_size;
UBaseType_t priority;
void (*runTask)(void *pvParameters);
u8 queLength;
QueueHandle_t queHandle;
} TASK_CTX_S;
long long lastTick = 0;
/****************************************************************************
* Function prototypes
****************************************************************************/
void prvQueueISR(void);
void prvCmdQuRunTask(void *pvParameters);
/****************************************************************************
* Global parameters
****************************************************************************/
TASK_CTX_S gTaskCtx[E_QUEUE_MAX] = {
{
.name = "ISP",
.stack_size = configMINIMAL_STACK_SIZE * 8,
.priority = tskIDLE_PRIORITY + 3,
.runTask = NULL,
.queLength = 1,
.queHandle = NULL,
},
{
.name = "VCODEC",
.stack_size = configMINIMAL_STACK_SIZE,
.priority = tskIDLE_PRIORITY + 3,
.runTask = NULL,
.queLength = 1,
.queHandle = NULL,
},
{
.name = "VI",
.stack_size = configMINIMAL_STACK_SIZE,
.priority = tskIDLE_PRIORITY + 3,
.runTask = NULL,
.queLength = 1,
.queHandle = NULL,
},
{
.name = "CAMERA",
.stack_size = configMINIMAL_STACK_SIZE,
.priority = tskIDLE_PRIORITY + 3,
.runTask = NULL,
.queLength = 1,
.queHandle = NULL,
},
{
.name = "RGN",
.stack_size = configMINIMAL_STACK_SIZE,
.priority = tskIDLE_PRIORITY + 3,
.runTask = prvRGNRunTask,
.queLength = 10,
.queHandle = NULL,
},
{
.name = "CMDQU",
.stack_size = configMINIMAL_STACK_SIZE,
.priority = tskIDLE_PRIORITY + 5,
.runTask = prvCmdQuRunTask,
.queLength = 30,
.queHandle = NULL,
},
{
.name = "AUDIO",
.stack_size = configMINIMAL_STACK_SIZE*15,
.priority = tskIDLE_PRIORITY + 3,
.runTask = prvAudioRunTask,
.queLength = 10,
.queHandle = NULL,
},
};
volatile struct mailbox_set_register *mbox_reg;
volatile struct mailbox_done_register *mbox_done_reg;
volatile unsigned long *mailbox_context; // mailbox buffer context is 64 Bytess
/****************************************************************************
* Function definitions
****************************************************************************/
QueueHandle_t main_GetMODHandle(QUEUE_HANDLE_E handle_idx)
{
if (handle_idx >= E_QUEUE_MAX)
return NULL;
return gTaskCtx[handle_idx].queHandle;
}
void main_create_tasks(void)
{
u8 i = 0;
// u8 _idx = 5;
// xTaskCreate(gTaskCtx[_idx].runTask, gTaskCtx[_idx].name, gTaskCtx[_idx].stack_size, \
// NULL, gTaskCtx[_idx].priority, NULL); \
#define TASK_INIT(_idx) \
do { \
gTaskCtx[_idx].queHandle = xQueueCreate(gTaskCtx[_idx].queLength, sizeof(cmdqu_t)); \
if (gTaskCtx[_idx].queHandle != NULL && gTaskCtx[_idx].runTask != NULL) { \
xTaskCreate(gTaskCtx[_idx].runTask, gTaskCtx[_idx].name, gTaskCtx[_idx].stack_size, \
NULL, gTaskCtx[_idx].priority, NULL); printf("IND: %d\n", _idx); \
} \
} while(0)
for (; i < ARRAY_SIZE(gTaskCtx); i++) {
TASK_INIT(i);
}
}
DEFINE_CVI_SPINLOCK(mailbox_lock, SPIN_MBOX);
void main_cvirtos(void)
{
printf("create cvi task\n");
request_irq(MBOX_INT_C906_2ND, prvQueueISR, 0, "mailbox", (void *)0);
main_create_tasks();
/* Start the tasks and timer running. */
vTaskStartScheduler();
for (;;);
}
void prvCmdQuRunTask(void *pvParameters)
{
(void)pvParameters;
cmdqu_t rtos_cmdq;
cmdqu_t *cmdq;
cmdqu_t *rtos_cmdqu_t;
static int stop_ip = 0;
int ret = 0;
int flags;
int valid;
int send_to_cpu = SEND_TO_CPU1;
unsigned int reg_base = MAILBOX_REG_BASE;
/* set mcu_status to type1 running*/
transfer_config.mcu_status = MCU_STATUS_RTOS_T1_RUNNING;
if (transfer_config.conf_magic == C906_MAGIC_HEADER)
send_to_cpu = SEND_TO_CPU1;
else if (transfer_config.conf_magic == CA53_MAGIC_HEADER)
send_to_cpu = SEND_TO_CPU0;
/* to compatible code with linux side */
cmdq = &rtos_cmdq;
mbox_reg = (struct mailbox_set_register *) reg_base;
mbox_done_reg = (struct mailbox_done_register *) (reg_base + 2);
mailbox_context = (unsigned long *) (MAILBOX_REG_BUFF);
cvi_spinlock_init();
for (;;) {
xQueueReceive(gTaskCtx[E_QUEUE_CMDQU].queHandle, &rtos_cmdq, portMAX_DELAY);
switch (rtos_cmdq.cmd_id) {
case SYS_CMD_INFO_LINUX:
/* used to send command to linux*/
rtos_cmdqu_t = (cmdqu_t *) mailbox_context;
long long currTick = xTaskGetTickCount();
printf("Elapsed: %d\n", currTick - lastTick);
lastTick = currTick;
rtos_cmdq.cmd_id = SYS_CMD_INFO_LINUX;
rtos_cmdq.param_ptr = 0x7;
rtos_cmdq.resv.valid.rtos_valid = 1;
rtos_cmdq.resv.valid.linux_valid = 0;
debug_printf("ip_id=%d cmd_id=%d param_ptr=%x\n", cmdq->ip_id, cmdq->cmd_id, (unsigned int)cmdq->param_ptr);
debug_printf("mailbox_context = %x\n", mailbox_context);
debug_printf("linux_cmdqu_t = %x\n", rtos_cmdqu_t);
debug_printf("cmdq->ip_id = %d\n", cmdq->ip_id);
debug_printf("cmdq->cmd_id = %d\n", cmdq->cmd_id);
debug_printf("cmdq->block = %d\n", cmdq->block);
debug_printf("cmdq->para_ptr = %x\n", cmdq->param_ptr);
drv_spin_lock_irqsave(&mailbox_lock, flags);
if (flags == MAILBOX_LOCK_FAILED) {
printf("[%s][%d] drv_spin_lock_irqsave failed! ip_id = %d , cmd_id = %d\n" , cmdq->ip_id , cmdq->cmd_id);
break;
}
for (valid = 0; valid < MAILBOX_MAX_NUM; valid++) {
if (rtos_cmdqu_t->resv.valid.linux_valid == 0 && rtos_cmdqu_t->resv.valid.rtos_valid == 0) {
// mailbox buffer context is 4 bytes write access
int *ptr = (int *)rtos_cmdqu_t;
cmdq->resv.valid.rtos_valid = 1;
*ptr = ((cmdq->ip_id << 0) | (cmdq->cmd_id << 8) | (cmdq->block << 15) |
(cmdq->resv.valid.linux_valid << 16) |
(cmdq->resv.valid.rtos_valid << 24));
rtos_cmdqu_t->param_ptr = cmdq->param_ptr;
printf("rtos_cmdqu_t->linux_valid = %d\n", rtos_cmdqu_t->resv.valid.linux_valid);
debug_printf("rtos_cmdqu_t->rtos_valid = %d\n", rtos_cmdqu_t->resv.valid.rtos_valid);
debug_printf("rtos_cmdqu_t->ip_id =%x %d\n", &rtos_cmdqu_t->ip_id, rtos_cmdqu_t->ip_id);
debug_printf("rtos_cmdqu_t->cmd_id = %d\n", rtos_cmdqu_t->cmd_id);
debug_printf("rtos_cmdqu_t->block = %d\n", rtos_cmdqu_t->block);
printf("rtos_cmdqu_t->param_ptr addr=%x %x\n", &rtos_cmdqu_t->param_ptr, rtos_cmdqu_t->param_ptr);
printf("*ptr = %x\n", *ptr);
// clear mailbox
mbox_reg->cpu_mbox_set[send_to_cpu].cpu_mbox_int_clr.mbox_int_clr = (1 << valid);
// trigger mailbox valid to rtos
mbox_reg->cpu_mbox_en[send_to_cpu].mbox_info |= (1 << valid);
mbox_reg->mbox_set.mbox_set = (1 << valid);
break;
}
rtos_cmdqu_t++;
}
drv_spin_unlock_irqrestore(&mailbox_lock, flags);
if (valid >= MAILBOX_MAX_NUM) {
printf("No valid mailbox is available\n");
return -1;
}
break;
}
}
}
void prvQueueISR(void)
{
printf("prvQueueISR\n");
unsigned char set_val;
// unsigned char done_val;
unsigned char valid_val;
int i;
cmdqu_t *cmdq;
BaseType_t YieldRequired = pdFALSE;
set_val = mbox_reg->cpu_mbox_set[RECEIVE_CPU].cpu_mbox_int_int.mbox_int;
/* Now, we do not implement info back feature */
// done_val = mbox_done_reg->cpu_mbox_done[RECEIVE_CPU].cpu_mbox_int_int.mbox_int;
if (set_val) {
for(i = 0; i < MAILBOX_MAX_NUM; i++) {
valid_val = set_val & (1 << i);
if (valid_val) {
printf("RX\n");
cmdqu_t rtos_cmdq;
cmdq = (cmdqu_t *)(mailbox_context) + i;
debug_printf("mailbox_context =%x\n", mailbox_context);
debug_printf("sizeof mailbox_context =%x\n", sizeof(cmdqu_t));
/* mailbox buffer context is send from linux, clear mailbox interrupt */
mbox_reg->cpu_mbox_set[RECEIVE_CPU].cpu_mbox_int_clr.mbox_int_clr = valid_val;
// need to disable enable bit
mbox_reg->cpu_mbox_en[RECEIVE_CPU].mbox_info &= ~valid_val;
// copy cmdq context (8 bytes) to buffer ASAP
*((unsigned long *) &rtos_cmdq) = *((unsigned long *)cmdq);
/* need to clear mailbox interrupt before clear mailbox buffer */
*((unsigned long*) cmdq) = 0;
/* mailbox buffer context is send from linux*/
if (rtos_cmdq.resv.valid.linux_valid == 1) {
debug_printf("cmdq=%x\n", cmdq);
debug_printf("cmdq->ip_id =%d\n", rtos_cmdq.ip_id);
debug_printf("cmdq->cmd_id =%d\n", rtos_cmdq.cmd_id);
debug_printf("cmdq->param_ptr =%x\n", rtos_cmdq.param_ptr);
debug_printf("cmdq->block =%x\n", rtos_cmdq.block);
debug_printf("cmdq->linux_valid =%d\n", rtos_cmdq.resv.valid.linux_valid);
debug_printf("cmdq->rtos_valid =%x\n", rtos_cmdq.resv.valid.rtos_valid);
switch (rtos_cmdq.ip_id) {
case IP_SYSTEM:
xQueueSendFromISR(gTaskCtx[E_QUEUE_CMDQU].queHandle, &rtos_cmdq, &YieldRequired);
break;
default:
printf("unknown ip_id =%d cmd_id=%d\n", rtos_cmdq.ip_id, rtos_cmdq.cmd_id);
break;
}
portYIELD_FROM_ISR(YieldRequired);
} else
printf("rtos cmdq is not valid %d, ip=%d , cmd=%d\n",
rtos_cmdq.resv.valid.rtos_valid, rtos_cmdq.ip_id, rtos_cmdq.cmd_id);
}
}
}
}Новые сообщения от Mailbox обрабатываются через прерывание коллбэком prvQueueISR:
request_irq(MBOX_INT_C906_2ND, prvQueueISR, 0, "mailbox", (void *)0);Сообщения с ip_type == IP_SYSTEM обрабатываются задачей под названием CMDQU и функцией prvCmdQuRunTask.
Конфигурации enum IP_TYPE, SYS_CMD_ID, SYSTEM_CMD_TYPE описываются в файле rtos_cmdqu.h (./freertos/cvitek/driver/rtos_cmdqu/include/rtos_cmdqu.h) и должны совпадать с описанием в Linux клиенте.
Файл rtos_cmdqu.h:
#ifndef __RTOS_COMMAND_QUEUE__
#define __RTOS_COMMAND_QUEUE__
#ifdef __linux__
#include <linux/kernel.h>
#endif
#define NR_SYSTEM_CMD 20
#define NR_RTOS_CMD 127
#define NR_RTOS_IP IP_LIMIT
enum IP_TYPE {
IP_ISP = 0,
IP_VCODEC,
IP_VIP,
IP_VI,
IP_RGN,
IP_AUDIO,
IP_SYSTEM,
IP_CAMERA,
IP_LIMIT,
};
enum SYS_CMD_ID {
SYS_CMD_INFO_LINUX = 0x50
};
struct valid_t {
unsigned char linux_valid;
unsigned char rtos_valid;
} __attribute__((packed));
typedef union resv_t {
struct valid_t valid;
unsigned short mstime; // 0 : noblock, -1 : block infinite
} resv_t;
typedef struct cmdqu_t cmdqu_t;
/* cmdqu size should be 8 bytes because of mailbox buffer size */
struct cmdqu_t {
unsigned char ip_id;
unsigned char cmd_id : 7;
unsigned char block : 1;
union resv_t resv;
unsigned int param_ptr;
} __attribute__((packed)) __attribute__((aligned(0x8)));
#ifdef __linux__
/* keep those commands for ioctl system used */
enum SYSTEM_CMD_TYPE {
CMDQU_SEND = 1,
CMDQU_REQUEST,
CMDQU_REQUEST_FREE,
CMDQU_SEND_WAIT,
CMDQU_SEND_WAKEUP,
CMDQU_SYSTEM_LIMIT = NR_SYSTEM_CMD,
};
#define RTOS_CMDQU_DEV_NAME "cvi-rtos-cmdqu"
#define RTOS_CMDQU_SEND _IOW('r', CMDQU_SEND, unsigned long)
#define RTOS_CMDQU_REQUEST _IOW('r', CMDQU_REQUEST, unsigned long)
#define RTOS_CMDQU_REQUEST_FREE _IOW('r', CMDQU_REQUEST_FREE, unsigned long)
#define RTOS_CMDQU_SEND_WAIT _IOW('r', CMDQU_SEND_WAIT, unsigned long)
#define RTOS_CMDQU_SEND_WAKEUP _IOW('r', CMDQU_SEND_WAKEUP, unsigned long)
int rtos_cmdqu_send(cmdqu_t *cmdq);
int rtos_cmdqu_send_wait(cmdqu_t *cmdq, int wait_cmd_id);
int request_rtos_irq(unsigned char ip_id, void *handler, const char *devname, void *dev_id);
int free_rtos_irq(unsigned char ip_id);
#endif // end of __linux__
#endif // end of __RTOS_COMMAND_QUEUE__После сборки FreeRTOS и обновления его на плате, можно проверить связь между ядрами, запустив Linux клиент.
Для отладки работы Mailbox на стороне Linux ядра можно установить уровень логирования на 8, чтобы в dmesg отображались логи Mailbox драйвера:
echo 8 > /proc/sys/kernel/printkВ итоге в UART0 будут выведены сообщения о получении RTOS ядром сообщения от Linux ядра, а Mailbox клиент на Linux выведет param_ptr, равный 0x7. Это простой пример, который ничего полезного не делает, но его достаточно, для последующей реализации более сложного протокола связи между ядрами.
NPU и Yolo
Детекция кастомной моделью 320x320 YOLOv11
NPU (Neural Processing Unit) — это специализированный процессор, предназначенный для эффективного выполнения вычислений, связанных с нейросетями. В отличие от CPU и GPU, которые могут выполнять широкий спектр задач, NPU оптимизирован специально для ускорения инференса нейронных сетей.
Преимущества использования NPU:
Высокая производительность — специализированная архитектура позволяет обрабатывать нейросетевые модели с минимальными задержками.
Низкое энергопотребление — в отличие от GPU, который требует значительного количества энергии, NPU выполняет вычисления более энергоэффективно.
Минимальное тепловыделение — благодаря оптимизированному управлению ресурсами, NPU выделяет меньше тепла, что делает его идеальным для встраиваемых систем и мобильных устройств.
Оптимизация для edge-устройств — NPU часто используется в IoT-устройствах, робототехнике и других системах, где требуется автономная работа и ограниченные аппаратные ресурсы.
В этом разделе будет продемонстрировано решение задачи детекции объектов в реальном времени с использованием YOLOv8 и YOLOv11 на NPU. Благодаря аппаратному ускорению, инференс будет выполняться быстро и эффективно.
Аналитика
Пример кода в Projects/Yolo_Benchmark.
Для сравнения производительности различных моделей YOLO был написан отдельная программа бенчмарка. Она измеряет скорость инференса каждой модели на изображениях из заданной директории.
В начале статьи был приведён график энергопотребления платы во время инференса, но только для YOLOv8n. Это связано с тем, что сложность модели не оказывает значительного влияния на энергопотребление, особенно с учётом низкой точности USB-тестера.
Для ускорения инференса на NPU применяется квантизация — уменьшение разрядности весов модели. NPU в SG2002 поддерживает работу только с весами двух разрядностей: INT8 и BF16.
INT8 обеспечивает максимальную производительность — до 1 TOPS.
BF16 даёт более высокое качество, но с меньшей скоростью работы — около 0.5 TOPS.
Однако при использовании YOLO с BF16 возникли определённые сложности, поэтому в статье рассматривается только вариант с INT8.
Ниже представлена сводная таблица, содержащая результаты измерений скорости инференса для различных версий моделей YOLO, датасетов и размеров входного изображения.
YOLOv8 INT8
Модель | COCO (128): FPS | COCO (128): FPS | 2 класса: FPS 640x640 | 2 класса: FPS 320x320 |
yolov8n | 18.1 | 70.2 | 25.2 | 82.4 |
yolov8s | 8.3 | 31.1 | 9.6 | 34.7 |
yolov8m | 3.4 | 13.4 | 3.6 | 14.0 |
YOLOv11 INT8
Модель | COCO (128): FPS | COCO (128): FPS | 2 класса: FPS 640x640 | 2 класса: FPS 320x320 |
yolov11n | 19.0 | 74.8 | 26.9 | 100.2 |
yolov11s | 8.9 | 35.1 | 10.3 | 40.2 |
yolov11m | 2.3 | 12.3 | 2.4 | 12.7 |
Графики для сравнения YOLOv11 и YOLOv8:
Графики инференса на разных моделях и датасетах
Гистограммы
Веса COCO моделей:
Модель | Вес |
yolov8n_coco_640_int8 | 3.4 Мб |
yolov8s_coco_640_int8 | 12.1 Мб |
yolov8m_coco_640_int8 | 29.2 Мб |
yolov8n_coco_320_int8 | 3.2 Мб |
yolov8s_coco_320_int8 | 11.1 Мб |
yolov8m_coco_320_int8 | 25.9 Мб |
yolov11n_coco_640_int8 | 3 Мб |
yolov11s_coco_640_int8 | 10.9 Мб |
yolov11m_coco_640_int8 | 25.8 Мб |
yolov11n_coco_320_int8 | 2.7 Мб |
yolov11s_coco_320_int8 | 9.6 Мб |
yolov11m_coco_320_int8 | 21.2 Мб |
Из бенчмарка явно видно 2 факта:
Скорость инференса связана с размером входных изображений обратно пропорционально (примерно, но не идеально линейно).
Количество детектируемых моделью классов достаточно сильно влияет на скорость инференса для N и S моделей.
В предыдущей статье о Luckfox Pico я также измерял метрику mAP для моделей, обученных на датасете COCO, но только на выборке из 128 изображений. Однако этого оказалось недостаточно для объективной оценки снижения точности после квантизации модели. В этой статье измерение качества работы модели будет проводиться только на кастомной модели.
Для быстрого теста вы можете использовать COCO-модель YOLOv8n (640x640), доступную здесь, а бинарник для инференса - здесь. Пример картинки с правильными размерами для детекции.
Кроме того, для работы с моделью YOLOv11 не требуется вносить изменения в код экспорта, конвертации или инференса.
Код бенчмарка:
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include <chrono>
#include <functional>
#include <iostream>
#include <map>
#include <sstream>
#include <string>
#include <vector>
#include "core/cvi_tdl_types_mem_internal.h"
#include "core/utils/vpss_helper.h"
#include "cvi_tdl.h"
#include "cvi_tdl_media.h"
#include <dirent.h>
#define MODEL_SCALE 0.0039216
#define MODEL_MEAN 0.0
#define MODEL_THRESH 0.5
#define MODEL_NMS_THRESH 0.5
#define READ_BUFF 512
typedef struct
{
char * model_path;
int classes;
char * test_images_path;
} Model;
CVI_S32 init_param(const cvitdl_handle_t tdl_handle, int class_cnt)
{
// setup preprocess
YoloPreParam preprocess_cfg =
CVI_TDL_Get_YOLO_Preparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION);
for (int i = 0; i < 3; i++)
{
printf("asign val %d \n", i);
preprocess_cfg.factor[i] = MODEL_SCALE;
preprocess_cfg.mean[i] = MODEL_MEAN;
}
preprocess_cfg.format = PIXEL_FORMAT_RGB_888_PLANAR;
printf("setup yolov8 param \n");
CVI_S32 ret = CVI_TDL_Set_YOLO_Preparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION,
preprocess_cfg);
if (ret != CVI_SUCCESS)
{
printf("Can not set yolov8 preprocess parameters %#x\n", ret);
return ret;
}
// setup yolo algorithm preprocess
YoloAlgParam yolov8_param =
CVI_TDL_Get_YOLO_Algparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION);
yolov8_param.cls = class_cnt;
printf("setup yolov8 algorithm param \n");
ret =
CVI_TDL_Set_YOLO_Algparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, yolov8_param);
if (ret != CVI_SUCCESS)
{
printf("Can not set yolov8 algorithm parameters %#x\n", ret);
return ret;
}
// set theshold
CVI_TDL_SetModelThreshold(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, MODEL_THRESH);
CVI_TDL_SetModelNmsThreshold(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, MODEL_NMS_THRESH);
printf("yolov8 algorithm parameters setup success!\n");
return ret;
}
int main(int argc, char *argv[])
{
int vpssgrp_width = 1920;
int vpssgrp_height = 1080;
CVI_S32 ret = MMF_INIT_HELPER2(vpssgrp_width, vpssgrp_height, PIXEL_FORMAT_RGB_888, 1,
vpssgrp_width, vpssgrp_height, PIXEL_FORMAT_RGB_888, 1);
if (ret != CVI_TDL_SUCCESS) { return ret; }
cvitdl_handle_t tdl_handle = NULL;
ret = CVI_TDL_CreateHandle(&tdl_handle);
if (ret != CVI_SUCCESS) {return ret;}
imgprocess_t img_handle;
CVI_TDL_Create_ImageProcessor(&img_handle);
char filename[] = "config.txt";
char buffer[READ_BUFF];
FILE *fp = fopen(filename, "r");
if (fp)
{
while ((fgets(buffer, READ_BUFF, fp)) != NULL)
{
if (buffer[0] != '#'){
char* token = strtok(buffer, " ");
int index = 0;
Model tmp = {filename, 2, filename};
while (token != NULL) {
switch (index)
{
case 0:
tmp.model_path = token;
break;
case 1:
tmp.classes = atoi(token);
break;
case 2:
token[strlen(token) - 1] = '\0';
tmp.test_images_path = token;
}
token = strtok(NULL, " ");
index++;
}
printf("%s:%d:%s\n", tmp.model_path, tmp.classes, tmp.test_images_path);
ret = init_param(tdl_handle, tmp.classes);
ret = CVI_TDL_OpenModel(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, tmp.model_path);
if (ret != CVI_SUCCESS) { return ret; }
DIR* dirp = opendir(tmp.test_images_path);
if (dirp == NULL) {
perror("opendir failed");
return -1;
}
struct dirent * dp;
double fps = 0.0;
double fps_sum = 0.0;
double fps_min = 1000.0;
double fps_max = 0.0;
int counter = 0;
int frame_h = 0, frame_w = 0;
while ((dp = readdir(dirp)) != NULL) {
if (!strcmp(dp->d_name, "..") || !strcmp(dp->d_name, ".")) continue; // Skip ../ path
VIDEO_FRAME_INFO_S bg;
char absFilePath[512];
sprintf(absFilePath, "%s/%s", "coco128/", dp->d_name);
ret = CVI_TDL_ReadImage(img_handle, absFilePath, &bg, PIXEL_FORMAT_RGB_888_PLANAR);
cvtdl_object_t obj_meta = {0};
std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
CVI_TDL_YOLOV8_Detection(tdl_handle, &bg, &obj_meta);
std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
fps = 1 / std::chrono::duration<double>(end - begin).count();
fps_sum += fps;
fps_max = std::max(fps_max, fps);
fps_min = std::min(fps_min, fps);
frame_h = bg.stVFrame.u32Height;
frame_w = bg.stVFrame.u32Width;
printf("IMG %s, %d: %lf\n", dp->d_name, counter, fps);
counter++;
CVI_TDL_ReleaseImage(img_handle, &bg);
}
fps_sum = fps_sum / counter;
printf("\n\n-------\nProcessed images: %d\nFrame size: %dx%d\nAVG FPS: %lf\nMin FPS: %lf\nMax FPS: %lf\n-------\n", counter, frame_h, frame_w, fps_sum, fps_min, fps_max);
}
}
fclose(fp);
}
CVI_TDL_Destroy_ImageProcessor(img_handle);
CVI_TDL_DestroyHandle(tdl_handle);
return ret;
}Обучение и конвертация
Milk-V Duo 256Процесс экспорта модели также актуален для Milk-V Duo 256, так как эта плата использует такой же SoC. Если плата работает на RISC-V ядре, то вы даже можете запускать на ней бинарники, предназначенные для LicheeRV Nano.
Этапы и общая схема процесса экспорта модели:
PyTorch model -> ONNX model -> MLIR model -> calibration -> INT8 cvimodel
Для экспорта потребуется MLIR Toolkit. В официальной документации его рекомендуется использовать внутри Docker контейнера, но чтобы инструкцией могли воспользоваться те, у кого нет возможности использовать Docker, я подготовил Jupyter Notebook для Google Colab, который позволяет выполнить экспорт модели прямо в бразуере. В ноутбуке приводится пример экспорта модели YOLOv8n, но для YOLOv11 нужно будет просто заменить название/путь модели.
Первые две части настраивают окружение: устанавливается более старая версия Python (3.10) и tpu_mlir.
Настройка Google Colab окружения
Далее выполняется экспорт весов YOLO в формат ONNX, при этом forward метод модели заменяется, поэтому для конвертации используется отдельный скрипт:
from ultralytics import YOLO
import types
import sys
input_size = (int(sys.argv[2]), int(sys.argv[3]))
def forward2(self, x):
x_reg = [self.cv2[i](x[i]) for i in range(self.nl)]
x_cls = [self.cv3[i](x[i]) for i in range(self.nl)]
return x_reg + x_cls
model_path = sys.argv[1]
model = YOLO(model_path)
model.model.model[-1].forward = types.MethodType(forward2, model.model.model[-1])
model.export(format='onnx', opset=11, imgsz=input_size)Первым аргументом он принимает путь к весам, который можно заменить на путь к весам кастомной модели. Следующие два аргумента указывают размер входного изображения. Я тестировал модели с входными размерами 640x640 и 320x320.
Экспорт модели из PyTorch в ONNX
В процессе экспорта модели из MLIR в cvimodel понадобится одна тестовая картинка (например, bus.jpg для COCO моделей). Вы можете заменить её на свою, если конвертируете кастомную YOLO модель.
Подготовка к конвертации модели в MLIR
Также через переменные окружения указываются размеры изображения (в виде строк), путь к датасету для калибровки (о нём позже), количество изображений для калибровки и название модели для экспорта (без расширения).
Следующие 3 ячейки конвертируют ONNX веса в MLIR, калибруют модель и экспортируют в cvimodel.
Экспорт в MLIR -> CVIMODEL
Аргументы команды первой ячейки:
model_def - путь к весам модели в ONNX
input_shapes - размер входных данных (в основном менять нужно только 2 последних числа, обозначающие ширину и высоту входного изображения)
mean и scale - описывают кодирование цвета, каждый цвет пикселя (r,g,b) кодируется в float от 0 до 1, а значение 0.0039216 в scale = 1/255 (1 байт на цвет)
Список всех параметров, которые принимает model_transform.py (взято из TPU MLIR Quick Start Guide, в нем можно подробнее почитать про процесс экспорта):
Все параметры экспорта в MLIR
После выполнения model_transform ONNX модель преобразуется в формат MLIR. Затем необходимо составить матрицу калибровки, которая для каждого изображения из выборки будет рассчитывать результаты, полученные оригинальной моделью и квантизированной моделью, чтобы затем сопоставить их и минимизировать ошибку, вызванную снижением разрядности весов.
Для калибровки модели COCO используется датасет COCO2017, изображения которого из коробки есть в TPU MLIR SDK. Путь к нему задаётся через переменную среды CALIBRATION_DATASET_PATH, как указано выше. Количество изображений, используемых для калибровки, настраивается в переменной CALIBRATION_IMAGES_COUNT. Рекомендуется использовать все изображения датасета для калибровки, однако для экономии времени можно выбрать только часть из них. Также возможно имеет смысл использовать для калибровки отдельный датасет, который не использовался в процессе обучения модели.
Во время калибровки инференс моделей выполняется на процессоре, без возможности переноса на GPU (CUDA). Поэтому этот этап является самым длительным в процессе конвертации модели.
В конечном итоге последняя ячейка экспортирует квантизированную модель в файл ./result/yolov8n_cv181x_int8_sym.cvimodel (имя файла зависит от начального названия модели).
Итоговая иерархия файлов
Именно эта модель будет запускаться на плате. Список всех параметров для последней команды (model_deploy.py):
Все параметры экспорта модели в cvimodel
При экспорте для SoC’а SG2002 (в MLIR используется название NPU чипа cv181x) можно использовать 2 вида квантизации: INT8 и BF16. Но при экспорте и запуске BF16 YOLO модели она не обнаруживала ни одного объекта.
Поддержка разных рамеров весов на разных NPU чипах от CVITEK
Инференс на плате
Текущий пример находится в Projects/Yolov8.
Простой пример инференса YOLO на изображении из файла.
Код инференса:
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <chrono>
#include <functional>
#include <iostream>
#include <map>
#include <sstream>
#include <string>
#include <vector>
#include "core/cvi_tdl_types_mem_internal.h"
#include "core/utils/vpss_helper.h"
#include "cvi_tdl.h"
#include "cvi_tdl_media.h"
#define MODEL_SCALE 0.0039216
#define MODEL_MEAN 0.0
#define MODEL_CLASS_CNT 80
#define MODEL_THRESH 0.8
#define MODEL_NMS_THRESH 0.8
// set preprocess and algorithm param for yolov8 detection
// if use official model, no need to change param (call this function)
CVI_S32 init_param(const cvitdl_handle_t tdl_handle)
{
// setup preprocess
YoloPreParam preprocess_cfg =
CVI_TDL_Get_YOLO_Preparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION);
for (int i = 0; i < 3; i++)
{
printf("asign val %d \n", i);
preprocess_cfg.factor[i] = MODEL_SCALE;
preprocess_cfg.mean[i] = MODEL_MEAN;
}
preprocess_cfg.format = PIXEL_FORMAT_RGB_888_PLANAR;
printf("setup yolov8 param \n");
CVI_S32 ret = CVI_TDL_Set_YOLO_Preparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION,
preprocess_cfg);
if (ret != CVI_SUCCESS)
{
printf("Can not set yolov8 preprocess parameters %#x\n", ret);
return ret;
}
// setup yolo algorithm preprocess
YoloAlgParam yolov8_param =
CVI_TDL_Get_YOLO_Algparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION);
yolov8_param.cls = MODEL_CLASS_CNT;
printf("setup yolov8 algorithm param \n");
ret =
CVI_TDL_Set_YOLO_Algparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, yolov8_param);
if (ret != CVI_SUCCESS)
{
printf("Can not set yolov8 algorithm parameters %#x\n", ret);
return ret;
}
// set theshold
CVI_TDL_SetModelThreshold(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, MODEL_THRESH);
CVI_TDL_SetModelNmsThreshold(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, MODEL_NMS_THRESH);
printf("yolov8 algorithm parameters setup success!\n");
return ret;
}
int main(int argc, char *argv[])
{
int vpssgrp_width = 1920;
int vpssgrp_height = 1080;
CVI_S32 ret = MMF_INIT_HELPER2(vpssgrp_width, vpssgrp_height, PIXEL_FORMAT_RGB_888, 1,
vpssgrp_width, vpssgrp_height, PIXEL_FORMAT_RGB_888, 1);
if (ret != CVI_TDL_SUCCESS)
{
printf("Init sys failed with %#x!\n", ret);
return ret;
}
cvitdl_handle_t tdl_handle = NULL;
ret = CVI_TDL_CreateHandle(&tdl_handle);
if (ret != CVI_SUCCESS)
{
printf("Create tdl handle failed with %#x!\n", ret);
return ret;
}
std::string strf1(argv[2]);
// change param of yolov8_detection
ret = init_param(tdl_handle);
ret = CVI_TDL_OpenModel(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, argv[1]);
if (ret != CVI_SUCCESS)
{
printf("open model failed with %#x!\n", ret);
return ret;
}
imgprocess_t img_handle;
CVI_TDL_Create_ImageProcessor(&img_handle);
VIDEO_FRAME_INFO_S bg;
ret = CVI_TDL_ReadImage(img_handle, strf1.c_str(), &bg, PIXEL_FORMAT_RGB_888_PLANAR);
if (ret != CVI_SUCCESS)
{
printf("open img failed with %#x!\n", ret);
return ret;
}
else
{
printf("image read,width:%d\n", bg.stVFrame.u32Width);
printf("image read,hidth:%d\n", bg.stVFrame.u32Height);
}
cvtdl_object_t obj_meta = {0};
std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
CVI_TDL_YOLOV8_Detection(tdl_handle, &bg, &obj_meta);
std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
double fps = 1 / std::chrono::duration<double>(end - begin).count();
printf("\n\n----------\nDetection FPS: %lf\nDetected objects cnt: %d\n\nDetected objects:\n", fps, obj_meta.size);
for (uint32_t i = 0; i < obj_meta.size; i++)
{
printf("x1 = %lf, y1 = %lf, x2 = %lf, y2 = %lf, cls: %d, score: %lf\n", obj_meta.info[i].bbox.x1, obj_meta.info[i].bbox.y1, obj_meta.info[i].bbox.x2, obj_meta.info[i].bbox.y2, obj_meta.info[i].classes, obj_meta.info[i].bbox.score);
}
CVI_TDL_ReleaseImage(img_handle, &bg);
CVI_TDL_DestroyHandle(tdl_handle);
CVI_TDL_Destroy_ImageProcessor(img_handle);
return ret;
}CMakeLists.txt:
cmake_minimum_required(VERSION 3.10)
project(sample_yolov8)
set(CMAKE_C_COMPILER "$ENV{COMPILER}/riscv64-unknown-linux-musl-g++")
set(CMAKE_CXX_FLAGS "-march=rv64imafd -O3 -DNDEBUG -D_MIDDLEWARE_V2_ -DC906 -DUSE_TPU_IVE -fsigned-char -Werror=all -Wno-format-truncation -fdiagnostics-color=always -s")
include_directories(
$ENV{SDK_PATH}/cvitek_tdl_sdk/include
$ENV{SDK_PATH}/cvitek_tdl_sdk/include/cvi_tdl
$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/middleware/v2/include
$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/middleware/v2/include/linux
)
set(SOURCE_FILES main.c)
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
file(MAKE_DIRECTORY ${EXECUTABLE_OUTPUT_PATH})
add_executable(sample_yolov8 ${SOURCE_FILES})
target_link_libraries(sample_yolov8
-mcpu=c906fdv
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/middleware/v2/lib
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/middleware/v2/lib/3rd
-lini -lsns_full -lsample -lisp -lvdec -lvenc -lawb -lae -laf -lcvi_bin -lcvi_bin_isp -lmisc -lisp_algo -lsys -lvpu
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/opencv/lib
-lopencv_core -lopencv_imgproc -lopencv_imgcodecs
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/tpu/lib
-lcnpy -lcvikernel -lcvimath -lcviruntime -lz -lm
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/ive/lib
-lcvi_ive_tpu
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/lib
-lcvi_tdl
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/lib
-lpthread -latomic
)Функция init_param настраивает параметры модели: scale, mean, количество классов, тип модели (для YOLOv11 подходит тип модели YOLOv8). В начале есть несколько дефайнов, значения которых используются при инициализации:
MODEL_SCALE = 0.0039216 - scale цветов, такой же как при экспорте в TPU MLIR
MODEL_MEAN = 0.0 - mean цветов, такой же при экспорте в TPU MLIR
MODEL_CLASS_CNT = 80 - количество классов, которые детектирует модель (в данном случае COCO - 80 классов)
MODEL_THRESH = 0.8 - порог фильтра детекции объектов
MODEL_NMS_THRESH = 0.8 - порог NMS фильтра
Собрать пример можно локально на Linux компьютере или в Google Colab ноутбуке.
Ячейка для сборки примера Yolov8 в Google Colab ноутбуке
При сборке потребуется наличие TDL SDK, скачать его можно здесь, затем его необходимо распаковать:
tar xvf cvitek_tdl_sdk_1228.tar.gz -C CVI_SDK
export COMPILER_PATH="путь к кросс-компилятору"
export SDK_PATH="путь к директории CVI_SDK, в которой находится cvitek_tdl_sdk"Компиляция:
mkdir build && cd build
cmake ..
makeЗапуск на плате:
# установка LD_LIBRARY_PATH (если не автоматизировали в /etc/profile)
export LD_LIBRARY_PATH=/root/libs_patch/lib:/root/libs_patch/middleware_v2:/root/libs_patch/middleware_v2_3rd:/root/libs_patch/tpu_sdk_libs:/root/libs_patch:/root/libs_patch/opencv
./sample_yolov8 yolov8n_coco_640.cvimodel bus_640.jpgВ качестве аргументов запуска необходимо подавать путь к весам и путь к тестовому изображению. Его пропорции должны совпадать с пропорциями входных размеров модели (т.е. в модель 320x320 можно подать изображение 640x640, но нельзя подать 640x480).
Пример работы:
# ./sample_yolov8 yolov8n_coco_640.cvimodel bus_640.jpg
---------------------openmodel-----------------------version: 1.4.0
yolov8n Build at 2025-01-17 12:48:09 For platform cv181x
Max SharedMem size:2457600
---------------------to do detection-----------------------
image read,width:640
image read,hidth:640
----------
Detection FPS: 18.177214
Detected objects cnt: 5
Detected objects:
x1 = 42.027672, y1 = 234.737930, x2 = 189.531281, y2 = 536.424988, cls: 0, score: 0.866496
x1 = 529.857666, y1 = 230.736252, x2 = 639.212769, y2 = 520.091125, cls: 0, score: 0.866496
x1 = 4.051300, y1 = 135.388489, x2 = 637.122925, y2 = 445.642975, cls: 5, score: 0.832456
x1 = 176.457748, y1 = 242.180679, x2 = 272.009369, y2 = 508.060699, cls: 0, score: 0.832456
x1 = 0.000000, y1 = 326.076141, x2 = 59.022076, y2 = 516.136963, cls: 0, score: 0.566403
В следующем разделе будет рассмотрен пример с детекцией в реальном времени с CSI-камеры и визуализацией работы в MJPEG стриме.
Кастомная модель
Кастомная модель будет детектировать два класса: красные и синие посадочные полотна для FPV дронов:
При дневном освещении кадры получаются великолепные, хорошая камера, только автофокуса не хватает
Аналитика датасета:
Изображений в датасете достаточно мало
Распределение
Области разметки
В качестве базовой модели будет использоваться YOLOv11n, так как она работает немного быстрее YOLOv8n. Модель обучалась с дефолтными гиперпараметрами на 50-ти эпохах.
Графики метрик в процессе обучения:
Метрики в процессе обучения
Матрица несоответствий при определении классов:
Все классы детектируются корректно
Текущий пример находится в Projects/YoloCamera.
Пример кода с чтением кадров с CSI-камеры и стримингом визуализации детектирования в MJPEG:
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <chrono>
#include <functional>
#include <map>
#include <sstream>
#include <string>
#include <vector>
#include <signal.h>
#include "core/cvi_tdl_types_mem_internal.h"
#include "core/utils/vpss_helper.h"
#include "cvi_tdl.h"
#include "cvi_tdl_media.h"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "MJPEGWriter.h"
#define MODEL_SCALE 0.0039216
#define MODEL_MEAN 0.0
#define MODEL_CLASS_CNT 2
#define MODEL_THRESH 0.2
#define MODEL_NMS_THRESH 0.2
#define BLUE_MAT cv::Scalar(255, 0, 0)
#define RED_MAT cv::Scalar(0, 0, 255)
volatile uint8_t interrupted = 0;
void interrupt_handler(int signum)
{
printf("Signal: %d\n", signum);
interrupted = 1;
}
// set preprocess and algorithm param for yolov8 detection
// if use official model, no need to change param (call this function)
CVI_S32 init_param(const cvitdl_handle_t tdl_handle)
{
// setup preprocess
YoloPreParam preprocess_cfg =
CVI_TDL_Get_YOLO_Preparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION);
for (int i = 0; i < 3; i++)
{
printf("asign val %d \n", i);
preprocess_cfg.factor[i] = MODEL_SCALE;
preprocess_cfg.mean[i] = MODEL_MEAN;
}
preprocess_cfg.format = PIXEL_FORMAT_RGB_888_PLANAR;
printf("setup yolov8 param \n");
CVI_S32 ret = CVI_TDL_Set_YOLO_Preparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION,
preprocess_cfg);
if (ret != CVI_SUCCESS)
{
printf("Can not set yolov8 preprocess parameters %#x\n", ret);
return ret;
}
// setup yolo algorithm preprocess
YoloAlgParam yolov8_param =
CVI_TDL_Get_YOLO_Algparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION);
yolov8_param.cls = MODEL_CLASS_CNT;
printf("setup yolov8 algorithm param \n");
ret =
CVI_TDL_Set_YOLO_Algparam(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, yolov8_param);
if (ret != CVI_SUCCESS)
{
printf("Can not set yolov8 algorithm parameters %#x\n", ret);
return ret;
}
// set theshold
CVI_TDL_SetModelThreshold(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, MODEL_THRESH);
CVI_TDL_SetModelNmsThreshold(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, MODEL_NMS_THRESH);
printf("yolov8 algorithm parameters setup success!\n");
return ret;
}
int main(int argc, char *argv[])
{
signal(SIGINT, interrupt_handler);
MJPEGWriter test(7777);
cv::VideoCapture cap;
cv::Mat bgr;
cap.open(0);
// cap.set(cv::CAP_PROP_FRAME_WIDTH, 320);
// cap.set(cv::CAP_PROP_FRAME_HEIGHT, 320);
cap >> bgr;
test.write(bgr);
test.start();
printf("Pointer for High-Level code: %p\n", cap.image_ptr);
VIDEO_FRAME_INFO_S *frame_ptr = (VIDEO_FRAME_INFO_S *)cap.image_ptr;
CVI_S32 ret;
// VSSGRP already inited by VideoCapture from OpenCV Mobile, second init will do some strange and cause memory problems
cvitdl_handle_t tdl_handle = NULL;
ret = CVI_TDL_CreateHandle(&tdl_handle);
if (ret != CVI_SUCCESS)
{
printf("Create tdl handle failed with %#x!\n", ret);
return ret;
}
cap >> bgr;
// cv::imwrite("captured.jpg", bgr);
VIDEO_FRAME_INFO_S frame = *frame_ptr;
// change param of yolov8_detection
ret = init_param(tdl_handle);
ret = CVI_TDL_OpenModel(tdl_handle, CVI_TDL_SUPPORTED_MODEL_YOLOV8_DETECTION, argv[1]);
if (ret != CVI_SUCCESS)
{
printf("open model failed with %#x!\n", ret);
return ret;
}
printf("image read,width:%d\n", frame.stVFrame.u32Width);
printf("image read,hidth:%d\n", frame.stVFrame.u32Height);
while (!interrupted)
{
cap >> bgr;
VIDEO_FRAME_INFO_S frame = *frame_ptr;
cvtdl_object_t obj_meta = {0};
// std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
CVI_TDL_YOLOV8_Detection(tdl_handle, &frame, &obj_meta);
// std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
// double fps = 1 / std::chrono::duration<double>(end - begin).count();
// printf("\n\n----------\nDetection FPS: %lf\nDetected objects cnt: %d\n\nDetected objects:\n", fps, obj_meta.size);
for (uint32_t i = 0; i < obj_meta.size; i++)
{
// printf("x1 = %lf, y1 = %lf, x2 = %lf, y2 = %lf, cls: %d, score: %lf\n", obj_meta.info[i].bbox.x1, obj_meta.info[i].bbox.y1, obj_meta.info[i].bbox.x2, obj_meta.info[i].bbox.y2, obj_meta.info[i].classes, obj_meta.info[i].bbox.score);
cv::Rect r = cv::Rect(obj_meta.info[i].bbox.x1, obj_meta.info[i].bbox.y1, obj_meta.info[i].bbox.x2 - obj_meta.info[i].bbox.x1, obj_meta.info[i].bbox.y2 - obj_meta.info[i].bbox.y1);
if (obj_meta.info[i].classes == 0)
cv::rectangle(bgr, r, BLUE_MAT, 1, 8, 0);
else if (obj_meta.info[i].classes == 1)
cv::rectangle(bgr, r, RED_MAT, 1, 8, 0);
cv::putText(bgr,
"Mat",
cv::Point(obj_meta.info[i].bbox.x1, obj_meta.info[i].bbox.y1 - 5),
cv::FONT_HERSHEY_DUPLEX,
1.0,
(obj_meta.info[i].classes == 0) ? BLUE_MAT : RED_MAT,
1);
}
test.write(bgr);
bgr.release();
}
printf("Stopping stream:\n");
test.stop();
cap.release();
CVI_TDL_DestroyHandle(tdl_handle);
return ret;
}CMakeLists.txt:
cmake_minimum_required(VERSION 3.10)
project(stream_yolov8)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_C_COMPILER "$ENV{COMPILER}/riscv64-unknown-linux-musl-g++")
SET(CMAKE_CXX_COMPILER "$ENV{COMPILER}/riscv64-unknown-linux-musl-g++")
SET(CMAKE_C_LINK_EXECUTABLE "$ENV{COMPILER}/riscv64-unknown-linux-musl-ld")
set(CMAKE_CXX_FLAGS "-march=rv64imafd -O3 -DNDEBUG -D_MIDDLEWARE_V2_ -DC906 -DUSE_TPU_IVE -fsigned-char -Werror=all -Wno-format-truncation -fdiagnostics-color=always -s")
set(OpenCV_DIR "${CMAKE_CURRENT_SOURCE_DIR}/libs/opencv-mobile-4.10.0-licheerv-nano/lib/cmake/opencv4")
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(
$ENV{SDK_PATH}/cvitek_tdl_sdk/include
$ENV{SDK_PATH}/cvitek_tdl_sdk/include/cvi_tdl
$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/middleware/v2/include
$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/middleware/v2/include/linux
$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/middleware/v2/include/isp/cv181x
$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/utils
$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/rtsp/include/cvi_rtsp
# ${OpenCV_INCLUDE_DIRS}
)
set(SOURCE_FILES main.c)
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
file(MAKE_DIRECTORY ${EXECUTABLE_OUTPUT_PATH})
add_executable(stream_yolov8 MJPEGWriter.cpp ${SOURCE_FILES})
target_link_libraries(stream_yolov8
-mcpu=c906fdv
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/middleware/v2/lib
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/middleware/v2/lib/3rd
-lini -lsns_full -lsample -lisp -lvdec -lvenc -lawb -lae -laf -lcvi_bin -lcvi_bin_isp -lmisc -lisp_algo -lsys -lvpu
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/opencv/lib
-lopencv_core -lopencv_imgproc -lopencv_imgcodecs
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/tpu/lib
-lcnpy -lcvikernel -lcvimath -lcviruntime -lz -lm
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/ive/lib
-lcvi_ive_tpu
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/lib
-lcvi_tdl
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/3rd/lib
-L$ENV{SDK_PATH}/cvitek_tdl_sdk/sample/utils
-lpthread -latomic
${OpenCV_LIBS}
)Важным отличием от примера инференса без OpenCV Mobile является отсутствие инициализации VPSS:
CVI_S32 ret = MMF_INIT_HELPER2(vpssgrp_width, vpssgrp_height, PIXEL_FORMAT_RGB_888, 1,
vpssgrp_width, vpssgrp_height, PIXEL_FORMAT_RGB_888, 1);Эта инициализация выполняется внутри VideoCapture.open в OpenCV Mobile. Повторный вызов приводит к проблемам и некорректной работе TDL SDK.
OpenCV Mobile под капотом читает кадры с камеры с помощью методов TDL SDK, который возвращает кадры в виде структуры VIDEO_FRAME_INFO_S (изображение в такой структуре необходимо передавать на инференс). А затем конвертирует их в cv::Mat. Обратная конвертация cv::Mat в VIDEO_FRAME_INFO_S после чтения кадра выглядит неэффективно. Поэтому в OpenCV Mobile я добавил возможность получать из основного кода указатель на оригинальное прочитанное с камеры изображение в формате VIDEO_FRAME_INFO_S.
В результате стало возможным работать сразу с двумя одинаковыми кадрами: один используется для инференса (VIDEO_FRAME_INFO_S), а второй (cv::Mat) — для визуализации средствами OpenCV Mobile:
cv::VideoCapture cap;
cv::Mat bgr;
cap.open(0);
cap >> bgr;
VIDEO_FRAME_INFO_S *frame_ptr = (VIDEO_FRAME_INFO_S *)cap.image_ptr;
// …
VIDEO_FRAME_INFO_S frame = *frame_ptr;
CVI_TDL_YOLOV8_Detection(tdl_handle, &frame, &obj_meta);В итоге после запуска программы на платы на 7777 порту можно наблюдать MJPEG стрим с визуализацией детекции YOLO (в видео работает модель на изображения 320x320):
Ниже ссылка на видео в нормальном качестве
В итоге стабильная детекция происходит на расстоянии до 2-2.5 метров. Добиться детектирования на большем расстоянии можно, расширив датасет, так как в текущем датасете все полотна были на удалении до 1 метра.
LLM
Текущий пример находится в Projects/LLama.
Инференс LLM на NPU реализовать пока не удалось, но лёгкие модели достаточно быстро работают на процессоре. В качестве примера будет продемонстрирован запуск llama2 - реализация архитектуры LLama на Си. Готовые бинарники и модели можно скачать здесь.
Для компиляции нужно сначала скачать исходники llama2.c, а затем применить небольшой патч, который изменит параметры компилятора:
git clone https://github.com/karpathy/llama2.c
cd llama2.cПрименение патча и компиляция:
patch -p1 -i ../compilation_fixes.patch
export COMPILER=... # Путь к директории с кросс-компилятором
makeИсходник патча:
Сборка со всеми флагами для оптимизации
Теперь на плату надо скопировать run, а также tokenizer.bin и веса модели, в качестве примера возьмём stories15M.bin.
В итоге модель на 15 миллионов параметров работает на плате со скоростью ~8 токенов в секунду.
Для более сложных моделей, например tinyllama, требуется портирование инференса на NPU, которым я пока не занимался, но возможно это станет темой для следующих статей.
Заключение
LicheeRV Nano — компактная, но мощная платформа, объединяющая возможности Linux, FreeRTOS и встроенного нейропроцессора (NPU), что делает её перспективным решением для встраиваемых систем и робототехники. В этой статье были рассмотрены основные возможности платы, примеры работы с периферией и запуск инференса нейросетей.
Одним из ключевых направлений развития подобных устройств является интеграция NPU в робототехнические системы. Использование аппаратного ускорения для машинного зрения и других задач ИИ позволяет значительно повысить производительность и энергоэффективность автономных решений.
В следующей части будет рассмотрен практический проект, демонстрирующий, как возможности LicheeRV Nano могут быть использованы для решения реальных задач.
Напомню, что все дополнительные материалы по плате можно найти здесь.
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30.03.25 06:22
grace111
I recommend Marie ([email protected] and WhatsApp: +1 7127594675) for recovering lost or stolen bitcoin, USDT, or any other cryptocurrency from fraudulent investment sites because they are very knowledgeable in the industry and will reimburse all of your money. I can say with confidence that she was the only one who was able to credit my account with $52,760 of the money that had gone missing, based on my prior transactions with them. She was the only one who could. Since they are the only ones that can fully return your missing funds to your account without any deductions, I sincerely appreciate their job and am recommending her to you today.
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31.03.25 11:00
maryjul75
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02.04.25 23:16
frederickhandy
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02.04.25 23:18
frederickhandy
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03.04.25 07:57
messijohn
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03.04.25 10:58
elizabethrush89
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03.04.25 10:58
elizabethrush89
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04.04.25 09:49
mkihn634
When my $870,000 Bitcoin investment was trapped in the crumbling ruins of an offshore exchange, I felt as if my financial future had been buried at sea. It was meant to be my safety net, a shield against life’s uncertainties, but now it seemed like nothing more than a digital ghost. Each news update about the exchange's insolvency hit me like a tidal wave, dragging my hope under. It was a sleepless night, scanning through horror stories in forums as other people were losing everything. I could see my dreams flying out the window. That is until a former client, who had weathered a similar storm, said GRAYWARE TECH SERVICES in a hushed but confident tone. "They are the best there is," he said. "They were like detectives and lawyers.". Desperation drove me to call them, and in the initial discussion, I knew I was dealing with experts who had experienced everything. Their legal experts were well-versed with international financial rules like the back of their hands. They deciphered the network of shell corporations and offshore locations quicker than I could update my email. Their technical team, no less relentless, followed the transaction trails with precision akin to a surgeon. What impressed me most was their thoroughness. Every update came with legal documentation so polished it looked fit for a courtroom. They liaised with authorities across borders, cutting through red tape with the precision of a seasoned diplomat. When obstacles arose, and they did, the team adapted without breaking stride. Their persistence became my anchor. Exactly 27 days after my initial call, I received an email that made my heart skip. My Bitcoin had been recovered and safely transferred to my new secure wallet. I stared at the screen, tears mixing with disbelief and relief. GRAYWARE TECH SERVICES not only retrieved my money but also restored my faith in getting finances. They guided me through the entire process of protecting my assets in this unstable world known as the online space. I now sleep soundly knowing that an impenetrable system shields my backside, thanks to their assistance. Their legal acumen is as sharp as their technological prowess. I owe my financial future to their tireless work. They truly are the guardians of the digital age. You can reach them on web at ( https://graywaretechservices.com/ ) also on Mail: ([email protected]) whatsapp (+18582759508)
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06.04.25 02:29
famousmullica
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06.04.25 11:30
maryjul75
As at September this year I got scammed by a fake investment broker, they took my savings, happiness, health, hope, trust and left me in tears and agony. My next thought was capitalized on suicide attempts, I also tried two different hackers who lured me to borrow for my colleagues but yet another scam. I saw a link on my Facebook group which I joined and luckily I came across www.fastrecoveryagent.com, they work in hand with the FBI in the united states. So I reported my case with evidence of payment made to the so-called investment broker, the ic3 investigator's carried out investigation to confirm if I was also tell the truth and after they must have concluded on my case I received back my money. I'm so grateful for your help today, words alone can't show how Happy and Alive I'm ever since I came across your great works. Thanks once more.
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07.04.25 11:16
Lindaporche5
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07.04.25 11:16
Lindaporche5
They froze my $275K in Bitcoin. Blockchain cyber retrieve took actions. Running a startup in Nigeria is already a wild ride power cuts, red tape, and FX rates that dance like Afrobeats. But the day the government banned crypto transactions? Game over. My funds were locked in an exchange wallet. No access, No help I tried everything VPNs, New accounts Support bots. Nothing changed, Then someone in a Signal group dropped the name: BLOCKCHAIN CYBER RETRIEVE. These folks didn’t fight the exchange they outsmarted it. Peer-to-peer protocols. DeFi tools. Secure escrow networks. Nine days later, I got the email “Wallet restored. Check your balance. Every Single Satoshi. Was back. Since then? Fully decentralized, Unbothered, Unbanked. Whenever new laws try to stifle African innovation, I just sip palm wine and say: Let them try. We’ve got BLOCKCHAIN CYBER RETRIEVE now.” CONTACT THEM: Whatsapp +1, 5,2,0, 5,6,4, 8,3 0 0 Email: B L O C K C H A I N C Y B E R R E T R I E V E @ P O S T . C O M OR SUPPORT @ B L O C K C H A I N C Y B E R R E T R I E V E .O R G
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07.04.25 18:09
rashmiramesh
I was introduced to crypto by my son a few years ago, I invested in USDT and BTC using Binance, I have several accounts including personal bank accounts so I was unable to keep up with all of them and ended up forgetting my secret codes used in accessing the account, I asked my son to help me since he had introduced me Crypto, unfortunately he gave me bad news that I had lost my investment, I was so heartbroken considering I had invested my life saving of $70,700, I narrated my ordeal to one of my friends who happened to know someone who had a similar experience, so after I met him he directed to where he got help, he told me that LEE ULTIMATE HACKER who were able to help him with his recovery problem, I quickly contacted them to help me with my lost funds, I was a bit skeptical about it coz of what I had gone through the last few days, the frustration and anxiety was getting to me, after contacting LEE ULTIMATE HACKER one of their team members took me through the recovery process explaining on how it works and what was required from my end ,he informed me that it would take 12 hours for my funds to be recovered, I was so anxious but they assured me that all will be well and soon enough I will be able to have full control of my wallet, true to their word LEE ULTIMATE HACKER team were able to recover my wallet and I was able to access and change my log ins to my wallet, I was so happy and I couldn’t believe it I logged in and out of my account a few times just to be sure, for any lost crypto contact LEE ULTIMATE HACKER via LEEULTIMATEHACKER @ AOL . COM telegram: LEEULTIMATE wh@tsapp +1 (715) 314 - 9248 the solution to all your recovery problems.
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07.04.25 18:32
elizabethrush89
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07.04.25 18:32
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: Recovercapital AT cyberservices. com Contact Telegram: @Capitalcryptorecover
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07.04.25 21:03
elizabethrush89
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08.04.25 03:00
natashaohnson
Working in conflict zones means improvising. When normal banking channels failed us, our NGO relied on Bitcoin to buy medical supplies directly. It worked, until a missile strike took out our field office, along with the hardware wallet that stored $410,000 in funds. Overnight, our ability to deliver life-saving aid is paralyzed. Amidst the chaos, I reached out to contacts in the humanitarian world. A UN aid worker whispered a name: Cyber Constable Intelligence. "They're the ones who can help you recover lost crypto," he assured me. Despair and hope clashed as I dialed their team on a satellite phone in a conflict zone. What followed was nothing short of a virtual rescue mission. Cyber Constable Intelligence's blockchain forensic experts didn't simply "recover" our assets; they improvised a fix like battlefield medics performing triage. They tracked our wallet's blockchain timestamps, reconstructing lost credentials from synced backups and transaction history. Working under direst duress, we communicated information between spotty internet and backup power sources. Cyber Constable Intelligence team members improvised, rendering security protocols impenetrable as they worked through the jurisdictional nightmares of working within war zones. Every update from them was a pulse that kept our mission alive. After our last available backup failed, they instituted a complex cryptographic reconstruction technique, a process I still don't understand, but it worked. Twelve days later, my satellite device displayed a message: "Access restored. Funds secured." It was not money. It was bandages, antibiotics, clean water, and hope. Thanks to Cyber Constable Intelligence, we replenish our medical supplies, ensuring that patients, innocent victims who had been caught in the crossfire, received the treatment they deserved. More than restoration, they advised us on decentralized storage and multi-signature security for long-term durability. We don't simply utilize Bitcoin presently; we utilize it astutely. Now, each time I sign a crypto transaction, I remember that minute, receiving life-saving medication that might not have come but for this group. In times of war, not every hero wears a uniform. Some carry keyboards, hunting down lost assets and securing humanitarian aid. Cyber Constable Intelligence not only restored our crypto, they kept our mission in the battle. If you think Bitcoin is just an investment, think again. To us, it's a lifeline. CYBER CONSTABLE INTELLIGENCE INFO: WhatsApp: 1 252378-7611 Website info; www.cyberconstableintelligence.com Email Info [email protected] Telegram Info: https://t.me/cyberconstable
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10.04.25 23:26
patricialovick86
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10.04.25 23:27
patricialovick86
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11.04.25 00:48
patricialovick86
How To Recover Your Bitcoin Without Falling Victim To Scams: A Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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11.04.25 03:20
edwardoelliott6
PROFESSIONAL MONEY RECOVERY AGENCY → FOLKWIN EXPERT RECOVERY. Hi, I’m sharing my ordeal today because I know many of you could be in the same situation, and I want to help you avoid the same mistake I made. A little over a month ago, I came across what seemed like an incredible deal for a movie streaming service. They promised all the latest movies, TV shows, and exclusive content for a very reasonable price. They were offering an annual subscription for just $39,000, which seemed like a great deal at the time when compared to some of the larger streaming services out there. I should’ve known something was off from the start. The website looked pretty legitimate, had professional graphics, and even customer reviews that were mostly positive. But there were no big, recognizable brand names behind it, and the service was claiming to have content from major studios, which raised a red flag I didn't fully process. Still, the deal was tempting, and after doing a quick search online (which, in hindsight, wasn’t thorough enough), I decided to go ahead and sign up. I paid the $39,000 upfront for the annual subscription, thinking that I was getting access to all the movies and shows I’d ever wanted. At first, everything seemed fine. I received an email confirming my subscription and even a receipt. But a few days later, when I went back to the site to browse content, I couldn’t get in. The site was down, and there was no way to contact anyone. I waited a few days, hoping it was just a technical issue. But then, I started doing some more research and realized that others had fallen victim to the same scam. The website had disappeared, and no one could find any trace of the company behind it. I was furious. I had just lost $39,000, and it seemed like there was no way to get it back. That's when I came across Folkwin Expert Recovery. They specialize in helping people recover funds from online scams like this. I was skeptical at first, but after reading reviews and seeing their success stories, I decided to give them a try. The team at Folkwin Expert Recovery was extremely professional. They asked for all the details about my transaction, including the payment method, and got to work right away. Within just a few days, I received updates from them, and eventually, they successfully recovered my $39,000. It felt like a huge weight was lifted off my shoulders. I honestly didn’t think it was possible to get my money back, but thanks to Folkwin Expert Recovery, I did. If you ever find yourself in a similar situation, I highly recommend reaching out to them. FOLKWINEXPERTRECOVERY(at)TECH-CENTER.C OM, TELEGRAM: @FOLKWIN_EXPERT_RECOVERY . They made the process simple and stress-free, and they delivered on their promises. Just remember to always be cautious when dealing with online subscriptions, especially if something feels too good to be true. Stay safe out there! Best Regards, Edward O. Elliott.
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11.04.25 08:10
Beatrice Gallagher
I was defrauded of $78,000 by an individual I met online who was involved in a fraudulent investment endeavour. I initiated a search for legal assistance to retrieve my funds, and I encountered numerous testimonies regarding a criminal named RecoveryHacker101. I contacted them and provided the requisite information. The experts were able to locate and assist in the recovery of my misappropriated funds within approximately 36 hours. The fraudster was apprehended and apprehended by local authorities in his region, which is a source of immense relief for me. I trust that this information will be beneficial to the numerous individuals who have fallen victim to these fraudulent online investment scams. Their professional services are highly recommended for those in need of prompt and effective recovery assistance. If you require their services, you may only contact them via email at RecoveryHacker101[at]gmail[dot]com.
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13.04.25 01:13
michaeldavenport218
I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance, contact [email protected] Capital Crypto Recover on Telegram OR Call Number +1 (336)390-6684 via email: [email protected]
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13.04.25 01:13
michaeldavenport218
I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance, contact [email protected] Capital Crypto Recover on Telegram OR Call Number +1 (336)390-6684 via email: [email protected]
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14.04.25 23:44
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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17.04.25 03:56
tylerkevin
I discovered CheapCrypto net while searching for a cryptocurrency trading platform that promised lower fees and better arbitrage opportunities than the well-known Binance. Intrigued by the potential for profit, I decided to take a leap of faith and exchanged approximately $45,700.567 worth of USDC for Ethereum. Initially, everything seemed to be going smoothly, and I felt optimistic about my investment.However, when I attempted to transfer my newly acquired Ethereum to my main crypto wallet, I encountered a significant problem. The website repeatedly displayed a message saying, "Trying again…" but my funds remained stuck on CheapCrypto net. As the minutes turned into hours, panic set in. I began to realize that I might have fallen victim to scammers.Desperate for a solution, I started researching ways to recover my lost funds. That’s when I came across DUNAMIS CYBER SOLUTION, a service that specializes in helping individuals recover lost or stolen cryptocurrency. Their reputation for assisting victims of scams and fraudulent platforms gave me a glimmer of hope. I reached out to them, explaining my situation and the challenges I faced with CheapCrypto net.The team at DUNAMIS CYBER SOLUTION was incredibly responsive and professional. They guided me through the process of documenting my transaction and provided me with the necessary steps to initiate a recovery request. Their expertise in dealing with similar cases was evident, and I felt reassured that I was in capable hands.Within a short period, Y DUNAMIS CYBER SOLUTION began their investigation into CheapCrypto net. They utilized advanced tracking techniques to trace the flow of my funds and identify the scammers behind the platform. Their thorough approach and commitment to helping me recover my lost assets were impressive.After a few days of diligent work, I received the fantastic news that DUNAMIS CYBER SOLUTION had successfully traced my Ethereum and was able to facilitate its return. I was overjoyed to have my $45,700.567 restored, and I couldn’t be more grateful for the assistance I received.This has taught me a valuable lesson about the importance of conducting thorough research before engaging with new trading platforms. While the allure of lower fees and arbitrage opportunities can be tempting, it’s crucial to prioritize security and reliability. Thanks to DUNAMIS CYBER SOLUTION, I was able to recover my funds and regain my peace of mind. I promised them that after recovering my assets, I would spread the good news to others who faced similar challenges, ensuring they know there is hope and DUNAMIS CYBER SOLUTION are available 24/7. +13433030545 [email protected] [email protected]
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18.04.25 20:39
michaeldavenport218
I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance, contact [email protected] Capital Crypto Recover on Telegram OR Call Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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18.04.25 20:39
michaeldavenport218
I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance, contact [email protected] Capital Crypto Recover on Telegram OR Call Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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19.04.25 02:00
[email protected]
E m a i l. Trustgeekshackexpert[At]fastservice[Dot]com T e l e g r a m. Trustgeekshackexpert w h a t's A p p. +1 7 1 9 4 9 2 2 6 9 3 Back in January, I got caught up in a cryptocurrency scam that really turned my life upside down. I invested a jaw-dropping $214,000 in BNB on what I thought was a legitimate crypto site. For a while, everything seemed to be going smoothly, and I was excited about the returns I was expecting. But then, when I tried to withdraw my profits, everything fell apart. The scammers froze my account and demanded more money, claiming I had breached some sort of agreement. I was completely devastated and felt trapped in a nightmare. It got so overwhelming that I started having dark thoughts about ending it all. Thankfully, my family noticed I was struggling and stepped in when I finally opened up about what was happening. During one of our talks, my niece mentioned a group called (Trust Geeks Hack Expert). She had heard they helped people recover their stolen cryptocurrencies, and I was intrigued. I thought, “Could this be my saving grace?” So, I decided to reach out to them and explain my situation in detail. To my surprise, (Trust Geeks Hack Expert) was incredibly responsive and compassionate. They reassured me that they had dealt with cases like mine before and would do everything they could to help. I was a bit skeptical, but I was also desperate for a solution. Amazingly, within about three days if I remember correctly they managed to recover the entire $214,000 that I had lost! I was in shock. It felt like a huge burden had been lifted off my shoulders. If you’re reading this and you’ve fallen victim to a crypto scam, I can’t recommend (Trust Geeks Hack Expert) enough. They are truly exceptional at what they do. Reach out for help, and don’t hesitate to contact them. (Trust Geeks Hack Expert)
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20.04.25 00:45
khouser
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20.04.25 17:22
patricialovick86
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20.04.25 17:22
patricialovick86
How To Recover Your Bitcoin Without Falling Victim To Scams: A Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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21.04.25 03:51
gleerandon
Lost, Stolen, or Scammed Crypto Asset Recovery Services For Hire - Contact Dune Nectar Web Expert. The process of recovering lost cryptocurrency assets for victims of fraudulent schemes has presented significant challenges. Individuals who have been defrauded through social media platforms, including Instagram and Telegram, and deceptive investment websites often encounter difficulties in identifying legitimate crypto recovery companies capable of assisting in retrieving their lost investments. The consequences of falling victim to such scams can be profoundly detrimental, extending beyond mere financial loss. The emotional and psychological impact can be severe, potentially leading to significant stress, the accumulation of debt, and even legal complications. In extreme cases, the distress caused by fraudulent activities has been linked to instances of suicide among victims. Given cryptocurrency fraud's multifaceted and potentially devastating repercussions, victims must seek appropriate assistance. Should an individual find themselves in the unfortunate position of having been scammed or having had their cryptocurrency stolen, it is strongly recommended that they contact the DuneNectarWebExpert recovery team. This team specializes in providing support and guidance to individuals seeking to recover their lost funds. To get assistance, victims are advised to file a detailed complaint to DuneNectarWebExpert team via [ Support @Dunenectarwebexpert . com. ] or Telegram [ DuneNectarWebExpert ]. This complaint should include all available evidence related to the fraudulent activity, such as transaction records, communication logs, and any other pertinent documentation. Upon receipt of the complaint and supporting evidence, DuneNectarWebExpert team will commence the necessary procedures to facilitate the recovery of the lost cryptocurrency assets.
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21.04.25 12:19
michaeldavenport218
I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance, contact [email protected] Capital Crypto Recover on Telegram OR Call Number +1 (336)390-6684 via email: [email protected]
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24.04.25 17:59
cynthia19morris
I NEED A HACKER TO RECOVER STOLEN CRYPTO FROM SCAMMERS Call iFORCE HACKER RECOVERY If you're new to cryptocurrency trading, I highly recommend approaching it with extreme caution or avoiding it altogether. I was persuaded to invest a large portion of my life savings around 114,000 USDT into a forex platform promising high returns. After investing and seeing some profits, I was suddenly unable to withdraw my funds. My attempts to contact customer service were unsuccessful, and I realized I had been scammed. Thankfully, after extensive searching, I found a trusted crypto recovery expert: iFORCE HACKER RECOVERY. I reached out and shared my situation. They assured me they could help and within 24 hours, they had successfully recovered my funds. I'm incredibly grateful for their swift and skilled assistance. Scam Recovery: Specializing in retrieving funds lost to scams, they utilize advanced techniques to trace stolen assets and engage with financial institutions. Hacking Services: Their skilled professionals can investigate unauthorized access and breaches, ensuring that clients' digital assets are secured against future threats. Consultation and Guidance: Providing clients with insights on how to protect their investments from potential scams, iFORCE equips individuals with the knowledge needed to navigate the crypto space safely Website; www . iforcehackersrecovery . com Contact /wh,ats,app; +12.40.80.33.706 Email; contact@iforcehackersrecovery . com
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24.04.25 18:04
Marcus Sandford
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24.04.25 18:07
Mark Shelton
HIRE A LICENSED CRYPTOCURRENCY RECOVERY EXPERT Call iFORCE HACKER RECOVERY Cryptocurrency presents both enormous promise and significant risk in the current digital banking environment. Losses can occur in a matter of seconds due to the increase in hackers, frauds, and unintentional transfers. Without professional assistance, recovering lost assets is exceedingly challenging due to the irreversible nature of crypto transactions. Licensed recovery specialists like iFORCE Hacker Recovery can help with that. They have extensive knowledge of blockchain technology and employ cutting edge instruments to track down secret wallets, examine transaction histories, and recover stolen money. The knowledgeable staff at iFORCE Hacker Recovery is prepared to handle the intricacies of cryptocurrency loss, giving sufferers a genuine chance to get back what was lost forever. They are a dependable option for high-stakes crypto recovery due to their accuracy and ability. Learn More; www. iforcehackersrecovery . com Email; contact@iforcehackersrecovery . com Contact; +1.2.4.0.8.0.3.3.7.0.6
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24.04.25 18:14
davidjustin50
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24.04.25 18:17
Mary Perez
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24.04.25 18:19
Anita Garrison
How I Overcame Blackmail: My Journey with iFORCE HACKER RECOVERY In today’s digital world, blackmail is a growing threat. I became a victim when an anonymous person threatened to leak my private photos unless I paid a large sum. The fear was overwhelming until I found iForce Hacker Recovery. Desperate for help, I reached out after reading glowing reviews about their expertise in ethical hacking and cyber protection. Their team acted swiftly and professionally, helping me regain control and ending the nightmare. Thanks to iForce Hacker Recovery, I was able to protect my privacy and find peace again. Their support truly changed everything for the better. Website; www. iforcehackersrecovery. com Email; contact@iforcehackersrecovery. co m Whatsapp; +1 (240) 803. 37 06
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24.04.25 18:23
joshuawashington
TRUSTWORTHY CRYPTO // BTC // USDT // RECOVERY SERVICE VISIT iFORCE HACKER RECOVERY I believed losing $630,000 in cryptocurrency was the end for me. I had no clue how to recover my wallet, and every other service I found only offered empty promises. Then I discovered iForce Hacker Recovery. Their team was highly professional, skilled, and meticulous. Using advanced forensic techniques, they worked relentlessly to recover every dollar. In the end, I regained everything I thought was gone forever. Their support didn’t stop there; they also helped me strengthen my wallet’s security to prevent future breaches. Webpage info; ( iforcehackersrecovery. com Email; contact@iforcehackersrecovery. co m Call/Text-whatsapp; +1 (240) 803. (3706)
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25.04.25 15:44
Sharo2025
HACKER FOR CRYPTO SCAM RECOVERY SERVICE CONTACT //PASSCODE CYBER RECOVERY
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25.04.25 15:46
Sharo2025
HACKER FOR CRYPTO SCAM RECOVERY SERVICE CONTACT //PASSCODE CYBER RECOVERY Cryptocurrencies such as Bitcoin, BNB, USDT, and USDC have opened up new avenues for investment, but they also attract a darker side of scams that prey on trust and naivety. A close childhood friend of mine became a victim of such a scam, tricked into investing in BNB for a non-existent mining operation that promised unrealistic returns. This unfortunate decision cost him a significant portion of his savings.At first, he was optimistic about recovering his funds. He promptly reported the scam to the platform where he made the purchase, as well as to local authorities and cryptocurrency exchanges, hoping to trace the lost money. However, the inherent anonymity of cryptocurrency transactions created a formidable obstacle, leaving him feeling defeated and disillusioned.Just when he was on the verge of losing hope, he discovered an online discussions about a service called "PASSCODE CYBER RECOVERY" Many users shared positive experiences about the service's ability to recover lost cryptocurrencies, including BNB, USDT, and USDC. Intrigued by these accounts, he decided to reach out for help.The recovery process began with an in-depth consultation. The team at PASSCODE CYBER RECOVERY displayed both professionalism and compassion, clearly explaining their recovery strategies and sharing success stories from similar cases. This transparency instilled a renewed sense of hope in my friend.He learned that recovery is guaranteed by PASSCODE CYBER RECOVERY after reclaiming his lost assets. As he embarked on this journey, he realized he was not alone; many others had faced similar predicaments and found solace in the support offered by PASSCODE CYBER RECOVERY while the cryptocurrency market is fraught with risks, services like PASSCODE CYBER RECOVERY .Their commitment to asset recovery is commendable. My friend's recovery story serves as a crucial reminder of the importance of vigilance in the digital finance realm, especially concerning cryptocurrencies. PASSCODE CYBER RECOVERY exemplifies the support available for individuals seeking to reclaim their funds after being scammed, proving that help is indeed within reach. PASSCODE CYBER RECOVERY Whatsapp: +1(647)399-4074 Telegram : @passcodecyberrecovery Email: [email protected] [email protected] Regards, Sharon Jamal .
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26.04.25 19:01
ashlyncarson
Life can unravel in an instant. For me, that moment came when deceitful cryptocurrency brokers vanished with £40,000 of my savings, a devastating blow that left me paralyzed by shame and despair. The aftermath was a fog of sleepless nights, self-doubt, and a crushing sense of betrayal. I questioned every choice, wondering how I’d fallen for such a scheme. Hope felt like a luxury I no longer deserved. Then, Tech Cyber Force Recovery emerged like a compass in a storm. Skeptical yet desperate, I reached out, half-expecting another dead end. What I found, however, was a team that radiated both expertise and empathy. From our first conversation, they treated my crisis not as a case file, but as a human tragedy. Their professionalism was matched only by their compassion, a rare combination in the often impersonal world of finance. What happened next defied logic. Within 72 hours of sharing my story, they traced the labyrinth of blockchain transactions, outmaneuvering the scammers with surgical precision. When their email arrived, “Funds recovered, secure and intact,” I wept. It wasn’t just the money; it was the validation that justice could prevail. Tech Cyber Force Recovery didn’t just restore my finances, they resurrected my dignity. But their impact ran deeper. They demystified the recovery process, educating me without judgment. Their transparency became a lifeline, transforming my fear into understanding. Where I saw chaos, they saw patterns; where I felt powerless, they instilled agency. Today, I’m rebuilding not just my savings, but my trust in humanity. Tech Cyber Force Recovery taught me that vulnerability isn’t weakness, and that seeking help is an act of courage. To those still trapped in the aftermath of fraud: miracles exist. They wear no capes, but they wield algorithms and integrity like superheroes. To the extraordinary Tech Cyber Force Recovery team, your work is more than technical prowess. It’s alchemy, turning despair into resilience. You gave me more than my funds; you gave me my future. May your light guide countless others through their darkest nights. From the depths of my heart: Thank you. Consult Tech Cyber Force Recovery for help. MAIL.. [email protected]
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27.04.25 02:41
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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27.04.25 02:41
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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29.04.25 12:10
walterkeith2004
I was convinced by a colleague to invest in cryptocurrency through a company that claimed they could double my money. I ended up investing all my car savings—$50,000—only to realize it was a scam. I was completely heartbroken, devastated, and felt like my world had fallen apart. In desperation, I searched online for help and came across a review about Francisco Hack. Reaching out to them was truly a turning point for me. From the very first contact, their team showed a level of professionalism, empathy, and expertise that immediately gave me hope. Francisco Hack was transparent, responsive, and incredibly thorough in handling my case. They walked me through every step of the recovery process with patience and clarity. What stood out the most was how committed they were—not just to helping me recover my funds, but also to restoring my peace of mind. Thanks to Franciscohack @ qualityservice.com I’m finally starting to breathe again. Their service is nothing short of exceptional. If you ever find yourself in a similar situation, I can't recommend them highly enough. They truly are a lifesaver. Telegram @Franciscohack WhatsApp +4 .4 .7 .4 .9 .3 .5 .1 .3 .3 .8 .5
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30.04.25 16:39
ratty clara
I’ve been a victim of a scam, lost all my money to a broker I invested with, was depressed for a few months, but the whole story changed when I visited Trustpilot. I came across a review about a man, Mr Bogdan sovar, on helping people get back their lost investment. I contacted him because I needed some help in getting my money back. To my greatest surprise, I was able to get my money back after a few days of getting in touch with him. It was all free, all he required for was a testimony of her generosity, which I promised I would do in all platforms. You can reach him at his Gmail address: hackerrone90 @ gmail . com and will guide you on the steps to take and get your invested capital, including your bonus, back
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30.04.25 22:56
thomaslilley99
CRYPTOCURRENCY RECOVERY SERVICES - Visit - iFORCE HACKER RECOVERY Hello everyone, after losing nearly $170,000 in Bitcoin, I was devastated and began searching for ways to recover my stolen funds. That’s when I found iFORCE HACKER RECOVERY, a team of cybersecurity experts specializing in retrieving hacked Bitcoin wallets and scammed cryptocurrencies. Within just 48 hours of thorough investigation, they successfully recovered my stolen funds. I highly recommend their services to anyone facing a similar situation. Webpage info; ( iforcehackersrecovery. com Email; contact@iforcehackersrecovery. co m Call/Text-whatsapp; +1 (240) 803. (3706)
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01.05.25 06:40
armand231101
If you have been scammed by a crypto investment group and are looking to retrieve your funds, it is important to take action as soon as possible. One option you can consider is reaching out to a reputable company like SUPERIOR HACK . SUPERIOR HACK RECOVERY specializes in cybersecurity and digital forensics, and they may be able to help you track down and recover your scammed funds. They have experience in dealing with crypto scams and can provide you with the necessary expertise and tools to assist you in your recovery efforts they carry out all kinds of hacking such as Remote phone hack 2. Crypto Recovery, Upgrade gpa, School Grades Change,Increase credit score, Database hack, Facebook, Whatsapp hack,Remote phone Hack, Remove criminal records all kinds of hack . contact Them via Email: ( [email protected] ) W h a t s a p p : +1 4106350697
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01.05.25 14:46
kookersylvia81
Through Telegram, I've finally had the opportunity to witness genuine professionalism with DuneNectarWebExpert. This experience has renewed my trust in people and strengthened my conviction in the significance of persistence and empathy. As a long-standing physician practicing in Atlanta, Georgia, I've treated numerous patients who have been victimized, their lives irreversibly altered by the damaging consequences of entrusting the wrong person with their private and financial details. One of my patients suggested that I seek help from DuneNectarWebExpert. From the instant I contacted ( Support (@) Dunenectarwebexpert (.) C0M ), I was met with comprehension, as they grasped the emotional distress caused by an online romance scam. Their professionalism, compassion, and commitment to rectifying the injustices suffered by scam victims, including myself and many others, were evident. Their team, comprised of cybersecurity professionals and digital investigation specialists, promptly evaluated the situation and developed a thorough plan to retrieve my lost funds. I would not be writing this epistle if I had not achieved the outcome I anticipated when I engaged DuneNectarWebExpert services. The process was challenging, as these fraudsters actively resisted efforts to recover my scammed crypto funds successfully. At the end of everything, it was all a success, and I am forever grateful to my patient and the team of DUNENECTARWEBEXPERT for their aid in my life and my family's. Please deal with DUNENECTARWEBEXPERT directly via their officials: https:// dunenectarwebexpert . com/ Telegram, DuneNectarWebExpert.
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01.05.25 20:59
elizabethrush89
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01.05.25 20:59
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor on SCAM BTC CAPRIAL CRYPTO RECOVER HELP CRYPTOCURRENCY ASSET BACK CONTACT CALL/TEXT +1 (336)390-6684 line who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir,, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected]
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03.05.25 05:01
melissaholroyd
"The breakthrough came when they traced the stolen BTC to a lesser-known Pakistani exchange. By collaborating with Interpol and Pakistani authorities, they managed to freeze the exchange account that held the bulk of my stolen coins. Although 0.3 BTC had already been liquidated, 3.2 BTC ($128,000) was successfully recovered and returned to me within 12 days. As for the people behind the scam, the click farm’s operators are now facing fraud and money laundering charges. I’m incredibly grateful for the hard work of Tech Cyber Force Recovery. They didn’t just help me recover my funds, they sent a clear message that scams like this won’t go unpunished. It’s a reminder that while the crypto space can be risky, there are Tech Cyber Force recovery teams out there who will fight to bring justice. WhatsApp +1 561 726 36 97 telegram (@)Techcyberforc
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03.05.25 12:24
ratty clara
thanks to this guy that help me get my money back from the scammers broker you can reach out to him Via : [ HACKERRONE90”AT” G M A IL DOT COM]
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08.05.25 03:35
jwright70
At FUNDS RETRIEVER ENGINEER, we specialize in the swift and efficient recovery of stolen or lost cryptocurrencies. Our team of seasoned cybersecurity experts, blockchain analysts, and digital forensics professionals employ state-of-the-art technology and innovative strategies to trace, identify, and reclaim your assets. We’re dedicated to helping individuals and organizations recover stolen cryptocurrencies and digital assets. Our team of expert cyber security specialists, cryptocurrency recovery specialists, and digital forensic analysts work tirelessly to track, recover, and secure your stolen assets. Visit us W H A T S A P P: +1 8 0 2 9 5 2 3 4 7 0 EmaIL F U N D S R E T R I E V E R [@] E N G I N E E R. C O M OR S U P P O R T @ F U N D S R E T R I E V E R [@] E N G I N E E R. C O M WEBSITE https://fundsretrieverengineer.com
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13.05.25 19:18
canemarcus0
I LOST MY CRYPTO, TO ONLINE SCAMMERS, HOW DO I RECOVER IT? Call iFORCE HACKER RECOVERY iFORCE Hacker Recovery focuses on assisting individuals in recovering funds lost to cryptocurrency romance or investment scams. Known for their integrity and commitment, they’ve earned a strong reputation in the field. Their team offers consistent updates, expert guidance, and works diligently on every case. While they don’t guarantee instant results, they steadily make meaningful progress. If you’ve fallen victim to a crypto scam, iFORCE Hacker Recovery is a trusted option worth considering for support. Whatsapp +1.2.4.0.8.0.3.3.7.0.6
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13.05.25 19:24
graceharrison09
I LOST MY CRYPTO, HOW DO I RECOVER IT? Contact iFORCE HACKER RECOVERY My name is Grace Harrison, a single mother of two from the U.S., and I want to share how I overcame a devastating cryptocurrency scam with the help of iForce Hacker Recovery. Drawn in by the promise of high returns, I invested most of my savings into what seemed like a legitimate crypto platform only to lose everything overnight. The emotional and financial toll was overwhelming. Desperate, I discovered iForce Hacker Recovery. Though initially unsure, their professionalism and empathy gave me hope. They explained the recovery process clearly and treated my case with care. Thanks to their expertise, I was able to recover my lost funds and regain control of my financial future. Whatsapp +1 240. 80. 33. 706
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13.05.25 19:26
John Willis
I LOST MY CRYPTO, HOW DO I RECOVER IT? iFORCE HACKER RECOVERY I'm excited to share my story because this iFORCE HACKER RECOVERY Cyber security firm helped me recover my stolen digital money and cryptocurrencies. Their excellent service and skillful work have truly impressed me. I never thought I would be able to get my money back before I went to them with my problems and provided them with all the information I needed, and I was shocked when it took them forty-three hours to do so. I wholeheartedly commend iFORCE HACKER RECOVERY for all challenges related to hacking, digital funds recovery, bitcoin recovery, or cyber-security. Learn More; www. iforcehackersrecovery. com Email; contact@iforcehackersrecovery. co m Whatsapp; +1 (240) 803. 37 06
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13.05.25 20:21
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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13.05.25 20:21
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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14.05.25 14:45
Clarkanderson
Hello, my name is Clark Anderson from Spain. I want to share my experience with a fake investment platform. I was introduced to a Bitcoin investment opportunity by a man from the United Kingdom and, trusting him, I invested $50,000. When I tried to withdraw my profits, I realized I had been scammed. Desperate for help, I searched online for recovery options and found Ultimate Hacker Jerry. Thanks to his assistance, I was able to seek help in recovering my losses. I hope my story serves as a warning to others about the dangers of online investments. INFOR [email protected] +1,4,5,8,3,0,8,0,8,2,5 https(://)ultimates hackjerry (.) com
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14.05.25 14:45
Clarkanderson
BITCOIN RECOVERY HELP GO TO ULTIMATE HACKER JERRY
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14.05.25 14:45
Clarkanderson
BITCOIN RECOVERY HELP GO TO ULTIMATE HACKER JERRY Hello, my name is Clark Anderson from Spain. I want to share my experience with a fake investment platform. I was introduced to a Bitcoin investment opportunity by a man from the United Kingdom and, trusting him, I invested $50,000. When I tried to withdraw my profits, I realized I had been scammed. Desperate for help, I searched online for recovery options and found Ultimate Hacker Jerry. Thanks to his assistance, I was able to seek help in recovering my losses. I hope my story serves as a warning to others about the dangers of online investments. INFOR [email protected] +1,4,5,8,3,0,8,0,8,2,5 https(://)ultimates hackjerry (.) com
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16.05.25 14:18
patricialovick86
How To Recover Your Bitcoin Without Falling Victim To Scams: A Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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16.05.25 14:18
patricialovick86
How To Recover Your Bitcoin Without Falling Victim To Scams: A Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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17.05.25 18:33
marywilliam3544
A few months ago, I became a victim of a crypto scam that cost me more than $42,000. It started with what looked like a legitimate investment opportunity on social media. The platform was well-designed, the “advisors” sounded experienced, and the returns they promised seemed realistic at the time. I did some quick research, saw fake positive reviews, and decided to give it a try.At first, everything seemed to go smoothly. I deposited small amounts and saw returns in my account almost immediately. Encouraged, I added more—until I realized I could no longer withdraw anything. The site shut down, the contact numbers went dead, and the people I had spoken to disappeared. That’s when it hit me—I had been scammed.I was embarrassed, angry, and honestly, heartbroken. I didn’t think there was any way to get the money back. My bank couldn’t help, the police didn’t have any tools for crypto tracing, and I felt completely stuck. Then, a friend referred me to PRO WIZARD GILBERT RECOVERY. I was hesitant at first, but after speaking with one of their recovery specialists, I felt a sense of hope I hadn’t felt in weeks. They were incredibly professional, didn’t make any exaggerated claims, and explained their process clearly.The team began working right away using advanced blockchain forensics to trace the stolen funds. Within a few days, they located the wallets that received my funds and started the legal steps necessary to flag and recover the crypto. I was blown away by how thorough and efficient they were After several weeks of careful investigation and coordination, PRO WIZARD GILBERT RECOVERY successfully recovered nearly 75% of my lost funds. I couldn’t believe it. I went from thinking that money was gone forever to having it returned to me—and all thanks to their dedication and expertise.If you’ve lost money to a crypto scam, I can’t recommend PRO WIZARD GILBERT RECOVERY enough. They’re the real deal. Professional, honest, and relentless in fighting for their clients. Thanks to them, I’ve not only recovered most of what I lost, but I’ve also regained peace of mind. CONTACT INFO=====WhatsApp +1 (920) 408‑1234 TELEGRAM====== http s:// t. me/Pro_Wizard_Gilbert_Recovery EMAIL========== pro wizard gilbert recovery (@) engineer. com
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19.05.25 05:42
kylebro
It’s been hard losing a lot of my money to these companies. I found a crypto Recovery Agent,VIA Email:( [email protected] ) who made sure I got back everything. If your case is similar, you can consult them on how to get your money back. Whats app or text : +1 949 245 7617 Telegram : @dawsonwright Website : bestrecoveryagent.com
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20.05.25 11:40
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: Email: [email protected] Telegram: @Capitalcryptorecover Call/Text: +1 (336) 390-6684 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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20.05.25 11:40
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: Email: [email protected] Telegram: @Capitalcryptorecover Call/Text: +1 (336) 390-6684 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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26.05.25 17:55
Juliuslaurence1
It started as an ordinary Tuesday. I was transferring 5 BTC my life savings at the time to a new cold wallet for better security. My fingers moved swiftly, copying the address, pasting it, and hitting Send without a second thought. Then ,the horrow struck.A split second after the transaction confirmed, I realized I had pasted the wrong address. A typo. One wrong character. My stomach twisted into knots as I watched my Bitcoin disappear into the blockchain abyss, headed to an address I didn’t recognize. Panic set in. 5 BTC. Over $300,000 at the time. Gone. I spent sleepless nights scouring forums, reaching out to blockchain experts, even pleading with miners but the immutable nature of Bitcoin meant no one could reverse it. The address was active, but the owner? Unknown. Then, I stumbled upon Washington Recovery Pro, a firm specializing in cryptocurrency transaction reversals and asset recovery. Skeptical but desperate, I reached out. Their team, led by a seasoned blockchain investigator named Marcus, took my case. They explained that while Bitcoin transactions are irreversible, if the recipient is identifiable, recovery is possible through negotiation or legal pressure. Using on-chain forensics, they traced the mistaken transaction to a crypto exchange wallet meaning the recipient had likely cashed out or moved the funds. Washington Recovery Pro contacted the exchange, providing irrefutable proof of the erroneous transfer. After weeks of pressure, the exchange froze the funds and initiated a recovery process. two weeks after my heart-stopping mistake, I received an email: Your 5 BTC has been recovered and will be returned to your wallet. I couldn’t believe it. Washington Recovery Pro had done the impossible. My Bitcoin was saved, but not by luck by skill, persistence, and legal expertise. If you ever face a similar nightmare, remember: some mistakes can be undone. Email: [email protected]: +1 (903) 249‑8633
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30.05.25 05:03
kevinpatmore2
Good day everyone, some statements people make may appear unbelievable, yet they reflect their truth due to their personal experiences. I'm a truck driver and I enjoy playing the lottery, but it's been 8 years without winning anything significant. I became upset over this and chose to seek help online from anyone skilled in using spells to win the lottery since my grandma had faith in spells and a story about Lord Meduza spells drew my interest. I obtained his contact information, and we discussed all aspects of how he could assist me. In less than 72 hours, Lord Meduza provided me with the lottery numbers I required after he completed the spell for me. I purchased my ticket online, followed the guidance of Lord Meduza, and now my life is fortunate because I won a $42.5 million Jackpot in the lottery I participated in. I’m thankful to Lord Meduza because he truly keeps his promises and I will donate $1 million to the orphanage homes in my city. Email: [email protected] or WhatsApp +18079072687.
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01.06.25 17:55
springthorpecameron5
After losing $153,000 to a fake investment platform on Telegram, I found myself under immense pressure due to both the financial loss and my ongoing cancer treatment. Desperate to recover my stolen cryptocurrency, I researched viable options and discovered Ruder Cyber Tech Sleuths, a registered Bitcoin and USDT Recovery Agency with a strong reputation. Their impressive record of successful recoveries and positive reviews gave me hope. Despite my initial doubts, reaching out to them was a pivotal moment in my recovery journey. The process was complex, but their dedication, advanced technology, and professionalism were evident. I highly recommend their services to anyone who has fallen victim to scams. Ruder Cyber Tech Sleuths are truly exceptional and provide hope in an often dishonest world. [email protected] [email protected] whatsapp: +12132801476 Telegram : @rudercybersleuths
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02.06.25 16:01
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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02.06.25 16:01
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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03.06.25 22:21
[email protected]
When I lost $120,000 to obvious price manipulation on a shady derivatives platform, I felt a mix of disbelief and frustration. I had been drawn to this platform by promises of high returns and innovative trading features that seemed too good to be true. Initially, everything appeared to be going well, and I was excited about the potential profits. However, it didn’t take long for me to notice some alarming signs. As I continued to trade, I began to see unusual price fluctuations that didn’t align with the broader market trends. It was as if the platform was orchestrating these movements to manipulate prices in their favor. Despite my growing suspicions, the allure of quick profits kept me engaged. I convinced myself that I could navigate the volatility and come out ahead. Unfortunately, that was a grave mistake. I suffered a significant loss, which wiped out a substantial portion of my investment. It was a gut-wrenching moment, and I felt utterly defeated. In my desperation, I reached out to Web-site: www://trustgeekshackexpert.com/ --- (Email: [email protected]] a firm that specializes in recovering lost funds from fraudulent platforms. I hoped they could help me reclaim at least a portion of my losses.[TRUST GEEKS HACK EXPERT] was incredibly supportive and trustyworthy. They conducted a thorough investigation into the platform’s operations and quickly uncovered the truth was the exchange was fake and designed to exploit unsuspecting traders like me. [TRUST GEEKS HACK EXPERT] revealed that the operators had created a façade of legitimacy, complete with fake testimonials and misleading marketing strategies, to lure in victims.With the evidence gathered by [TRUST GEEKS HACK EXPERT], they took decisive action. They traced my lost funds to the operators’ cold wallets, which are typically used to store cryptocurrencies securely offline. This was a crucial step, as it allowed [TRUST GEEKS HACK EXPERT] to pinpoint where my stolen funds were held. Through a combination of legal pressure and technical expertise, they managed to negotiate the return of $95,000 to me a significant portion of my initial loss.This has been a stark reminder of the risks associated with trading on unregulated platforms. Thanks to [TRUST GEEKS HACK EXPERT], I learned the hard way that it’s essential to conduct thorough research before engaging with any trading service. I now recognize the signs of potential fraud, such as unrealistic profit promises and a lack of transparency. The successful recovery of my funds by [TRUST GEEKS HACK EXPERT]
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06.06.25 18:43
jack67667766
Jasmine Lopez is an expert in retrieving stolen cryptocurrency, including Ethereum and USDT. Her effective methods make her a reliable ally for theft victims. One client, who lost €908,000, sought her assistance, and Jasmine managed to recover the full amount within a day, bringing immense relief to the client. Jasmine is dedicated to helping others in similar situations and is available to offer support. For help with recovering lost funds, you can contact her via email at [email protected] or on WhatsApp at +44 736 644 5035.
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08.06.25 12:49
jack67667766
Jasmine Lopez es una experta en recuperar criptomonedas robadas, como Ethereum y USDT. Ella usa métodos efectivos que la hacen una buena ayuda para quienes han sido víctimas de robo. Un cliente que perdió 908 mil euros acudió a ella, y en un día, Jasmine logró devolverle toda la cantidad. Esto trajo gran alivio al cliente. Ella tiene como objetivo ayudar a otros en situaciones similares y está lista para ofrecer apoyo. Si necesitas ayuda para recuperar fondos perdidos, puedes contactarla por correo electrónico en [email protected] o por WhatsApp al número +44 736 644 5035.
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09.06.25 19:49
garnierroux
CRYPTO RECOVERY COMPANY: CONTACT iBOLT CYBER HACKER RECOVERY COMPANY I was a victim of a cryptocurrency scam and thought I had lost everything. After doing some research, I came across iBOLT CYBER HACKER RECOVERY COMPANY and decided to give them a try. To my surprise, they were extremely professional, responsive, and knowledgeable from the start. Their team worked diligently to trace the stolen funds, and within a short time, they were able to recover a significant portion of my lost crypto. I couldn’t believe it — something I thought was gone forever was returned to me. If you've lost money to a crypto scam, I highly recommend contacting iBOLT CYBER HACKER RECOVERY COMPANY. They truly deliver on what they promise. — Satisfied Client . EMAIL: [email protected]/ . WHTSAPP: +39 351 105 3619 . TELEGRAM: t.me/iboltcyberhackservice . WEBSITE: https://iboltcyberhack.org/
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21.06.25 04:37
jamesgrant
The emergence of cryptocurrencies has revolutionized the financial landscape, yet it has also given rise to significant challenges, particularly concerning security and the potential for loss of assets. In this context, individuals often seek assistance from entities called SCANNER HACKER CRYPTO RECOVERY, which purport to employ sophisticated techniques to reclaim lost Bitcoin (BTC) from compromised wallets or exchanges. However, while the allure of recovering lost assets can be compelling, it is imperative to approach these services with a critical lens. The cryptocurrency ecosystem is rife with scams and fraudulent schemes, ranging from phishing attacks to outright theft; thus, due diligence is paramount. Scholars and practitioners in the field must advocate for more robust security measures, educate stakeholders on the inherent risks of cryptocurrency ownership, and promote best practices in digital asset management to mitigate the likelihood of loss. Furthermore, effective policymaking to regulate these recovery services, hold malicious actors accountable, and protect consumers is essential to fostering a safer environment in the rapidly evolving world of digital currencies. You can communicate with SCANNER HACKER CRYPTO RECOVERY Via Email: [email protected] Web: https://scannerhacktech.com/ Whatsapp: +1 431 801 7493
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23.06.25 15:44
michaeldavenport218
I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance, contact [email protected] Capital Crypto Recover on Telegram OR Call Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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23.06.25 15:44
michaeldavenport218
I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance, contact [email protected] Capital Crypto Recover on Telegram OR Call Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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24.06.25 04:10
Beth Wilson
CONTACT A LEGITIMATE CRYPTOCURRENCY RECOVERY SPECIALISTS // THE HACK ANGELS I'd like to take this opportunity to express my gratitude to A Legitimate Bitcoin Recovery Specialists THE HACK ANGELS. I wholeheartedly recommend THE HACK ANGELS to anyone dealing with lost or stolen cryptocurrency. They have deep understanding of blockchain technology, combined with advanced cyber forensic tools, makes them a powerful ally in asset recovery. THE HACK ANGELS is a trusted and reliable solution for individuals seeking to recover lost or inaccessible cryptocurrency assets, if you are experiencing similar troubles and you need help in recovering your money. I strongly advise you to contact them via details below. WhatsApp +1(520)200-2320 Email at [email protected] Website at www.thehackangels.com I am here to give glory to THE HACK ANGELS for assisting me in recovering my lost cryptocurrency.
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24.06.25 04:10
Beth Wilson
CONTACT A LEGITIMATE CRYPTOCURRENCY RECOVERY SPECIALISTS // THE HACK ANGELS I'd like to take this opportunity to express my gratitude to A Legitimate Bitcoin Recovery Specialists THE HACK ANGELS. I wholeheartedly recommend THE HACK ANGELS to anyone dealing with lost or stolen cryptocurrency. They have deep understanding of blockchain technology, combined with advanced cyber forensic tools, makes them a powerful ally in asset recovery. THE HACK ANGELS is a trusted and reliable solution for individuals seeking to recover lost or inaccessible cryptocurrency assets, if you are experiencing similar troubles and you need help in recovering your money. I strongly advise you to contact them via details below. WhatsApp +1(520)200-2320 Email at [email protected] Website at www.thehackangels.com I am here to give glory to THE HACK ANGELS for assisting me in recovering my lost cryptocurrency.
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24.06.25 04:10
Beth Wilson
CONTACT A LEGITIMATE CRYPTOCURRENCY RECOVERY SPECIALISTS // THE HACK ANGELS I'd like to take this opportunity to express my gratitude to A Legitimate Bitcoin Recovery Specialists THE HACK ANGELS. I wholeheartedly recommend THE HACK ANGELS to anyone dealing with lost or stolen cryptocurrency. They have deep understanding of blockchain technology, combined with advanced cyber forensic tools, makes them a powerful ally in asset recovery. THE HACK ANGELS is a trusted and reliable solution for individuals seeking to recover lost or inaccessible cryptocurrency assets, if you are experiencing similar troubles and you need help in recovering your money. I strongly advise you to contact them via details below. WhatsApp +1(520)200-2320 Email at [email protected] Website at www.thehackangels.com I am here to give glory to THE HACK ANGELS for assisting me in recovering my lost cryptocurrency.
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24.06.25 04:10
Beth Wilson
CONTACT A LEGITIMATE CRYPTOCURRENCY RECOVERY SPECIALISTS // THE HACK ANGELS I'd like to take this opportunity to express my gratitude to A Legitimate Bitcoin Recovery Specialists THE HACK ANGELS. I wholeheartedly recommend THE HACK ANGELS to anyone dealing with lost or stolen cryptocurrency. They have deep understanding of blockchain technology, combined with advanced cyber forensic tools, makes them a powerful ally in asset recovery. THE HACK ANGELS is a trusted and reliable solution for individuals seeking to recover lost or inaccessible cryptocurrency assets, if you are experiencing similar troubles and you need help in recovering your money. I strongly advise you to contact them via details below. WhatsApp +1(520)200-2320 Email at [email protected] Website at www.thehackangels.com I am here to give glory to THE HACK ANGELS for assisting me in recovering my lost cryptocurrency.
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24.06.25 04:12
Beth Wilson
CONTACT A LEGITIMATE CRYPTOCURRENCY RECOVERY SPECIALISTS // THE HACK ANGELS I'd like to take this opportunity to express my gratitude to A Legitimate Bitcoin Recovery Specialists THE HACK ANGELS. I wholeheartedly recommend THE HACK ANGELS to anyone dealing with lost or stolen cryptocurrency. They have deep understanding of blockchain technology, combined with advanced cyber forensic tools, makes them a powerful ally in asset recovery. THE HACK ANGELS is a trusted and reliable solution for individuals seeking to recover lost or inaccessible cryptocurrency assets, if you are experiencing similar troubles and you need help in recovering your money. I strongly advise you to contact them via details below. WhatsApp +1(520)200-2320 Email at [email protected] Website at www.thehackangels.com I am here to give glory to THE HACK ANGELS for assisting me in recovering my lost cryptocurrency.
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24.06.25 04:14
Beth Wilson
CONTACT A LEGITIMATE CRYPTOCURRENCY RECOVERY SPECIALISTS // THE HACK ANGELS I'd like to take this opportunity to express my gratitude to A Legitimate Bitcoin Recovery Specialists THE HACK ANGELS. I wholeheartedly recommend THE HACK ANGELS to anyone dealing with lost or stolen cryptocurrency. They have deep understanding of blockchain technology, combined with advanced cyber forensic tools, makes them a powerful ally in asset recovery. THE HACK ANGELS is a trusted and reliable solution for individuals seeking to recover lost or inaccessible cryptocurrency assets, if you are experiencing similar troubles and you need help in recovering your money. I strongly advise you to contact them via details below. WhatsApp +1(520)200-2320 Email at [email protected] Website at www.thehackangels.com I am here to give glory to THE HACK ANGELS for assisting me in recovering my lost cryptocurrency.
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24.06.25 04:14
Beth Wilson
CONTACT A LEGITIMATE CRYPTOCURRENCY RECOVERY SPECIALISTS // THE HACK ANGELS I'd like to take this opportunity to express my gratitude to A Legitimate Bitcoin Recovery Specialists THE HACK ANGELS. I wholeheartedly recommend THE HACK ANGELS to anyone dealing with lost or stolen cryptocurrency. They have deep understanding of blockchain technology, combined with advanced cyber forensic tools, makes them a powerful ally in asset recovery. THE HACK ANGELS is a trusted and reliable solution for individuals seeking to recover lost or inaccessible cryptocurrency assets, if you are experiencing similar troubles and you need help in recovering your money. I strongly advise you to contact them via details below. WhatsApp +1(520)200-2320 Email at [email protected] Website at www.thehackangels.com I am here to give glory to THE HACK ANGELS for assisting me in recovering my lost cryptocurrency.
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24.06.25 04:18
Beth Wilson
CONTACT A LEGITIMATE CRYPTOCURRENCY RECOVERY SPECIALISTS // THE HACK ANGELS I'd like to take this opportunity to express my gratitude to A Legitimate Bitcoin Recovery Specialists THE HACK ANGELS. I wholeheartedly recommend THE HACK ANGELS to anyone dealing with lost or stolen cryptocurrency. They have deep understanding of blockchain technology, combined with advanced cyber forensic tools, makes them a powerful ally in asset recovery. THE HACK ANGELS is a trusted and reliable solution for individuals seeking to recover lost or inaccessible cryptocurrency assets, if you are experiencing similar troubles and you need help in recovering your money. I strongly advise you to contact them via details below. WhatsApp +1(520)200-2320 Email at [email protected] Website at www.thehackangels.com I am here to give glory to THE HACK ANGELS for assisting me in recovering my lost cryptocurrency.
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24.06.25 04:23
Beth Wilson
CONTACT A LEGITIMATE CRYPTOCURRENCY RECOVERY SPECIALISTS // THE HACK ANGELS I'd like to take this opportunity to express my gratitude to A Legitimate Bitcoin Recovery Specialists THE HACK ANGELS. I wholeheartedly recommend THE HACK ANGELS to anyone dealing with lost or stolen cryptocurrency. They have deep understanding of blockchain technology, combined with advanced cyber forensic tools, makes them a powerful ally in asset recovery. THE HACK ANGELS is a trusted and reliable solution for individuals seeking to recover lost or inaccessible cryptocurrency assets, if you are experiencing similar troubles and you need help in recovering your money. I strongly advise you to contact them via details below. WhatsApp +1(520)200-2320 Email at [email protected] Website at www.thehackangels.com I am here to give glory to THE HACK ANGELS for assisting me in recovering my lost cryptocurrency.
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25.06.25 22:56
rennebrandon
I am forever grateful to the amazing team at Dune Nectar Web Expert. They did what I thought was never possible. They played a crucial role in helping me recover all my lost funds from a fraudulent forex and crypto trading scheme, including the pråofits I thought I'd earned. Looking back, I realize I was a bit of a fool for trusting greedy and deceitful brokers with my hard-earned money. However, I'm overjoyed that I found Dune Nectar Web Expert. They are a team of honest and highly skilled professionals available for hire. Dune Nectar Web Expert helps individuals and organizations recover stolen cryptocurrencies and digital assets. They helped me heal every penny I lost and provided me with the right signals and a reliable platform to trade with. Thanks to Dune Nectar Web Expert, I'm earning more than ever, and I couldn't be happier. That's why I can't stop sharing my positive experience and praising their amazing services and expertise. If you're still struggling with failures in binary options, crypto, or forex trading, or if you're looking to recover your lost USDC, Bitcoin, Ethereum, or other crypto funds, I strongly advise you to reach out to: Telegram>>> ( T.me/dunenectarwebexpert ) Mail>>>> Support (@) Dunenectarwebexpert (.) Com Web>>> https://dunenectarwebexpert.com/
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26.06.25 20:33
paulmargaret
Dear Wizard Hilton Cyber Tech Team, I am writing to express my heartfelt gratitude and appreciation for your exceptional service in recovering my scammed funds. After falling victim to a scam and experiencing numerous disappointments, I was amazed by your team's professionalism, expertise, and dedication to helping me retrieve my lost money. Your prompt response and efficient handling of my case were truly impressive. Within 24 hours, you successfully recovered my funds, and I was overjoyed to see the money safely returned to my account. Your team's commitment to helping individuals like me, who have been scammed, is truly commendable. Your work not only restored my financial security but also gave me peace of mind and renewed trust in the digital world. I would like to highly recommend your services to anyone who has been a victim of scams or cybercrime. Your expertise and support can make a significant difference in recovering lost funds and navigating complex digital situations. Thank you again for your outstanding work and dedication. I am grateful for your help and wish you continued success in your endeavors Email : wizardhiltoncybertech ( @ ) gmail (. ) com OR support ( @ ) wizardhiltoncybertech (.) com WhatsApp number +18737715701 . Sincerely, Kimberly Williams
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27.06.25 00:46
paulmargaret
Dear Wizard Hilton Cyber Tech Team, I am writing to express my heartfelt gratitude and appreciation for your exceptional service in recovering my scammed funds. After falling victim to a scam and experiencing numerous disappointments, I was amazed by your team's professionalism, expertise, and dedication to helping me retrieve my lost money. Your prompt response and efficient handling of my case were truly impressive. Within 24 hours, you successfully recovered my funds, and I was overjoyed to see the money safely returned to my account. Your team's commitment to helping individuals like me, who have been scammed, is truly commendable. Your work not only restored my financial security but also gave me peace of mind and renewed trust in the digital world. I would like to highly recommend your services to anyone who has been a victim of scams or cybercrime. Your expertise and support can make a significant difference in recovering lost funds and navigating complex digital situations. Thank you again for your outstanding work and dedication. I am grateful for your help and wish you continued success in your endeavors Email : wizardhiltoncybertech ( @ ) gmail (. ) com OR support ( @ ) wizardhiltoncybertech (.) com WhatsApp number +18737715701 . Sincerely, Kimberly Williams
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27.06.25 22:31
rennebrandon
I am forever grateful to the amazing team at Dune Nectar Web Expert. They did what I thought was never possible. They played a crucial role in helping me recover all my lost funds from a fraudulent forex and crypto trading scheme, including the pråofits I thought I'd earned. Looking back, I realize I was a bit of a fool for trusting greedy and deceitful brokers with my hard-earned money. However, I'm overjoyed that I found Dune Nectar Web Expert. They are a team of honest and highly skilled professionals available for hire. Dune Nectar Web Expert helps individuals and organizations recover stolen cryptocurrencies and digital assets. They helped me heal every penny I lost and provided me with the right signals and a reliable platform to trade with. Thanks to Dune Nectar Web Expert, I'm earning more than ever, and I couldn't be happier. That's why I can't stop sharing my positive experience and praising their amazing services and expertise. If you're still struggling with failures in binary options, crypto, or forex trading, or if you're looking to recover your lost USDC, Bitcoin, Ethereum, or other crypto funds, I strongly advise you to reach out to: Telegram>>> ( T.me/dunenectarwebexpert ) Mail>>>> Support (@) Dunenectarwebexpert (.) Com Web>>> https://dunenectarwebexpert.com/
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28.06.25 00:46
patricialovick86
How To Recover Your Bitcoin Without Falling Victim To Scams: A Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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28.06.25 00:46
patricialovick86
How To Recover Your Bitcoin Without Falling Victim To Scams: A Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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29.06.25 07:39
paulmargaret
Dear Wizard Hilton Cyber Tech Team, I am writing to express my heartfelt gratitude and appreciation for your exceptional service in recovering my scammed funds. After falling victim to a scam and experiencing numerous disappointments, I was amazed by your team's professionalism, expertise, and dedication to helping me retrieve my lost money. Your prompt response and efficient handling of my case were truly impressive. Within 24 hours, you successfully recovered my funds, and I was overjoyed to see the money safely returned to my account. Your team's commitment to helping individuals like me, who have been scammed, is truly commendable. Your work not only restored my financial security but also gave me peace of mind and renewed trust in the digital world. I would like to highly recommend your services to anyone who has been a victim of scams or cybercrime. Your expertise and support can make a significant difference in recovering lost funds and navigating complex digital situations. Thank you again for your outstanding work and dedication. I am grateful for your help and wish you continued success in your endeavors Email : wizardhiltoncybertech ( @ ) gmail (. ) com OR support ( @ ) wizardhiltoncybertech (.) com WhatsApp number +18737715701 . Sincerely, Kimberly Williams
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29.06.25 11:52
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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30.06.25 15:06
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
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