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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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07.09.23 16:24
CherryTeam
Cherry Team atlyginimų skaičiavimo programa yra labai naudingas įrankis įmonėms, kai reikia efektyviai valdyti ir skaičiuoti darbuotojų atlyginimus. Ši programinė įranga, turinti išsamias funkcijas ir patogią naudotojo sąsają, suteikia daug privalumų, kurie padeda supaprastinti darbo užmokesčio skaičiavimo procesus ir pagerinti finansų valdymą. Štai keletas pagrindinių priežasčių, kodėl Cherry Team atlyginimų skaičiavimo programa yra naudinga įmonėms: Automatizuoti ir tikslūs skaičiavimai: Atlyginimų skaičiavimai rankiniu būdu gali būti klaidingi ir reikalauti daug laiko. Programinė įranga Cherry Team automatizuoja visą atlyginimų skaičiavimo procesą, todėl nebereikia atlikti skaičiavimų rankiniu būdu ir sumažėja klaidų rizika. Tiksliai apskaičiuodama atlyginimus, įskaitant tokius veiksnius, kaip pagrindinis atlyginimas, viršvalandžiai, premijos, išskaitos ir mokesčiai, programa užtikrina tikslius ir be klaidų darbo užmokesčio skaičiavimo rezultatus. Sutaupoma laiko ir išlaidų: Darbo užmokesčio valdymas gali būti daug darbo jėgos reikalaujanti užduotis, reikalaujanti daug laiko ir išteklių. Programa Cherry Team supaprastina ir pagreitina darbo užmokesčio skaičiavimo procesą, nes automatizuoja skaičiavimus, generuoja darbo užmokesčio žiniaraščius ir tvarko išskaičiuojamus mokesčius. Šis automatizavimas padeda įmonėms sutaupyti daug laiko ir pastangų, todėl žmogiškųjų išteklių ir finansų komandos gali sutelkti dėmesį į strategiškai svarbesnę veiklą. Be to, racionalizuodamos darbo užmokesčio operacijas, įmonės gali sumažinti administracines išlaidas, susijusias su rankiniu darbo užmokesčio tvarkymu. Mokesčių ir darbo teisės aktų laikymasis: Įmonėms labai svarbu laikytis mokesčių ir darbo teisės aktų, kad išvengtų baudų ir teisinių problemų. Programinė įranga Cherry Team seka besikeičiančius mokesčių įstatymus ir darbo reglamentus, užtikrindama tikslius skaičiavimus ir teisinių reikalavimų laikymąsi. Programa gali dirbti su sudėtingais mokesčių scenarijais, pavyzdžiui, keliomis mokesčių grupėmis ir įvairių rūšių atskaitymais, todėl užtikrina atitiktį reikalavimams ir kartu sumažina klaidų riziką. Ataskaitų rengimas ir analizė: Programa Cherry Team siūlo patikimas ataskaitų teikimo ir analizės galimybes, suteikiančias įmonėms vertingų įžvalgų apie darbo užmokesčio duomenis. Ji gali generuoti ataskaitas apie įvairius aspektus, pavyzdžiui, darbo užmokesčio paskirstymą, išskaičiuojamus mokesčius ir darbo sąnaudas. Šios ataskaitos leidžia įmonėms analizuoti darbo užmokesčio tendencijas, nustatyti tobulintinas sritis ir priimti pagrįstus finansinius sprendimus. Pasinaudodamos duomenimis pagrįstomis įžvalgomis, įmonės gali optimizuoti savo darbo užmokesčio strategijas ir veiksmingai kontroliuoti išlaidas. Integracija su kitomis sistemomis: Cherry Team programinė įranga dažnai sklandžiai integruojama su kitomis personalo ir apskaitos sistemomis. Tokia integracija leidžia automatiškai perkelti atitinkamus duomenis, pavyzdžiui, informaciją apie darbuotojus ir finansinius įrašus, todėl nebereikia dubliuoti duomenų. Supaprastintas duomenų srautas tarp sistemų padidina bendrą efektyvumą ir sumažina duomenų klaidų ar neatitikimų riziką. Cherry Team atlyginimų apskaičiavimo programa įmonėms teikia didelę naudą - automatiniai ir tikslūs skaičiavimai, laiko ir sąnaudų taupymas, atitiktis mokesčių ir darbo teisės aktų reikalavimams, ataskaitų teikimo ir analizės galimybės bei integracija su kitomis sistemomis. Naudodamos šią programinę įrangą įmonės gali supaprastinti darbo užmokesčio skaičiavimo procesus, užtikrinti tikslumą ir atitiktį reikalavimams, padidinti darbuotojų pasitenkinimą ir gauti vertingų įžvalgų apie savo finansinius duomenis. Programa Cherry Team pasirodo esanti nepakeičiamas įrankis įmonėms, siekiančioms efektyviai ir veiksmingai valdyti darbo užmokestį. https://cherryteam.lt/lt/
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08.10.23 01:30
davec8080
The "Shibarium for this confirmed rug pull is a BEP-20 project not related at all to Shibarium, SHIB, BONE or LEASH. The Plot Thickens. Someone posted the actual transactions!!!! https://bscscan.com/tx/0xa846ea0367c89c3f0bbfcc221cceea4c90d8f56ead2eb479d4cee41c75e02c97 It seems the article is true!!!! And it's also FUD. Let me explain. Check this link: https://bscscan.com/token/0x5a752c9fe3520522ea88f37a41c3ddd97c022c2f So there really is a "Shibarium" token. And somebody did a rug pull with it. CONFIRMED. But the "Shibarium" token for this confirmed rug pull is a BEP-20 project not related at all to Shibarium, SHIB, BONE or LEASH.
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24.06.24 04:31
tashandiarisha
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26.06.24 18:46
Jacobethannn098
LEGAL RECOUP FOR CRYPTO THEFT BY ADRIAN LAMO HACKER
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26.06.24 18:46
Jacobethannn098
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04.07.24 04:49
ZionNaomi
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13.07.24 21:13
michaelharrell825
In 2020, amidst the economic fallout of the pandemic, I found myself unexpectedly unemployed and turned to Forex trading in hopes of stabilizing my finances. Like many, I was drawn in by the promise of quick returns offered by various Forex robots, signals, and trading advisers. However, most of these products turned out to be disappointing, with claims that were far from reality. Looking back, I realize I should have been more cautious, but the allure of financial security clouded my judgment during those uncertain times. Amidst these disappointments, Profit Forex emerged as a standout. Not only did they provide reliable service, but they also delivered tangible results—a rarity in an industry often plagued by exaggerated claims. The positive reviews from other users validated my own experience, highlighting their commitment to delivering genuine outcomes and emphasizing sound financial practices. My journey with Profit Forex led to a net profit of $11,500, a significant achievement given the challenges I faced. However, my optimism was short-lived when I encountered obstacles trying to withdraw funds from my trading account. Despite repeated attempts, I found myself unable to access my money, leaving me frustrated and uncertain about my financial future. Fortunately, my fortunes changed when I discovered PRO WIZARD GIlBERT RECOVERY. Their reputation for recovering funds from fraudulent schemes gave me hope in reclaiming what was rightfully mine. With a mixture of desperation and cautious optimism, I reached out to them for assistance. PRO WIZARD GIlBERT RECOVERY impressed me from the start with their professionalism and deep understanding of financial disputes. They took a methodical approach, using advanced techniques to track down the scammers responsible for withholding my funds. Throughout the process, their communication was clear and reassuring, providing much-needed support during a stressful period. Thanks to PRO WIZARD GIlBERT RECOVERY's expertise and unwavering dedication, I finally achieved a resolution to my ordeal. They successfully traced and retrieved my funds, restoring a sense of justice and relief. Their intervention not only recovered my money but also renewed my faith in ethical financial services. Reflecting on my experience, I've learned invaluable lessons about the importance of due diligence and discernment in navigating the Forex market. While setbacks are inevitable, partnering with reputable recovery specialists like PRO WIZARD GIlBERT RECOVERY can make a profound difference. Their integrity and effectiveness have left an indelible mark on me, guiding my future decisions and reinforcing the value of trustworthy partnerships in achieving financial goals. I wholeheartedly recommend PRO WIZARD GIlBERT RECOVERY to anyone grappling with financial fraud or disputes. Their expertise and commitment to client satisfaction are unparalleled, offering a beacon of hope in challenging times. Thank you, PRO WIZARD GIlBERT RECOVERY, for your invaluable assistance in reclaiming what was rightfully mine. Your service not only recovered my funds but also restored my confidence in navigating the complexities of financial markets with greater caution and awareness. Email: prowizardgilbertrecovery(@)engineer.com Homepage: https://prowizardgilbertrecovery.xyz WhatsApp: +1 (516) 347‑9592
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17.07.24 02:26
thompsonrickey
In the vast and often treacherous realm of online investments, I was entangled in a web of deceit that cost me nearly $45,000. It all started innocuously enough with an enticing Instagram profile promising lucrative returns through cryptocurrency investment. Initially, everything seemed promising—communications were smooth, and assurances were plentiful. However, as time passed, my optimism turned to suspicion. Withdrawal requests were met with delays and excuses. The once-responsive "investor" vanished into thin air, leaving me stranded with dwindling hopes and a sinking feeling in my gut. It became painfully clear that I had been duped by a sophisticated scheme designed to exploit trust and naivety. Desperate to recover my funds, I turned to online forums where I discovered numerous testimonials advocating for Muyern Trust Hacker. With nothing to lose, I contacted them, recounting my ordeal with a mixture of skepticism and hope. Their swift response and professional demeanor immediately reassured me that I had found a lifeline amidst the chaos. Muyern Trust Hacker wasted no time in taking action. They meticulously gathered evidence, navigated legal complexities, and deployed their expertise to expedite recovery. In what felt like a whirlwind of activity, although the passage of time was a blur amidst my anxiety, they achieved the seemingly impossible—my stolen funds were returned. The relief I felt was overwhelming. Muyern Trust Hacker not only restored my financial losses but also restored my faith in justice. Their commitment to integrity and their relentless pursuit of resolution were nothing short of remarkable. They proved themselves as recovery specialists and guardians against digital fraud, offering hope to victims like me who had been ensnared by deception. My gratitude knows no bounds for Muyern Trust Hacker. Reach them at muyerntrusted @ m a i l - m e . c o m AND Tele gram @ muyerntrusthackertech
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18.07.24 20:13
austinagastya
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27.08.24 12:50
James889900
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27.08.24 13:06
James889900
All you need is to hire an expert to help you accomplish that. If there’s any need to spy on your partner’s phone. From my experience I lacked evidence to confront my husband on my suspicion on his infidelity, until I came across ETHICALAHCKERS which many commend him of assisting them in their spying mission. So I contacted him and he provided me with access into his phone to view all text messages, call logs, WhatsApp messages and even her location. This evidence helped me move him off my life . I recommend you consult ETHICALHACKERS009 @ gmail.com OR CALL/TEXT +1(716) 318-5536 or whatsapp +14106350697 if you need access to your partner’s phone
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02.09.24 20:24
[email protected]
If You Need Hacker To Recover Your Bitcoin Contact Paradox Recovery Wizard Paradox Recovery Wizard successfully recovered $123,000 worth of Bitcoin for my husband, which he had lost due to a security breach. The process was efficient and secure, with their expert team guiding us through each step. They were able to trace and retrieve the lost cryptocurrency, restoring our peace of mind and financial stability. Their professionalism and expertise were instrumental in recovering our assets, and we are incredibly grateful for their service. Email: support@ paradoxrecoverywizard.com Email: paradox_recovery @cyberservices.com Wep: https://paradoxrecoverywizard.com/ WhatsApp: +39 351 222 3051.
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06.09.24 01:35
Celinagarcia
HOW TO RECOVER MONEY LOST IN BITCOIN/USDT TRADING OR TO CRYPTO INVESTMENT !! Hi all, friends and families. I am writing From Alberton Canada. Last year I tried to invest in cryptocurrency trading in 2023, but lost a significant amount of money to scammers. I was cheated of my money, but thank God, I was referred to Hack Recovery Wizard they are among the best bitcoin recovery specialists on the planet. they helped me get every penny I lost to the scammers back to me with their forensic techniques. and I would like to take this opportunity to advise everyone to avoid making cryptocurrency investments online. If you have already lost money on forex, cryptocurrency or Ponzi schemes, please contact [email protected] or WhatsApp: +1 (757) 237–1724 at once they can help you get back the crypto you lost to scammers. BEST WISHES. Celina Garcia.
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06.09.24 01:44
Celinagarcia
HOW TO RECOVER MONEY LOST IN BITCOIN/USDT TRADING OR TO CRYPTO INVESTMENT !! Hi all, friends and families. I am writing From Alberton Canada. Last year I tried to invest in cryptocurrency trading in 2023, but lost a significant amount of money to scammers. I was cheated of my money, but thank God, I was referred to Hack Recovery Wizard they are among the best bitcoin recovery specialists on the planet. they helped me get every penny I lost to the scammers back to me with their forensic techniques. and I would like to take this opportunity to advise everyone to avoid making cryptocurrency investments online. If you have already lost money on forex, cryptocurrency or Ponzi schemes, please contact [email protected] or WhatsApp: +1 (757) 237–1724 at once they can help you get back the crypto you lost to scammers. BEST WISHES. Celina Garcia.
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16.09.24 00:10
marcusaustin
Bitcoin Recovery Services: Restoring Lost Cryptocurrency If you've lost access to your cryptocurrency and unable to make a withdrawal, I highly recommend iBolt Cyber Hacker Bitcoin Recovery Services. Their team is skilled, professional, and efficient in recovering lost Bitcoin. They provide clear communication, maintain high security standards, and work quickly to resolve issues. Facing the stress of lost cryptocurrency, iBolt Cyber Hacker is a trusted service that will help you regain access to your funds securely and reliably. Highly recommended! Email: S u p p o r t @ ibolt cyber hack . com Cont/Whtp + 3. .9 .3. .5..0. .9. 2. 9. .0 .3. 1 .8. Website: h t t p s : / / ibolt cyber hack . com /
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16.09.24 00:11
marcusaustin
Bitcoin Recovery Services: Restoring Lost Cryptocurrency If you've lost access to your cryptocurrency and unable to make a withdrawal, I highly recommend iBolt Cyber Hacker Bitcoin Recovery Services. Their team is skilled, professional, and efficient in recovering lost Bitcoin. They provide clear communication, maintain high security standards, and work quickly to resolve issues. Facing the stress of lost cryptocurrency, iBolt Cyber Hacker is a trusted service that will help you regain access to your funds securely and reliably. Highly recommended! Email: S u p p o r t @ ibolt cyber hack . com Cont/Whtp + 3. .9 .3. .5..0. .9. 2. 9. .0 .3. 1 .8. Website: h t t p s : / / ibolt cyber hack . com /
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23.09.24 18:56
matthewshimself
At first, I was admittedly skeptical about Worldcoin (ref: https://worldcoin.org/blog/worldcoin/this-is-worldcoin-video-explainer-series), particularly around the use of biometric data and the WLD token as a reward mechanism for it. However, after following the project closer, I’ve come to appreciate the broader vision and see the value in the underlying tech behind it. The concept of Proof of Personhood (ref: https://worldcoin.org/blog/worldcoin/proof-of-personhood-what-it-is-why-its-needed) has definitely caught my attention, and does seem like a crucial step towards tackling growing issues like bots, deepfakes, and identity fraud. Sam Altman’s vision is nothing short of ambitious, but I do think he & Alex Blania have the chops to realize it as mainstay in the global economy.
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01.10.24 14:54
Sinewclaudia
I lost about $876k few months ago trading on a fake binary option investment websites. I didn't knew they were fake until I tried to withdraw. Immediately, I realized these guys were fake. I contacted Sinew Claudia world recovery, my friend who has such experience before and was able to recover them, recommended me to contact them. I'm a living testimony of a successful recovery now. You can contact the legitimate recovery company below for help and assistance. [email protected] [email protected] WhatsApp: 6262645164
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02.10.24 22:27
Emily Hunter
Can those who have fallen victim to fraud get their money back? Yes, you might be able to get back what was taken from you if you fell prey to a fraud from an unregulated investing platform or any other scam, but only if you report it to the relevant authorities. With the right plan and supporting documentation, you can get back what you've lost. Most likely, the individuals in control of these unregulated platforms would attempt to convince you that what happened to your money was a sad accident when, in fact, it was a highly skilled heist. You should be aware that there are resources out there to help you if you or someone you know has experienced one of these circumstances. Do a search using (deftrecoup (.) c o m). Do not let the perpetrators of this hoaxes get away with ruining you mentally and financially.
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18.10.24 09:34
freidatollerud
The growth of WIN44 in Brazil is very interesting! If you're looking for more options for online betting and casino games, I recommend checking out Casinos in Brazil. It's a reliable platform that offers a wide variety of games and provides a safe and enjoyable experience for users. It's worth checking out! https://win44.vip
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31.10.24 00:13
ytre89
Can those who have fallen victim to fraud get their money back? Yes, you might be able to get back what was taken from you if you fell prey to a fraud from an unregulated investing platform or any other scam, but only if you report it to the relevant authorities. With the right plan and supporting documentation, you can get back what you've lost. Most likely, the individuals in control of these unregulated platforms would attempt to convince you that what happened to your money was a sad accident when, in fact, it was a highly skilled heist. You should be aware that there are resources out there to help you if you or someone you know has experienced one of these circumstances. Do a search using (deftrecoup (.) c o m). Do not let the perpetrators of this hoaxes get away with ruining you mentally and financially.
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02.11.24 14:44
diannamendoza732
In the world of Bitcoin recovery, Pro Wizard Gilbert truly represents the gold standard. My experience with Gilbert revealed just how exceptional his methods are and why he stands out as the premier authority in this critical field. When I first encountered the complexities of Bitcoin recovery, I was daunted by the technical challenges and potential risks. Gilbert’s approach immediately distinguished itself through its precision and effectiveness. His methods are meticulously designed, combining cutting-edge techniques with an in-depth understanding of the Bitcoin ecosystem. He tackled the recovery process with a level of expertise and thoroughness that was both impressive and reassuring. What sets Gilbert’s methods apart is not just their technical sophistication but also their strategic depth. He conducts a comprehensive analysis of each case, tailoring his approach to address the unique aspects of the situation. This personalized strategy ensures that every recovery effort is optimized for success. Gilbert’s transparent communication throughout the process was invaluable, providing clarity and confidence during each stage of the recovery. The results I achieved with Pro Wizard Gilbert’s methods were remarkable. His gold standard approach not only recovered my Bitcoin but did so with an efficiency and reliability that exceeded my expectations. His deep knowledge, innovative techniques, and unwavering commitment make him the definitive expert in Bitcoin recovery. For anyone seeking a benchmark in Bitcoin recovery solutions, Pro Wizard Gilbert’s methods are the epitome of excellence. His ability to blend technical prowess with strategic insight truly sets him apart in the industry. Call: for help. You may get in touch with them at ; Email: (prowizardgilbertrecovery(@)engineer.com) Telegram ; https://t.me/Pro_Wizard_Gilbert_Recovery Homepage ; https://prowizardgilbertrecovery.info
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12.11.24 00:50
TERESA
Brigadia Tech Remikeable recovery has exhibited unparalleled strength in the realm of recovery. They stand out as the premier team to collaborate with if you encounter withdrawal difficulties from the platform where you’ve invested. Recently, I engaged with them to recover over a million dollars trapped in an investment platform I’d been involved with for months. I furnished their team with every detail of the investment, including accounts, names, and wallet addresses to which I sent the funds. This decision proved to be the best I’ve made, especially after realizing the company had scammed me. Brigadia Tech Remikeable recovery ensures exemplary service delivery and ensures the perpetrators face justice. They employ advanced techniques to ensure you regain access to your funds. Understandably, many individuals who have fallen victim to investment scams may still regret engaging in online services again due to the trauma of being scammed. However, I implore you to take action. Seek assistance from Brigadia Tech Remikeable Recovery Experts today and witness their remarkable capabilities. I am grateful that I resisted their enticements, and despite the time it took me to discover brigadia tech recovery, they ultimately fulfilled my primary objective. Without Brigadia Tech Recovery's intervention, I would have remained despondent and perplexed indefinitely. Also if you are looking for the best and safest investment company you can contact them, for wallet recovery, difficult withdrawal, etc. I am so happy to keep getting my daily BTC, all I do is keep 0.1 BTC in my mining wallet with the help of Brigadia Tech. They connected me to his mining stream and I earn 0.4 btc per day with this, my daily profit. I can get myself a new house and car. I can’t believe I have thousands of dollars in my bank account. Now you can get in. ([email protected]) Telegram +1 (323)-9 1 0 -1 6 0 5
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17.11.24 09:31
Vivianlocke223
Have You Fallen Victim to Cryptocurrency Fraud? If your Bitcoin or other cryptocurrencies were stolen due to scams or fraudulent activities, Free Crypto Recovery Fixed is here to help you recover what’s rightfully yours. As a leading recovery service, we specialize in restoring lost cryptocurrency and assisting victims of fraud — no matter how long ago the incident occurred. Our experienced team leverages cutting-edge tools and expertise to trace and recover stolen assets, ensuring swift and secure results. Don’t let scammers jeopardize your financial security. With Free Crypto Recovery Fixed, you’re putting your trust in a reliable and dedicated team that prioritizes recovering your assets and ensuring their future protection. Take the First Step Toward Recovery Today! 📞 Text/Call: +1 407 212 7493 ✉️ Email: [email protected] 🌐 Website: https://freecryptorecovery.net Let us help you regain control of your financial future — swiftly and securely.
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19.11.24 03:06
[email protected]
My entire existence fell apart when a malevolent hacker recently gained access to my online accounts. I felt violated and extremely uneasy after discovering that the digital platforms I depended on for communication, employment, and finances had been compromised. Regaining control and restoring my digital security was an overwhelming task in the immediate aftermath. To help me navigate the difficult process of recovering my accounts and getting my peace of mind back, TRUST GEEKS HACK EXPERT came into my life as a ray of hope. They immediately put their highly skilled professionals to work, thoroughly examining the vulnerability and methodically preventing unwanted access. They guided me through each stage soothingly, explaining what was occurring and why, so I never felt lost or alone. They communicated with service providers to restore my legitimate access while skillfully navigating the complex labyrinth of account recovery procedures. My digital footprint was cleaned and strengthened against future attacks thanks to their equally amazing ability to remove any remaining evidence of the hacker's presence. However, TRUST GEEKS HACK EXPERT actual worth went beyond its technical aspects. They offered constant emotional support during the ordeal, understanding my fragility and sense of violation. My tense nerves were calmed by their comforting presence and kind comments, which served as a reminder that I wasn't alone in this struggle. With their help, I was able to reestablish my sense of security and control, which enabled me to return my attention to the significant areas of my life that had been upended. Ultimately, TRUST GEEKS HACK EXPERT all-encompassing strategy not only recovered my online accounts but also my general peace of mind, which is a priceless result for which I am incredibly appreciative of their knowledge and kindness. Make the approach and send a message to TRUST GEEKS HACK EXPERT Via Web site <> www://trustgeekshackexpert.com/-- E>mail: Trustgeekshackexpert(At)fastservice..com -- TeleGram,<> Trustgeekshackexpert
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19.11.24 03:07
[email protected]
My entire existence fell apart when a malevolent hacker recently gained access to my online accounts. I felt violated and extremely uneasy after discovering that the digital platforms I depended on for communication, employment, and finances had been compromised. Regaining control and restoring my digital security was an overwhelming task in the immediate aftermath. To help me navigate the difficult process of recovering my accounts and getting my peace of mind back, TRUST GEEKS HACK EXPERT came into my life as a ray of hope. They immediately put their highly skilled professionals to work, thoroughly examining the vulnerability and methodically preventing unwanted access. They guided me through each stage soothingly, explaining what was occurring and why, so I never felt lost or alone. They communicated with service providers to restore my legitimate access while skillfully navigating the complex labyrinth of account recovery procedures. My digital footprint was cleaned and strengthened against future attacks thanks to their equally amazing ability to remove any remaining evidence of the hacker's presence. However, TRUST GEEKS HACK EXPERT actual worth went beyond its technical aspects. They offered constant emotional support during the ordeal, understanding my fragility and sense of violation. My tense nerves were calmed by their comforting presence and kind comments, which served as a reminder that I wasn't alone in this struggle. With their help, I was able to reestablish my sense of security and control, which enabled me to return my attention to the significant areas of my life that had been upended. Ultimately, TRUST GEEKS HACK EXPERT all-encompassing strategy not only recovered my online accounts but also my general peace of mind, which is a priceless result for which I am incredibly appreciative of their knowledge and kindness. Make the approach and send a message to TRUST GEEKS HACK EXPERT Via Web site <> www://trustgeekshackexpert.com/-- E>mail: Trustgeekshackexpert(At)fastservice..com -- TeleGram,<> Trustgeekshackexpert
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21.11.24 04:14
ronaldandre617
Being a parent is great until your toddler figures out how to use your devices. One afternoon, I left my phone unattended for just a few minutes rookie mistake of the century. I thought I’d take a quick break, but little did I know that my curious little genius was about to embark on a digital adventure. By the time I came back, I was greeted by two shocking revelations: my toddler had somehow managed to buy a $5 dinosaur toy online and, even more alarmingly, had locked me out of my cryptocurrency wallet holding a hefty $75,000. Yes, you heard that right a dinosaur toy was the least of my worries! At first, I laughed it off. I mean, what toddler doesn’t have a penchant for expensive toys? But then reality set in. I stared at my phone in disbelief, desperately trying to guess whatever random string of gibberish my toddler had typed as a new password. Was it “dinosaur”? Or perhaps “sippy cup”? I felt like I was in a bizarre game of Password Gone Wrong. Every attempt led to failure, and soon the laughter faded, replaced by sheer panic. I was in way over my head, and my heart raced as the countdown of time ticked away. That’s when I decided to take action and turned to Digital Tech Guard Recovery, hoping they could solve the mystery that was my toddler’s handiwork. I explained my predicament, half-expecting them to chuckle at my misfortune, but they were incredibly professional and empathetic. Their confidence put me at ease, and I knew I was in good hands. Contact With WhatsApp: +1 (443) 859 - 2886 Email digital tech guard . com Telegram: digital tech guard recovery . com website link :: https : // digital tech guard . com Their team took on the challenge like pros, employing their advanced techniques to unlock my wallet with a level of skill I can only describe as magical. As I paced around, anxiously waiting for updates, I imagined my toddler inadvertently locking away my life savings forever. But lo and behold, it didn’t take long for Digital Tech Guard Recovery to work their magic. Not only did they recover the $75,000, but they also gave me invaluable tips on securing my wallet better like not leaving it accessible to tiny fingers! Who knew parenting could lead to such dramatic situations? Crisis averted, and I learned my lesson: always keep my devices out of reach of little explorers. If you ever find yourself in a similar predicament whether it’s tech-savvy toddlers or other digital disasters don’t hesitate to reach out to Digital Tech Guard Recovery. They saved my funds and my sanity, proving that no challenge is too great, even when it involves a toddler’s mischievous fingers!
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21.11.24 08:02
Emily Hunter
If I hadn't found a review online and filed a complaint via email to support@deftrecoup. com , the people behind this unregulated scheme would have gotten away with leaving me in financial ruins. It was truly the most difficult period of my life.
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22.11.24 04:41
[email protected]
I never could have imagined the nightmare of losing access to my digital wallet. All of my cryptocurrency holdings were abruptly imprisoned, inaccessible, and appeared to be lost forever following a catastrophic hardware breakdown. Years of meticulous investment and careful saving were reduced to nothing more than strings of code that I could no longer control, and I could feel the dread and sorrow that swept through me at that very instant. Thankfully, during my worst moment, I came into (TRUST GEEKS HACK EXPERT), a professional service devoted to recovering lost or inaccessible digital data. With optimism, I went out to their team of skilled technologists, laying bare the full nature of my issue. What followed was a laborious, multi-step process that required an almost surgical level of digital forensics and Bitcoin skill. In order to create a thorough profile of my wallet's contents and activities, the (TRUST GEEKS HACK EXPERT) team first thoroughly examined the transaction history and metadata connected to it. Next, they implemented a series of advanced recovery techniques, using cutting-edge software tools to bypass the access barriers that had left me locked out. The entire process was shrouded in secrecy and discretion, with the (TRUST GEEKS HACK EXPERT) team working tirelessly to protect the confidentiality of my sensitive financial information. After what felt like an eternity of nervous anticipation, the day finally arrived when I received the triumphant notification – my wallet had been successfully restored, and all of my precious digital assets had been returned to my control. The sense of relief was indescribable, as I could finally breathe easy knowing that the fruits of my financial discipline had been safeguarded. While the experience of losing access to my wallet was undoubtedly traumatic, (TRUST GEEKS HACK EXPERT) intervention allowed me to emerge from the ordeal with my cryptocurrency holdings intact, and a renewed appreciation for the importance of proactive digital asset management. You can contact Them through EMAIL: [email protected] - TELEGRAM: TRUSTGEEKSHACKEXPERT
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22.11.24 15:26
cliftonhandyman
Your Lost Bitcoins Are Not Gone Forever? Enquire From iBolt Cyber Hacker iBolt Cyber Hacker is a cybersecurity service that specializes in Bitcoin and cryptocurrency recovery. Even if your Bitcoin is locked away in a scammer inaccessible wallet, they have the tools and expertise to retrieve it. Many people, including seasoned cryptocurrency investors, face the daunting possibility of never seeing their lost funds again. iBolt cyber hacker service is a potential lifeline in these situations. I understand the concerns many people might have about trusting a third-party service to recover their Bitcoin. iBolt Cyber Hacker takes security seriously, implementing encryption and stringent privacy protocols. I was assured that no sensitive data would be compromised during the recovery process. Furthermore, their reputation in the cryptocurrency community, based on positive feedback from previous clients, gave me confidence that I was in good hands. Whtp +39, 351..105, 3619 Em.ail: ibolt @ cyber- wizard. co m
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22.11.24 23:43
teresaborja
all thanks to Tech Cyber Force Recovery expert assistance. As a novice in cryptocurrency, I had been carefully accumulating a modest amount of Bitcoin, meticulously safeguarding my digital wallet and private keys. However, as the adage goes, the best-laid plans can often go awry, and that's precisely what happened to me. Due to a series of technical mishaps and human errors, I found myself locked out of my Bitcoin wallet, unable to access the fruits of my digital labors. Panic set in as I frantically searched for a solution, scouring the internet for any glimmer of hope. That's when I stumbled upon the Tech Cyber Force Recovery team, a group of seasoned cryptocurrency specialists who had built a reputation for their ability to recover lost or inaccessible digital assets. Skeptical at first, I reached out, desperate for a miracle. To my utter amazement, the Tech Cyber Force Recovery experts quickly assessed my situation and devised a meticulous plan of attack. Through their deep technical knowledge, unwavering determination, and a keen eye for detail, they were able to navigate the complex labyrinth of blockchain technology, ultimately recovering my entire Bitcoin portfolio. What had once seemed like a hopeless endeavor was now a reality, and I found myself once again in possession of my digital wealth, all thanks to the incredible efforts of the Tech Cyber Force Recovery team. This experience has not only restored my faith in the cryptocurrency ecosystem. Still, it has also instilled in me a profound appreciation for the critical role that expert recovery services can play in safeguarding one's digital assets. ENAIL < Tech cybers force recovery @ cyber services. com > WEBSITE < ht tps : // tech cyber force recovery. info > TEXT < +1. 561. 726. 3697 >
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24.11.24 02:21
[email protected]
I never could have imagined the nightmare of losing access to my digital wallet. All of my cryptocurrency holdings were abruptly imprisoned, inaccessible, and appeared to be lost forever following a catastrophic hardware breakdown. Years of meticulous investment and careful saving were reduced to nothing more than strings of code that I could no longer control, and I could feel the dread and sorrow that swept through me at that very instant. Thankfully, during my worst moment, I came into (TRUST GEEKS HACK EXPERT), a professional service devoted to recovering lost or inaccessible digital data. With optimism, I went out to their team of skilled technologists, laying bare the full nature of my issue. What followed was a laborious, multi-step process that required an almost surgical level of digital forensics and Bitcoin skill. In order to create a thorough profile of my wallet's contents and activities, the (TRUST GEEKS HACK EXPERT) team first thoroughly examined the transaction history and metadata connected to it. Next, they implemented a series of advanced recovery techniques, using cutting-edge software tools to bypass the access barriers that had left me locked out. The entire process was shrouded in secrecy and discretion, with the (TRUST GEEKS HACK EXPERT) team working tirelessly to protect the confidentiality of my sensitive financial information. After what felt like an eternity of nervous anticipation, the day finally arrived when I received the triumphant notification – my wallet had been successfully restored, and all of my precious digital assets had been returned to my control. The sense of relief was indescribable, as I could finally breathe easy knowing that the fruits of my financial discipline had been safeguarded. While the experience of losing access to my wallet was undoubtedly traumatic, (TRUST GEEKS HACK EXPERT) intervention allowed me to emerge from the ordeal with my cryptocurrency holdings intact, and a renewed appreciation for the importance of proactive digital asset management. You can contact Them through EMAIL: [email protected] - TELEGRAM: TRUSTGEEKSHACKEXPERT
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25.11.24 02:19
briankennedy
COMMENT ON I NEED A HACKER TO RECOVER MONEY FROM BINARY TRADING. HIRE FASTFUND RECOVERY
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25.11.24 02:20
briankennedy
After countless hours of research and desperate attempts to find a solution, I stumbled upon FASTFUND RECOVERY. It was like finding an oasis in the middle of a desert. Their website promised to help victims of scams reclaim what was rightfully theirs, and I instantly knew I had to give them a shot. Before diving headfirst into the recovery process, I wanted to make sure that FASTFUND RECOVERY was the real deal. So, I did my due diligence and looked into their expertise and reputation. To my relief, I found that they had an impeccable track record, successfully assisting countless individuals in recovering their lost funds. Their team consisted of experts in cybersecurity and financial fraud, armed with the knowledge and tools needed to tackle even the most intricate scams. With their reputation preceding them, I felt a renewed sense of hope. FASTFUND RECOVERY successfully came to my aid and got back the amount I lost to these scammers and for this, I am sending this article for clarification. The info of FASTFUND RECOVERY is email: Fastfundrecovery8 (@)Gmail (.) com. Web fastfundrecovery(.)com. (W/A 1 807/500/7554)
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26.11.24 21:59
[email protected]
In a world brimming with enticing investment opportunities, it is crucial to tread carefully. The rise of digital currencies has attracted many eager investors, but along with this excitement lurk deceitful characters ready to exploit the unsuspecting. I learned this lesson the hard way, and I want to share my story in the hopes that it can save someone from making the same mistakes I did. It all began innocently enough when I came across an engaging individual on Facebook. Lured in by promises of high returns in the cryptocurrency market, I felt the electric thrill of potential wealth coursing through me. Initial investments returned some profits, and that exhilarating taste of success fueled my ambition. Encouraged by a meager withdrawal, I decided to commit even more funds. This was the moment I let my guard down, blinded by greed. As time went on, the red flags started to multiply. The moment I tried to withdraw my earnings, a cascade of unreasonable fees appeared like a thick mist, obscuring the truth. “Just a little more,” they said, “Just until the next phase.” I watched my hard-earned money slip through my fingers as I scraped together every last cent to pay those relentless fees. My trust had become my downfall. In the end, I lost not just a significant amount of cash, but my peace of mind about $1.1 million vanished into the abyss of false promises and hollow guarantees. But despair birthed hope. After a cascade of letdowns, I enlisted the help of KAY-NINE CYBER SERVICES, a team that specializes in reclaiming lost funds from scams. Amazingly, they worked tirelessly to piece together what had been ripped away, providing me with honest guidance when I felt utterly defeated. Their expertise in navigating the treacherous waters of crypto recovery was a lifeline I desperately needed. To anyone reading this, please let my story serve as a warning. High returns often come wrapped in the guise of deception. Protect your investments, scrutinize every opportunity, and trust your instincts. Remember, the allure of quick riches can lead you straight to heartbreak, but with cautious determination and support, it is possible to begin healing from such devastating loss. Stay informed, stay vigilant, and may you choose your investment paths wisely. Email: kaynine @ cyberservices . com
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26.11.24 23:12
rickrobinson8
FAST SOLUTION FOR CYPTOCURRENCY RECOVERY SPARTAN TECH GROUP RETRIEVAL
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26.11.24 23:12
rickrobinson8
Although recovering from the terrible effects of investment fraud can seem like an impossible task, it is possible to regain financial stability and go on with the correct assistance and tools. In my own experience with Wizard Web Recovery, a specialized company that assisted me in navigating the difficulties of recouping my losses following my fall prey to a sophisticated online fraud, that was undoubtedly the case. My life money had disappeared in an instant, leaving me in a state of shock when I first contacted Spartan Tech Group Retrieval through this Email: spartantechretrieval (@) g r o u p m a i l .c o m The compassionate and knowledgeable team there quickly put my mind at ease, outlining a clear and comprehensive plan of action. They painstakingly examined every aspect of my case, using their broad business contacts and knowledge to track the movement of my pilfered money. They empowered me to make knowledgeable decisions regarding the rehabilitation process by keeping me updated and involved at every stage. But what I valued most was their unrelenting commitment and perseverance; they persisted in trying every option until a sizable amount of my lost money had been successfully restored. It was a long and arduous journey, filled with ups and downs, but having Spartan Tech Group Retrieval in my corner made all the difference. Thanks to their tireless efforts, I was eventually able to rebuild my financial foundation and reclaim a sense of security and control over my life. While the emotional scars of investment fraud may never fully heal, working with this remarkable organization played a crucial role in my ability to move forward and recover. For proper talks, contact on WhatsApp:+1 (971) 4 8 7 - 3 5 3 8 and Telegram:+1 (581) 2 8 6 - 8 0 9 2 Thank you for your time reading as it will be of help.
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27.11.24 00:39
[email protected]
Although recovering lost or inaccessible Bitcoin can be difficult and unpleasant, it is frequently possible to get back access to one's digital assets with the correct help and direction. Regarding the subject at hand, the examination of Trust Geeks Hack Expert Website www://trustgeekshackexpert.com/ assistance after an error emphasizes how important specialized services may be in negotiating the difficulties of Bitcoin recovery. These providers possess the technical expertise and resources necessary to assess the situation, identify the root cause of the issue, and devise a tailored solution to retrieve the lost funds. By delving deeper into the specifics of Trust Geeks Hack Expert approach, we can gain valuable insights into the nuances of this process. Perhaps they leveraged advanced blockchain analysis tools to trace the transaction history and pinpoint the location of the missing Bitcoins. Or they may have collaborated with the relevant parties, such as exchanges or wallet providers, to facilitate the recovery process. Equally important is the level of personalized support and communication that Trust Geeks Hack Expert likely provided, guiding the affected individual through each step of the recovery effort and offering reassurance during what can be an anxious and uncertain time. The success of their efforts, as evidenced by the positive outcome, underscores the importance of seeking out reputable and experienced service providers when faced with a Bitcoin-related mishap, as they possess the specialized knowledge and resources to navigate these challenges and restore access to one's digital assets. Email.. [email protected]
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27.11.24 09:10
Michal Novotny
The biggest issue with cryptocurrency is that it is unregulated, wh ich is why different people can come up with different fake stories all the time, and it is unfortunate that platforms like Facebook and others only care about the money they make from them through ads. I saw an ad on Facebook for Cointiger and fell into the scam, losing over $30,000. I reported it to Facebook, but they did nothing until I discovered deftrecoup . c o m from a crypto community; they retrieved approximately 95% of the total amount I lost.
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01.12.24 17:21
KollanderMurdasanu
REACH OUT TO THEM WhatsApp + 156 172 63 697 Telegram (@)Techcyberforc We were in quite a bit of distress. The thrill of our crypto investments, which had once sparked excitement in our lives, was slowly turning into anxiety when my husband pointed out unusual withdrawal issues. At first, we brushed it off as minor glitches, but the situation escalated when we found ourselves facing login re-validation requests that essentially locked us out of our crypto wallet—despite entering the correct credentials. Frustrated and anxious, we sought advice from a few friends, only to hit a wall of uncertainty. Turning to the vast expanse of the internet felt daunting, but in doing so, we stumbled upon TECH CYBER FORCE RECOVERY. I approached them with a mix of skepticism and hope; after all, my understanding of these technical matters was quite limited. Yet, from our very first interaction, it was clear that they were the experts we desperately needed. They walked us through the intricacies of the recovery process, patiently explaining each mechanism—even if some of it went over my head, their reassurance was calming. Our responsibility was simple: to provide the correct information to prove our ownership of the crypto account, and thankfully, we remained on point in our responses. in a timely fashion, TECH CYBER FORCE RECOVERY delivered on their promises, addressing all our withdrawal and access issues exactly when they said they would. The relief we felt was immense, and the integrity they displayed made me confident in fully recommending their services. If you ever find yourself in a similar predicament with your crypto investments, I wholeheartedly suggest reaching out to them. You can connect with TECH CYBER FORCE RECOVERY through their contact details for assistance and valuable guidance. Remember, hope is only a reach away!
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02.12.24 23:02
ytre89
Online crypto investment can seem like a promising opportunity, but it's crucial to recognize that there are no guarantees. My experience serves as a stark reminder of this reality. I was drawn in by the allure of high returns and the persuasive marketing tactics employed by various brokers. Their polished presentations and testimonials made it seem easy to profit from cryptocurrency trading. Everything appeared to be legitimate. I received enticing messages about the potential for substantial gains, and the brokers seemed knowledgeable and professional. Driven by excitement and the fear of missing out, I invested a significant amount of my savings. The promise of quick profits overshadowed the red flags I should have noticed. I trusted these brokers without conducting proper research, which was a major mistake. As time went on, I realized that the promised returns were nothing but illusions. My attempts to withdraw funds were met with endless excuses and delays. It became painfully clear that I had fallen victim. The reality hit hard: my hard-earned money was gone, I lost my peace of mind and sanity. In my desperation, I sought help from a company called DEFTRECOUP. That was the turning point for me as I had a good conversation and eventually filed a complaint via DEFTRECOUP COM. They were quite delicate and ensured I got out of the most difficult situation of my life in one piece.
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04.12.24 22:24
andreygagloev
When I first heard about Bitcoin back in 2018, I was skeptical. The idea of a decentralized, digital currency seemed too good to be true. But I was intrigued as I learned more about the technology behind it and its potential. I started small, investing just a few hundred dollars, dipping my toes into the cryptocurrency waters. At first, it was exhilarating to watch the value of my investment grow exponentially. I felt like I was part of the future, an early adopter of this revolutionary new asset. But that euphoria was short-lived. One day, I logged into my digital wallet only to find it empty - my Bitcoin had vanished without a trace. It turned out that the online exchange I had trusted had been hacked, and my funds were stolen. I was devastated, both financially and emotionally. All the potential I had seen in Bitcoin was tainted by the harsh reality that with decentralization came a lack of regulation and oversight. My hard-earned money was gone, lost to the ether of the digital world. This experience taught me a painful lesson about the price of trust in the uncharted territory of cryptocurrency. While the technology holds incredible promise, the risks can be catastrophic if you don't approach it with extreme caution. My Bitcoin investment gamble had failed, and I was left to pick up the pieces, wiser but poorer for having placed my faith in the wrong hands. My sincere appreciation goes to MUYERN TRUST HACKER. You are my hero in recovering my lost funds. Send a direct m a i l ( muyerntrusted ( @ ) mail-me ( . )c o m ) or message on whats app : + 1 ( 4-4-0 ) ( 3 -3 -5 ) ( 0-2-0-5 )
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12.12.24 00:35
amandagregory
HOW TO HIRE A HACKER TO RECOVER STOLEN BITCOIN WITH FASTFUND RECOVERY
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12.12.24 00:35
amandagregory
HOW TO HIRE A HACKER TO RECOVER STOLEN BITCOIN WITH FASTFUND RECOVERY... A few months ago, I made a huge mistake. I invested in what seemed like a legitimate crypto opportunity, only to find out I’d been scammed. I lost a significant amount of money, and the scam platform vanished overnight. I felt completely lost.I had heard of Fastfund Recovery and decided to reach out, even though I was skeptical. From the first conversation, they made me feel heard and understood. They explained the recovery process clearly and kept me updated every step of the way.Within weeks, Fastfund Recovery successfully to recovered my lost funds—something I honestly didn’t think was possible. Their team was professional, transparent, and genuinely caring. I can’t thank them enough for turning a nightmare into a hopeful outcome. If you’re in a similar situation, don’t hesitate to contact them. They truly deliver on their promises. Gmail::: fastfundrecovery8(@)gmail com .....Whatsapp ::: 1::807::::500::::7554
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19.12.24 17:07
rebeccabenjamin
USDT RECOVERY EXPERT REVIEWS DUNAMIS CYBER SOLUTION It's great to hear that you've found a way to recover your Bitcoin and achieve financial stability, but I urge you to be cautious with services like DUNAMIS CYBER SOLUTION Recovery." While it can be tempting to turn to these companies when you’re desperate to recover lost funds, many such services are scams, designed to exploit those in vulnerable situations. Always research thoroughly before engaging with any recovery service. In the world of cryptocurrency, security is crucial. To protect your assets, use strong passwords, enable two-factor authentication, and consider using cold wallets (offline storage) for long-term storage. If you do seek professional help, make sure the company is reputable and has positive, verifiable reviews from trusted sources. While it’s good that you found a solution, it’s also important to be aware of potential scams targeting cryptocurrency users. Stay informed about security practices, and make sure you take every step to safeguard your investments. If you need help with crypto security tips or to find trustworthy resources, feel free to ask! [email protected] +13433030545 [email protected]
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24.12.24 08:33
dddana
Отличная подборка сервисов! Хотелось бы дополнить список рекомендацией: нажмите сюда - https://airbrush.com/background-remover. Этот инструмент отлично справляется с удалением фона, сохраняя при этом высокое качество изображения. Очень удобен для быстрого редактирования фото. Было бы здорово увидеть его в вашей статье!
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27.12.24 00:21
swiftdream
I lost about $475,000.00 USD to a fake cryptocurrency trading platform a few weeks back after I got lured into the trading platform with the intent of earning a 15% profit daily trading on the platform. It was a hell of a time for me as I could hardly pay my bills and got me ruined financially. I had to confide in a close friend of mine who then introduced me to this crypto recovery team with the best recovery SWIFTDREAM i contacted them and they were able to completely recover my stolen digital assets with ease. Their service was superb, and my problems were solved in swift action, It only took them 48 hours to investigate and track down those scammers and my funds were returned to me. I strongly recommend this team to anyone going through a similar situation with their investment or fund theft to look up this team for the best appropriate solution to avoid losing huge funds to these scammers. Send complaint to Email: info [email protected]
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31.12.24 04:53
Annette_Phillips
There are a lot of untrue recommendations and it's hard to tell who is legit. If you have lost crypto to scam expresshacker99@gmailcom is the best option I can bet on that cause I have seen lot of recommendations about them and I'm a witness on their capabilities. They will surely help out. Took me long to find them. The wonderful part is no upfront fee till crypto is recover successfully that's how genuine they are.
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04.01.25 04:56
florencestella
THE BEST CERTIFIED CRYPTOCURRENCY RECOVERY EXPERT DUNAMIS CYBER SOLUTION
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04.01.25 04:57
florencestella
THE BEST CERTIFIED CRYPTOCURRENCY RECOVERY EXPERT DUNAMIS CYBER SOLUTION It sounds like you went through a very frustrating experience with Cointrack, where your access to your own funds was unjustly restricted for months without clear communication or a solution. The extended periods of account freezes, lack of transparency, and vague customer support responses would make anyone anxious. It’s understandable that you suspected the issue could be related to your login activity, but it’s surprising that something as minor as using the same Wi-Fi network could trigger such severe restrictions. I’m glad to hear that DUNAMIS CYBER SOLUTION Recovery was able to help you get your account unlocked and resolve the issue. It’s unfortunate that you had to seek third-party assistance, but it’s a relief that the situation was eventually addressed. If you plan on using any platforms like this again, you might want to be extra cautious, especially when dealing with sensitive financial matters. And if you ever need to share your experience to help others avoid similar issues, feel free to reach out. It might be helpful for others to know about both the pitfalls and the eventual resolution through services like DUNAMIS CYBER SOLUTION Recovery. [email protected] +13433030545 [email protected]
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06.01.25 19:09
michaeljordan15
We now live in a world where most business transactions are conducted through Bitcoin and cryptocurrency. With the rapid growth of digital currencies, everyone seems eager to get involved in Bitcoin and cryptocurrency investments. This surge in interest has unfortunately led to the rise of many fraudulent platforms designed to exploit unsuspecting individuals. People are often promised massive profits, only to lose huge sums of money when they realize the platform they invested in was a scam. contact with WhatsApp: +1 (443) 859 - 2886 Email @ digitaltechguard.com Telegram: digitaltechguardrecovery.com website link:: https://digitaltechguard.com This was exactly what happened to me five months ago. I was excited about the opportunity to invest in Bitcoin, hoping to earn a steady return of 20%. I found a platform that seemed legitimate and made my investment, eagerly anticipating the day when I would be able to withdraw my earnings. When the withdrawal day arrived, however, I encountered an issue. My bank account was not credited, despite seeing my balance and the supposed profits in my account on the platform. At first, I assumed it was just a technical glitch. I thought, "Maybe it’s a delay in the system, and everything will be sorted out soon." However, when I tried to contact customer support, the line was either disconnected or completely unresponsive. My doubts started to grow, but I wanted to give them the benefit of the doubt and waited throughout the day to see if the situation would resolve itself. But by the end of the day, I realized something was terribly wrong. I had been swindled, and my hard-earned money was gone. The realization hit me hard. I had fallen victim to one of the many fraudulent Bitcoin platforms that promise high returns and disappear once they have your money. I knew I had to act quickly to try and recover what I had lost. I started searching online for any possible solutions, reading reviews and recommendations from others who had faced similar situations. That’s when I came across many positive reviews about Digital Tech Guard Recovery. After reading about their success stories, I decided to reach out and use their services. I can honestly say that Digital Tech Guard Recovery exceeded all my expectations. Their team was professional, efficient, and transparent throughout the process. Within a short time, they helped me recover a significant portion of my lost funds, which I thought was impossible. I am incredibly grateful to Digital Tech Guard Recovery for their dedication and expertise in helping me get my money back. If you’ve been scammed like I was, don’t lose hope. There are solutions, and Digital Tech Guard Recovery is truly one of the best. Thank you, Digital Tech Guard Recovery! You guys are the best. Good luck to everyone trying to navigate this challenging space. Stay safe.
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18.01.25 12:41
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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18.01.25 12:41
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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20.01.25 15:39
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]
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22.01.25 21:43
DoraJaimes23
Recovery expert. I lost my bitcoin to fake blockchain impostors on Facebook, they contacted me as blockchain official support and i fell stupidly for their mischievous act, this made them gain access into my blockchain wallet whereby 7.0938 btc was stolen from my wallet in total .I was almost in a comma and dumbfounded because this was all my savings i relied on . Then I made a research online and found a recovery expert , with the contact address- { RECOVERYHACKER101 (@) GMAIL . COM }... I wrote directly to the specialist explaining my loss. Hence, he helped me recover a significant part of my investment just after 2 days he helped me launch the recovery program , and the culprits were identified as well , all thanks to his expertise . I hope I have been able to help someone as well . Reach out to the recovery specialist to recover you lost funds from any form of online scam Thanks
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23.01.25 02:36
[email protected]
After falling victim to a fraudulent Bitcoin mining scam, I found myself in a desperate situation. I had invested $50,000 into a cloud mining website called Miningpool, which turned out to be a complete scam. For months, I tried reaching out to the company, but I was unable to access my funds, and I quickly realized I had been taken for a ride. In my search for help, I came across TrustGeeks Hack Expert, a service that claimed to help people recover lost funds from crypto scams. Though skeptical at first, I decided to give them a try. Here’s my experience with their service.When I initially contacted TrustGeeks Hack Expert Email.. Trustgeekshackexpert{At}fastservice{Dot}com , I was understandably hesitant. Like many others, I had been tricked into believing my Bitcoin investments were legitimate, only to discover they were locked in a non-spendable wallet with no way of accessing them. However, after sharing my story and details about the scam, the team assured me they had handled similar cases and had the expertise to help. They requested basic information about my investment and began their investigation immediately. The recovery process was nothing short of professional. Unlike many other services that promise quick fixes but fail to deliver, TrustGeeks Hack Expert kept me informed at every stage. They regularly updated me on their progress and were completely transparent about the challenges they faced. There were moments when I wondered if the process would work, but the team’s professionalism and reassurance gave me hope. They were honest about the time it would take and did not make any unrealistic promises, which I truly appreciated. After several weeks of work, TrustGeeks Hack Expert successfully recovered not just my $50,000 investment, but also the so-called profits that had been locked away in the scam's non-spendable wallet. This was a huge relief, as I had resigned myself to the idea that I had lost everything. The entire recovery process was discreet and handled with the utmost care, ensuring that the scam company remained unaware of the recovery efforts, which helped prevent further complications. TeleGram iD. Trustgeekshackexpert & What's A p p +1 7 1 9 4 9 2 2 6 9 3
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23.01.25 02:37
[email protected]
After falling victim to a fraudulent Bitcoin mining scam, I found myself in a desperate situation. I had invested $50,000 into a cloud mining website called Miningpool, which turned out to be a complete scam. For months, I tried reaching out to the company, but I was unable to access my funds, and I quickly realized I had been taken for a ride. In my search for help, I came across TrustGeeks Hack Expert, a service that claimed to help people recover lost funds from crypto scams. Though skeptical at first, I decided to give them a try. Here’s my experience with their service.When I initially contacted TrustGeeks Hack Expert Email.. Trustgeekshackexpert{At}fastservice{Dot}com , I was understandably hesitant. Like many others, I had been tricked into believing my Bitcoin investments were legitimate, only to discover they were locked in a non-spendable wallet with no way of accessing them. However, after sharing my story and details about the scam, the team assured me they had handled similar cases and had the expertise to help. They requested basic information about my investment and began their investigation immediately. The recovery process was nothing short of professional. Unlike many other services that promise quick fixes but fail to deliver, TrustGeeks Hack Expert kept me informed at every stage. They regularly updated me on their progress and were completely transparent about the challenges they faced. There were moments when I wondered if the process would work, but the team’s professionalism and reassurance gave me hope. They were honest about the time it would take and did not make any unrealistic promises, which I truly appreciated. After several weeks of work, TrustGeeks Hack Expert successfully recovered not just my $50,000 investment, but also the so-called profits that had been locked away in the scam's non-spendable wallet. This was a huge relief, as I had resigned myself to the idea that I had lost everything. The entire recovery process was discreet and handled with the utmost care, ensuring that the scam company remained unaware of the recovery efforts, which helped prevent further complications. TeleGram iD. Trustgeekshackexpert & What's A p p +1 7 1 9 4 9 2 2 6 9 3
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23.01.25 14:20
nellymargaret
DUNAM CYBER SOLUTION BTC-ETH RECOVERY EXPERT
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23.01.25 14:20
nellymargaret
DUNAM CYBER SOLUTION BTC-ETH RECOVERY EXPERT I had tried to secure my Bitcoin wallet, maybe a bit too aggressively, enabling every security feature imaginable: two-factor authentication, biometric verification, intricate passwords-the whole shebang. I wanted to make it impossible for anybody to get to my money. I tried to make this impregnable fortress of security and ended up locking myself out of my wallet with $700,000 in Bitcoin. It wasn't until I tried to access my wallet that I realized the trap I had set for myself. I was greeted with an endless series of security checks-passwords, codes, facial recognition, and more. I could remember parts of my multi-layered security setup but not enough to actually get in. In fact, my money was behind this digital fortress, and the more I tried to fix it, the worse it seemed to get. I kept tripping over my own layers of protection, unable to find a way back in. Panic quickly set in when I realized I had made it almost impossible for myself to access my own money. That is when I called DUNAMIS CYBER SOLUTION From that very first call, they reassured me that I wasn't the first person to make this kind of mistake and certainly wouldn't be the last. They listened attentively to my explanation and got to work straight away. Their team methodically began to untangle my overly complicated setup. Patience and expertise managed to crack each layer of security step by step until they had restored access to my wallet. [email protected] +13433030545 [email protected]
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26.01.25 03:54
[email protected]
Losing access to my crypto wallet account was one of the most stressful experiences ever. After spending countless hours building up my portfolio, I suddenly found myself locked out of my account without access. To make matters worse, the email address I had linked to my wallet was no longer active. When I tried reaching out, I received an error message stating that the domain was no longer in use, leaving me in complete confusion and panic. It was as though everything I had worked so hard for was gone, and I had no idea how to get it back. The hardest part wasn’t just the loss of access it was the feeling of helplessness. Crypto transactions are often irreversible, and since my wallet held significant investments, the thought that my hard-earned money could be lost forever was incredibly disheartening. I spent hours scouring forums and searching for ways to recover my funds, but most of the advice seemed either too vague or too complicated to be of any real help. With no support from the wallet provider and my email account out of reach, I was left feeling like I had no way to fix the situation.That’s when I found out about Trust Geeks Hack Expert . I was hesitant at first, but after reading about their expertise in recovering lost crypto wallets, I decided to give them a try. I reached out to their team, and from the very beginning, they were professional, understanding, and empathetic to my situation. They quickly assured me that there was a way to recover my wallet, and they got to work immediately.Thanks to Trust Geeks Hack Expert , my wallet and funds were recovered, and I couldn’t be more grateful. The process wasn’t easy, but their team guided me through each step with precision and care. The sense of relief I felt when I regained access to my crypto wallet and saw my funds safely back in place was indescribable. If you find yourself in a similar situation, I highly recommend reaching out to Trust Geeks Hack Expert. contact Them through EMAIL: [email protected] + WEBSITE. HTTPS://TRUSTGEEKSHACKEXPERT.COM + TELE GRAM: TRUSTGEEKSHACKEXPERT
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28.01.25 21:48
[email protected]
It’s unfortunate that many people have become victims of scams, and some are facing challenges accessing their Bitcoin wallets. However, there's excellent news! With Chris Wang, you can count on top-notch service that guarantees results in hacking. We have successfully helped both individuals and organizations recover lost files, passwords, funds, and more. If you need assistance, don’t hesitate—check out recoverypro247 on Google Mail! What specific methods does Chris Wang use to recover lost funds and passwords? Are there any guarantees regarding the success rate of the recovery services offered? What are the initial steps to begin the recovery process with recoverypro247? this things i tend to ask
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02.02.25 20:53
Michael9090
I lost over $155,000 in an investment trading company last year; I was down because the company refused to let me make withdrawals and kept asking for more money…. My friend in the military introduced me to a recovery agent Crypto Assets Recovery with the email address [email protected] and he’s been really helpful, he made a successful recovery of 95% of my investment in less than 24 hours, I’m so grateful to him. If you are a victim of a binary scam and need to get your money back, please don’t hesitate to contact Crypto Assets Recovery in any of the information below. EMAIL: [email protected] WHATSAPP NUMBER : +18125892766
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05.02.25 00:04
Jannetjeersten
TECH CYBER FORCE RECOVERY quickly took action, filing my case and working tirelessly on my behalf. Within just four days, I received the surprising news that my 40,000 CAD had been successfully refunded and deposited back into my bank account. I was overjoyed and relieved to see the money returned, especially after the stressful experience. Thanks to TECH CYBER FORCE RECOVERY’s professionalism and dedication, I was able to recover my funds. This experience taught me an important lesson about being cautious with online investments and the importance of seeking expert help when dealing with scams. I am truly grateful to EMAIL: support(@)techcyberforcerecovery(.)com OR WhatsApp: +.1.5.6.1.7.2.6.3.6.9.7 for their assistance, which allowed me to reclaim my money and end the holiday season on a much brighter note.
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06.02.25 19:42
Marta Golomb
My name is Marta, and I’m sharing my experience in the hope that it might help others avoid a similar scam. A few weeks ago, I received an email that appeared to be from the "Department of Health and Human Services (DHS)." It claimed I was eligible for a $72,000 grant debit card, which seemed like an incredible opportunity. At first, I was skeptical, but the email looked so professional and convincing that I thought it might be real. The email instructed me to click on a link to claim the grant, and unfortunately, I followed through. I filled out some personal details, and then, unexpectedly, I was told I needed to pay a "processing fee" to finalize the grant. I was hesitant, but the urgency of the message pushed me to make the payment, believing it was a necessary step to receive the funds. Once the payment was made, things quickly went downhill. The website became unreachable, and I couldn’t get in touch with anyone from the supposed DHS. It soon became clear that I had been scammed. The email, which seemed so legitimate, had been a clever trick to steal my money.Devastated and unsure of what to do, I began searching for ways to recover my lost funds. That’s when I found Tech Cyber Force Recovery, a team of experts who specialize in tracing stolen money and assisting victims of online fraud. They were incredibly reassuring and quickly got to work on my case. After several days of investigation, they managed to track down the scammers and recover my funds. I can’t express how grateful I am for their help. Without Tech Cyber Force Recovery, I don’t know what I would have done. This experience has taught me a valuable lesson: online scams are more common than I realized, and the scammers behind them are incredibly skilled. They prey on people’s trust, making it easy to fall for their tricks. HOW CAN I RECOVER MY LOST BTC,USDT =Telegram= +1 561-726-36-97 =WhatsApp= +1 561-726-36-97
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08.02.25 05:45
[email protected]
I'm incredibly grateful that I did enough research to recover my stolen cryptocurrency. When I first fell victim to a scam, I felt hopeless and lost, unsure if I'd ever see my funds again. A few months ago, I was approached by someone on Telegram who claimed to have a lucrative investment opportunity in cryptocurrencies. They promised huge returns and played on my emotions, making it seem like a can't-miss chance. I was so eager to make my money grow that I didn't fully vet the situation, and unfortunately, I ended up falling for the scam. They guided me to invest a significant amount of money, and soon after, I realized I had been duped. The scammers blocked me, and my funds were gone. I felt devastated. All of my savings had been wiped out in what seemed like an instant, and the feeling of being taken advantage of was crushing. I spent days researching how to recover my stolen cryptocurrency but found the process to be overwhelming and complicated. I was starting to lose hope when I came across Trust Geeks Hack Expert. At first, I was skeptical about reaching out to a cryptocurrency recovery company, but after reading testimonials and researching their reputation, I decided to give them a try. I contacted Trust Geeks Hack Expert Website: www://trustgeekshackexpert.com/, and I was immediately reassured by their professionalism and expertise. They took the time to listen to my situation, and they were honest about what could and could not be done. What stood out to me was their deep understanding of cryptocurrency fraud and the recovery process. They were able to track down the scammers and initiate the recovery of my stolen funds, step by step. Thanks to Trust Geeks Hack Expert, I was able to get back a significant portion of the cryptocurrency I had lost. Their team was responsive, transparent, and diligent in their efforts. I was kept informed throughout the entire process, and they made sure I felt supported every step of the way. I truly can't thank them enough for their dedication and for restoring my faith in the possibility of recovery after such a devastating loss. I will definitely recommend Trust Geeks Hack Expert to anyone who has fallen victim to a cryptocurrency scam. TeleGram: Trustgeekshackexpert & what's A p p +1 7 1 9 4 9 2 2 6 9 3
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08.02.25 05:46
[email protected]
I'm incredibly grateful that I did enough research to recover my stolen cryptocurrency. When I first fell victim to a scam, I felt hopeless and lost, unsure if I'd ever see my funds again. A few months ago, I was approached by someone on Telegram who claimed to have a lucrative investment opportunity in cryptocurrencies. They promised huge returns and played on my emotions, making it seem like a can't-miss chance. I was so eager to make my money grow that I didn't fully vet the situation, and unfortunately, I ended up falling for the scam. They guided me to invest a significant amount of money, and soon after, I realized I had been duped. The scammers blocked me, and my funds were gone. I felt devastated. All of my savings had been wiped out in what seemed like an instant, and the feeling of being taken advantage of was crushing. I spent days researching how to recover my stolen cryptocurrency but found the process to be overwhelming and complicated. I was starting to lose hope when I came across Trust Geeks Hack Expert. At first, I was skeptical about reaching out to a cryptocurrency recovery company, but after reading testimonials and researching their reputation, I decided to give them a try. I contacted Trust Geeks Hack Expert Website: www://trustgeekshackexpert.com/, and I was immediately reassured by their professionalism and expertise. They took the time to listen to my situation, and they were honest about what could and could not be done. What stood out to me was their deep understanding of cryptocurrency fraud and the recovery process. They were able to track down the scammers and initiate the recovery of my stolen funds, step by step. Thanks to Trust Geeks Hack Expert, I was able to get back a significant portion of the cryptocurrency I had lost. Their team was responsive, transparent, and diligent in their efforts. I was kept informed throughout the entire process, and they made sure I felt supported every step of the way. I truly can't thank them enough for their dedication and for restoring my faith in the possibility of recovery after such a devastating loss. I will definitely recommend Trust Geeks Hack Expert to anyone who has fallen victim to a cryptocurrency scam. TeleGram: Trustgeekshackexpert & what's A p p +1 7 1 9 4 9 2 2 6 9 3
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10.02.25 21:22
sulabhakuchchal
W.W.W.techcyberforcerecovery.com MAIL. [email protected] My name is sulabha kuchchal, and I’m from Mumbai. A few months ago, I faced a nightmare scenario that many in the crypto world fear: I lost access to my $60,000 wallet after a malware attack. The hacker gained control of my private keys, and I was unable to access my funds. Panic set in immediately as I realized the magnitude of the situation. Like anyone in my shoes, I felt completely helpless. But luckily, a friend recommended TECH CYBER FORCE RECOVERY, and it turned out to be the best advice I could have gotten. From the moment I reached out to TECH CYBER FORCE RECOVERY, I felt a sense of relief.
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11.02.25 04:24
heyemiliohutchinson
I invested substantially in Bitcoin, believing it would secure my future. For a while, things seemed to be going well. The market fluctuated, but I was confident my investment would pay off. But catastrophe struck without warning. I lost access to my Bitcoin holdings as a result of several technical issues and inadequate security measures. Every coin in my wallet suddenly disappeared, leaving me with an overpowering sense of grief. The emotional impact of this loss was far greater than I had imagined. I spiraled into despair, feeling as though my dreams of financial independence were crushed. I was on the verge of giving up when I came across Assets_Recovery_Crusader. Being willing to give them a chance, I had nothing left to lose. They listened to my narrative and took the time to comprehend the particulars of my circumstance, rather than treating me like a case number. They worked diligently, using their advanced recovery techniques and deep understanding of blockchain technology to track down my lost Bitcoin. Assets_Recovery_Crusader rebuilt my trust in the bitcoin space. The financial impact had a significant emotional toll, but I was able to get past it thanks to Assets_Recovery_Crusader’s proficiency and persistence. For proper talks, reach out to them via TELEGRAM : Assets_Recovery_Crusader EMAIL: [email protected]
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11.02.25 22:46
jimmybrown
HIRE A HACKE DUNAMIS CYBER SOLUTION
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11.02.25 22:46
jimmybrown
HIRE A HACKE DUNAMIS CYBER SOLUTIONI was just hours away from sealing the biggest real estate deal of my life- the kind of deal that would make one feel like a financial genius. It was the dream property, and all I had to do was transfer my $450,000 Bitcoin deposit. Simple, right? Wrong. I pulled up my crypto wallet, ready to finalize the transfer, and access was denied. No big deal. Maybe I mistyped the password. I tried again. Access denied. Panic started seeping in. I switched devices. Rebooted my system. I entered every password I had ever used since the dawn of time, including my childhood nickname and my favorite pizza topping. Still. Nothing. This wasn't a glitch. This was a full-scale disaster. The seller was waiting; my real estate agent was waiting. And my money? Trapped in a digital vault I suddenly had no key to. Every worst-case scenario flooded my head: Had I been hacked? Did I lock myself out? Was this some kind of cosmic payback for every time I blew off software updates? Just about the time I was getting comfortable in my new identity as the guy who almost bought a house, I remembered that a friend, a crypto lawyer-once said something to me about a recovery service. I called him with the urgency of a man dangling off a cliff. The moment I said what happened, he cut me off: "Email DUNAMIS CYBER SOLUTION Recovery. Now." I didn't ask questions. I dialed quicker than I'd ever dialed in my life. From the second they answered, I knew I was with the pros. There was no hemming, no hawing; this team must have handled its fair share of this particular type of nightmare. They talked me through the process, asked the right questions, and went to work like surgeons in a digital operating room. Minutes felt like hours. I was at DEFCON 1, stress-wise. I paced and stared at my phone, wondering if it was time to move into a cave because, at this rate, homeownership was not looking good. Then—the call came: "We got it." I just about collapsed with relief. My funds were safe. My wallet was unlocked. The Bitcoin was transferred just in time, and I signed the contract with literal seconds to spare. And that night, almost lost to the tech catastrophe of the century in that house, I made a couple of vows: never underestimate proper wallet management and always keep DUNAMIS CYBER SOLUTION Recovery on speed dial. [email protected] +13433030545
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13.02.25 14:45
aoifewalsh130
TELEGRAM: u/BestwebwizardRecovery EMAIL: [email protected] WEBSITE: https://bestwebwizrecovery.com/ The money I invested was meant for something incredibly important—my wedding. After months of saving, I had finally accumulated enough to make the day truly special. Wanting to grow this fund, I came across a crypto site called Abcfxb.pro, which promised daily returns through “AI crypto arbitrage trading.” They claimed they could deliver 1% returns on my investment every day, and I saw this as an opportunity to multiply my savings quickly. I thought it was the perfect way to ensure I’d have enough to cover all the wedding expenses. For the first few days, everything seemed perfect. I saw the promised returns and was able to withdraw money without any issues. It felt like a legitimate opportunity, and I was excited as my wedding fund grew. However, things took a turn when I tried to withdraw again. The site claimed that my account balance had fallen below their liquidity requirement and asked me to deposit more funds to proceed. Reluctantly, I deposited more money, believing it was just a minor issue. But the situation only worsened. I was then told that my withdrawal would take 50 days due to “blockchain congestion.” I wasn’t too concerned at first, thinking it was just a delay. But after 50 days, I still hadn’t received my funds, and they gave me the same excuse. Desperate, I contacted the site again, only to be informed that I would need to pay a 15% fee for “technical support” from the “Federal Reserve’s blockchain regulator” before I could withdraw my money. By now, I realized I had fallen victim to a scam. As I researched further, I found that others had been scammed in the same way, and the scammers had moved to another site with nearly the same layout. It was then that I came across a review from another victim, who explained how Best Web Wizard Recovery had helped him recover his lost funds. Desperate for a solution, I reached out to Best Web Wizard Recovery. To my relief, they responded quickly and professionally. Within six hours, they had successfully recovered my full investment. I was beyond grateful, especially since the money had been intended for my wedding. Thanks to their help, I was able to not only get my money back but also go ahead with my wedding as planned. It was a day I will always cherish, and I owe it to Best Web Wizard Recovery for helping me make it a reality. I highly recommend their services to anyone who has fallen victim to a crypto scam.
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13.02.25 16:50
andytom798
I lost $210,000 worth of Bitcoin to a group of fake blockchain impostors on Red note, a Chinese app. They contacted me, pretending to be official blockchain support, and I was misled into believing they were legitimate. At the time, I had been saving up in Bitcoin, hoping to take advantage of the rising market. The scammers were convincing, and I made the mistake of trusting them with access to my blockchain wallet. To my shock and disbelief, they stole a total of $10,000 worth of Bitcoin from my wallet. It was devastating, as this amount represented all of my hard-earned savings. I was in utter disbelief, feeling foolish for falling for their deceptive tactics. I felt lost, as though everything I had worked towards was taken from me in an instant. Thankfully, my uncle suggested I reach out to an expert in cryptocurrency recovery. After doing some research online, I came across CYBERPOINT RECOVERY COMPANY. I was hesitant at first, but their positive reviews gave me some hope. I decided to contact them directly and explained my situation, including the amount I had lost and how the scammers had gained access to my account. To my relief, the team at CYBERPOINT RECOVERY responded quickly and assured me they could help. They launched a detailed recovery program, using advanced tools and techniques to trace the stolen Bitcoin. Within a matter of days, they successfully recovered my full $210,000 worth of Bitcoin, and they even identified the individuals behind the scam. Their expertise and professionalism made a huge difference, and I was incredibly grateful for their support. If you find yourself in a similar situation, I highly recommend reaching out to Cyber Constable Intelligence. They helped me recover my funds when I thought all hope was lost. Whether you’ve lost money to scammers or any other form of online fraud, they have the knowledge and resources to help you get your funds back. Don’t give up there are experts who can help you reclaim what you’ve lost. I’m sharing my story to hopefully guide others who are going through something similar. Here's Their Info Below ([email protected]) or W.H.A.T.S.A.P.P:+1.7.6.0.9.2.3.7.4.0.7
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13.02.25 16:52
birenderkumar20101
I was able to reclaim my lost Bitcoin assets worth of $480,99 which i had lost to the scam company known as Capitalix fx a scam company pretending to be an investment platform which alot of people including myself have lost their funds to, sadly not all would be fortunate enough to retrieve back their funds like I did but if you’re reading this today then you’re already a step closer towards regaining your lost digital assets, CYBERPOINT RECOVERY COMPANY successfully retrieved back my funds in less than of 48hours after I sought for their help to get back my funds. This experience has taught me the importance of carrying out my due diligence before embracing any financial opportunity presented to me and while risk taking may be a part of the journey, some risks are not worth taking and never again will I involve myself with any online financial investment. It’s only right that we seek for external intervention and support of a higher knowledge system when it comes to digital assets recovery, Get in contact today with the team to get started on Email: ([email protected])
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13.02.25 17:37
eunice49954
Agent Jasmine Lopez focuses on recovering stolen cryptocurrency, particularly USDT. She is well-known for helping victims of digital asset theft. Her reputation arises from successful recoveries that have allowed many to regain their lost funds. I witnessed this when $122,000 was taken from me. Thanks to Ms. Lopez's skills, I recovered the entire amount in just 24 hours. Her prompt response and effective methods relieved my financial burden. Ms. Lopez’s commitment to helping others is evident. She is always available to offer solutions to those facing similar problems. For assistance, she can be reached via email at recoveryfundprovider@gmail . com or contacted directly on WhatsApp and text at +44 - 7366 445035. Her Instagram handle is recoveryfundprovider.
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14.02.25 02:50
Vladimir876
I was able to reclaim my lost Bitcoin assets worth of $480,99 which i had lost to the scam company known as Capitalix fx a scam company pretending to be an investment platform which alot of people including myself have lost their funds to, sadly not all would be fortunate enough to retrieve back their funds like I did but if you’re reading this today then you’re already a step closer towards regaining your lost digital assets, CYBERPOINT RECOVERY COMPANY successfully retrieved back my funds in less than of 48hours after I sought for their help to get back my funds. This experience has taught me the importance of carrying out my due diligence before embracing any financial opportunity presented to me and while risk taking may be a part of the journey, some risks are not worth taking and never again will I involve myself with any online financial investment. It’s only right that we seek for external intervention and support of a higher knowledge system when it comes to digital assets recovery, Get in contact today with the team to get started on Email: ([email protected]) or W.H.A.T.S.A.P.P:+1.7.6.0.9.2.3.7.4.0.7
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14.02.25 02:56
christophadelbert3
Я был в полном смятении, когда потерял все свои сбережения, инвестируя в криптовалюту. Со мной связалась онлайн женщина по электронной почте, выдавая себя за менеджера по работе с клиентами банка, которая сказала мне, что я могу удвоить свои сбережения, инвестируя в криптовалюту. Я никогда не думал, что это будет мошенничество, и я потеряю все. Это продолжалось неделями, пока я не понял, что меня обманули. Вся надежда была потеряна, я был опустошен и разорен, к счастью для меня, я наткнулся на статью в моем местном бюллетене о CYBERPUNK RECOVERY Bitcoin Recovery. Я связался с ними и предоставил всю информацию по моему делу. Я был поражен тем, как быстро они вернули мои криптовалютные средства и смогли отследить этих мошенников. Я действительно благодарен за их услуги и рекомендую CYBERPUNK RECOVERY всем, кому нужно вернуть свои средства. Настоятельно рекомендую вам связаться с CYBERPUNK, если вы потеряли свои биткойны USDT или ETH из-за инвестиций в биткойны Электронная почта: ([email protected]) W.h.a.t.s.A.p.p (+.1.7.6.0.9.2.3.7.4.0.7)
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14.02.25 02:56
christophadelbert3
I was in total dismay when I lost my entire savings investing in cryptocurrency, I was contacted online by a lady through email pretending to be an account manager of a bank, who told me I could make double my savings through cryptocurrency investment, I never imagined it would be a scam and I was going to lose everything. It went on for weeks until I realized that I have been scammed. All hope was lost, I was devastated and broke, fortunately for me, I came across an article on my local bulletin about CYBERPUNK RECOVERY Bitcoin Recovery, I contacted them and provided all the information regarding my case, I was amazed at how quickly they recovered my cryptocurrency funds and was able to trace down those scammers. I’m truly grateful for their service and I recommend CYBERPUNK RECOVERY to everyone who needs to recover their funds urge you to contact CYBERPUNK if you have lost your bitcoin USDT or ETH through bitcoin investment Email: ([email protected]) WhatsApp (+17609237407)
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14.02.25 15:33
prelogmilivoj
I never imagined I would find myself in a situation where I was scammed out of such a significant amount of money, but it happened. I became a victim of a fake online donation project that cost me over $30,000. It all started innocently enough when I was searching for assistance after a devastating fire incident in California. While looking for support, I came across an advertisement that seemed to offer donations for fire victims. The ad appeared legitimate, and I reached out to the project manager to inquire about how to receive the donations. The manager was very convincing and insisted that in order to qualify for the donations, I needed to pay $30,000 upfront. In return, I was promised $1 million in donations. It sounded a bit too good to be true, but in my desperate situation, I made the mistake of believing it. The thought of receiving a substantial amount of help to rebuild after the fire clouded my judgment, and I went ahead and sent the money. However, after transferring the funds, the promised donations never arrived, and the manager disappeared. That’s when I realized I had been scammed. Feeling lost, helpless, and completely betrayed, I tried everything I could to contact the scammer, but all my efforts were in vain. Desperation led me to search for help online, hoping to find a way to recover my money and potentially track down the scammer. That’s when I stumbled upon several testimonies from others who had fallen victim to similar scams and had been helped by a company called Tech Cyber Force Recovery. I reached out to them immediately, providing all the details of the scam and the information I had gathered. To my immense relief, the experts at Tech Cyber Force Recovery acted swiftly. Within just 27 hours, they were able to locate the scammer and initiate the recovery process. Not only did they help me recover the $30,000 I had lost, but the most satisfying part was that the scammer was apprehended by local authorities in their region. Thanks to Tech Cyber Force Recovery, I was able to get my money back and hold the scammer accountable for their actions. I am incredibly grateful for their professionalism, expertise, and dedication to helping victims like me. If you have fallen victim to a scam or fraudulent activity, I highly recommend contacting Tech Cyber Force Recovery. They provide swift and efficient recovery assistance, and I can confidently say they made all the difference in my situation. ☎☎ 1️⃣5️⃣6️⃣1️⃣7️⃣2️⃣6️⃣3️⃣6️⃣9️⃣7️⃣ ☎☎ 📩 1️⃣5️⃣6️⃣1️⃣7️⃣2️⃣6️⃣3️⃣6️⃣9️⃣7️⃣ 📩
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14.02.25 22:12
eunice49954
Agent Jasmine Lopez focuses on recovering stolen cryptocurrency, particularly USDT. She is well-known for helping victims of digital asset theft. Her reputation arises from successful recoveries that have allowed many to regain their lost funds. I witnessed this when $122,000 was taken from me. Thanks to Ms. Lopez's skills, I recovered the entire amount in just 24 hours. Her prompt response and effective methods relieved my financial burden. Ms. Lopez’s commitment to helping others is evident. She is always available to offer solutions to those facing similar problems. For assistance, she can be reached via email at recoveryfundprovider@gmail . com or contacted directly on WhatsApp and text at +44 - 7366 445035. Her Instagram handle is recoveryfundprovider.
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15.02.25 02:51
Michelle Lynn
Living in Los Angeles, I never imagined I’d face such a difficult chapter in my life. At the time, my wife was pregnant, and we were both excited about starting a family. I fell victim to a series of scams, losing over $170,000 in total. Just when I thought things couldn’t get worse, I received a call from someone who promised to help me recover my losses. Desperate to fix the situation, I went along with it, hoping for a breakthrough. But it turned out to be another scam. However, most of the options I found either seemed dubious or offered no real guarantees. That’s when I came across Cyber Constable Intelligence. It was a company recommended in a Facebook community The team worked tirelessly on my case, and after some time, they successfully recovered 99% of my investment. Although I didn’t recover everything, the 99% recovery was a huge relief They also educated me on how to better protect my digital Asset Here's Their Website Info www cyberconstableintelligence com
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15.02.25 02:51
Michelle Lynn
Living in Los Angeles, I never imagined I’d face such a difficult chapter in my life. At the time, my wife was pregnant, and we were both excited about starting a family. I fell victim to a series of scams, losing over $170,000 in total. Just when I thought things couldn’t get worse, I received a call from someone who promised to help me recover my losses. Desperate to fix the situation, I went along with it, hoping for a breakthrough. But it turned out to be another scam. However, most of the options I found either seemed dubious or offered no real guarantees. That’s when I came across Cyber Constable Intelligence. It was a company recommended in a Facebook community The team worked tirelessly on my case, and after some time, they successfully recovered 99% of my investment. Although I didn’t recover everything, the 99% recovery was a huge relief They also educated me on how to better protect my digital Asset Here's Their Website Info www cyberconstableintelligence com, WhatsApp Info: 1 (252) 378-7611
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16.02.25 01:01
Peter
I fell victim to a crypto scam and lost a significant amount of money. What are the most effective strategies to recover my funds? I've heard about legal actions, contacting authorities, and hiring recovery experts, but I'm not sure where to start. Can you provide some guidance on the best ways to recover money lost in a crypto scam? Well if this is you, [email protected] gat you covered get in touch and thank me later
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16.02.25 20:06
eunice49954
Agent Lopez specializes in recovering stolen cryptocurrencies, especially Bitcoin/USDT. She has built a strong reputation for helping victims reclaim their lost funds. A personal example highlights her effectiveness: I lost $111,000 and, thanks to her prompt action, I recovered it all within 24 hours. Her dedication and skills eased my financial stress. She is always ready to assist others with similar issues. For help, she can be reached by email at Recoveryfundprovider@gmail. com or contact her through WhatsApp at +44 736 644 5035. Her Insta is recoveryfundprovider.
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18.02.25 19:35
donovancristina
Now, I’m that person sharing my success story on LinkedIn, telling others about the amazing team at TECH CYBER FORCE RECOVERY who literally saved my financial life. I’ve also become that guy who proudly shares advice like “Always back up your wallet, and if you don’t have TECH CYBER FORCE RECOVERY on speed dial.” So, a big thank you to TECH CYBER FORCE RECOVERY if I ever get a chance to meet the team, I might just offer to buy them a drink. They’ve earned it. FOR CRYPTO HIRING WEBSITE WWW://techcyberforcerecovery.com WHATSAPP : ⏩ wa.me/15617263697
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18.02.25 22:13
keithphillip671
WhatsApp +44,7,4,9,3,5,1,3,3,8,5 Telegram @Franciscohack The day my son uncovered the truth—that the man I entrusted my hopes of wealth and companionship with through a cryptocurrency platform was a cunning scammer was the day my world crumbled. The staggering realization that I had been swindled out of 150,000.00 Euro worth of Bitcoin left me in a state of profound despair. As a 73-year-old grappling with loneliness, I had sought solace in what I believed to be a genuine connection, only to find deceit and betrayal. Countless sleepless nights were spent in tears, mourning not only the financial devastation but also the crushing blow to my trust. Attempts to verify the authenticity of our interactions were met with hostility, further deepening my sense of isolation. Through the loss it was my son who became my beacon of resilience. He took upon himself the arduous task of tracing the scam and seeking justice on my behalf. Through meticulous effort and determination, he unearthed {F R A N C I S C O H A C K}, renowned for their expertise in recovering funds lost to cryptocurrency scams. Entrusting them with screenshots and evidence of the fraudulent transactions, my son initiated the journey to reclaim what had been callously taken from me. {F R A N C I S C O H A C K} approached our plight with empathy and unwavering professionalism, immediately instilling a sense of confidence in their abilities. Despite my initial skepticism, their transparent communication and methodical approach reassured us throughout the recovery process. Regular updates on their progress and insights into their strategies provided much-needed reassurance and kept our hopes alive amid the uncertainty. Their commitment to transparency and client welfare was evident in every interaction, fostering a sense of partnership rather than mere service. Miraculously, in what felt like an eternity but was actually an impressively brief period, {F R A N C I S C O H A C K} delivered the astonishing news—I had recovered the entire 150,000.00 Euro worth of stolen Bitcoin. The flood of relief and disbelief was overwhelming, marking not just the restitution of financial losses but the restoration of my faith in justice. {F R A N C I S C O H A C K} proficiency in navigating the intricate landscape of blockchain technology and online fraud was nothing short of extraordinary. Their dedication to securing justice and restoring client confidence set them apart as more than just experts—they were steadfast allies in a fight against digital deceit. What resonated deeply with me {F R A N C I S C O H A C K} integrity and compassion. Despite the monumental recovery, they maintained transparency regarding their fees and ensured fairness in all dealings. Their proactive guidance on cybersecurity measures further underscored their commitment to safeguarding clients from future threats. It was clear that their mission extended beyond recovery—it encompassed education, prevention, and genuine advocacy for those ensnared by cyber fraud. ([email protected]) fills me with profound gratitude. They not only rescued my financial security but also provided invaluable emotional support during a time of profound vulnerability. To anyone navigating the aftermath of cryptocurrency fraud, I wholeheartedly endorse {F R A N C I S C O H A C K}. They epitomize integrity, expertise, and unwavering dedication to their clients' well-being. My experience with {F R A N C I S C O H A C K} transcended mere recovery—it was a transformative journey of resilience, restoration, and renewed hope in the face of adversity.
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21.02.25 07:42
daniel231101
I never thought I would fall victim to a crypto scam until I was convinced of a crypto investment scam that saw me lose all my entire assets worth $487,000 to a crypto investment manager who convinced me I could earn more from my investment. I thought it was all gone for good but I kept looking for ways to get back my stolen crypto assets and finally came across Ethical Hack Recovery, a crypto recovery/spying company that has been very successful in the recovery of crypto for many other victims of crypto scams and people who lost access to their crypto. I’m truly grateful for their help as I was able to recover my stolen crypto assets and get my life back together. I highly recommend their services EMAIL ETHICALHACKERS009 AT @GMAIL DOT COM whatsapp +14106350697
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21.02.25 21:38
eunice49954
Jasmine Lopez specializes in recovering stolen cryptocurrencies, especially ETH/USDT. She has built a strong reputation for helping victims reclaim their lost funds. A personal example highlights her effectiveness: I lost $111,000 and, thanks to her prompt action, I recovered it all within 24 hours. Her dedication and skills eased my financial stress. She is always ready to assist others with similar issues. For help, she can be reached by email at Recoveryfundprovider@gmail. com or contact her through WhatsApp at +44 736 644 5035. Her Insta is recoveryfundprovider.
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18:01
benluna0991
Mark Zuckerberg. That’s the name I was introduced to when I first encountered the cryptocurrency mining platform, WHATS Invest. A person claiming to be Zuckerberg himself reached out to me, saying that he was personally backing the platform to help investors like me earn passive income. At first, I was skeptical—after all, how often do you get a direct connection to one of the world’s most famous tech entrepreneurs? But this individual seemed convincing and assured me that many people were already seeing substantial returns on their investments. He promised me a great opportunity to secure my financial future, so I decided to take the plunge and invest $10,000 into WHATS Invest. They told me that I could expect to see significant returns in just a few months, with payouts of at least $1,500 or more each month. I was excited, believing this would be my way out of financial struggles. However, as time passed, things didn’t go according to plan. Months went by, and I received very little communication. When I finally did receive a payout, it was nowhere near the $1,500 I was promised. Instead, I received just $200, barely 13% of what I had expected. Frustrated, I contacted the support team, but the responses were vague and unhelpful. No clear answers or solutions were offered, and my trust in the platform quickly started to erode. It became painfully clear that I wasn’t going to get anywhere with WHATS Invest, and I began to worry that my $10,000 might be lost for good. That's when I discovered Certified Recovery Services. Desperate to recover my funds, I decided to reach out to them for help. In just 24 hours, they worked tirelessly to recover the majority of my funds, successfully retrieving $8,500 85% of my initial investment. I couldn’t believe how quickly and efficiently they worked to get my money back. I’m extremely grateful for Certified Recovery Servicer's fast and professional service. Without them, I would have been left with a significant loss, and I would have had no idea how to move forward. If you find yourself in a similar situation with WHATS Invest or any other platform that isn’t delivering as promised, I highly recommend reaching out to Certified Recovery Services They were a lifesaver for me, helping me recover nearly all of my funds. It's reassuring to know that trustworthy services like this exist to help people when things go wrong. They also specialize in recovering money lost to online scams, so if you’ve fallen victim to such a scam, don’t hesitate to contact Certified Recovery Services they can help! Here's Their Info Below: WhatsApp: +1(740)258‑1417 mail: [email protected], [email protected] Website info; https://certifiedrecoveryservices.com
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