Русский
EnglishCryptocurrencies:
9529 /
Markets: 107090
Market Cap: $ 3 881 274 157 427 /
24h Vol: $ 175 001 370 020 /
BTC
Dominance: 59.015510435686%
Новости
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.
-
08.08.25 11:10
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
08.08.25 11:10
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
08.08.25 13:38
Annette_Phillips
A few months ago, I fell for what I thought was a legitimate staking platform. It looked so professional, had fake reviews, and everything seemed real. I transferred a significant amount of ETH into it, only to find out later that it was a complete scam. The site vanished, support stopped replying, and the wallet address I sent my funds to started moving the crypto across multiple chains. I felt completely helpless. I spent days blaming myself and trying to accept the loss, but part of me wasn’t ready to give up. That’s when someone recommended Asset-Resolute. I didn’t expect much, but I reached out and explained everything. To my surprise, they actually listened and started investigating right away. They traced my stolen funds through several wallets and gave me a full report of where it had moved. I honestly didn’t understand most of the technical details, but they broke it down clearly and kept me updated throughout the process. After some coordination and effort, they managed to recover a portion of my crypto. I never thought I’d see anything again, so getting anything back felt like a miracle. I just wanted to share this in case someone else out there is feeling the same panic and regret I felt. It’s not always the end. Reach out to Asset-Resolute at [email protected]. They gave me hope when I had none left.
-
08.08.25 14:40
traviscluster
The shock of losing a significant amount of cryptocurrency was immense. It felt like hitting rock bottom. Every avenue I explored to recover my funds proved fruitless. I was sinking deeper into despair, convinced my money was gone forever. Then, a beacon of hope appeared in the form of Sylvester Bryant. His intervention was a complete turning point. Sylvester’s expertise was truly remarkable. He managed to recover a substantial sum of over $780,000 in USDT. This alone was a life-changing achievement. But his assistance didn't stop there. He went above and beyond, actively helping me to reclaim even more of my lost assets. Throughout the entire intricate process, he maintained constant communication. He ensured I was fully informed at every stage. The entire operation was conducted with the utmost transparency and integrity. There were no hidden fees or deceptive practices. My funds were returned directly to my crypto wallet. The transaction was smooth and completely problem-free. I can honestly say Sylvester Bryant is the most trustworthy recovery agent I have ever encountered. I strongly advise anyone in a similar predicament to reach out to him immediately. You can connect with Sylvester via email at yt7cracker@gmail. com. Alternatively, you can contact him on WhatsApp at +1 (512) 577-7957. Do not allow yourself to succumb to despair. Sylvester possesses the skill and dedication to retrieve your stolen funds. He can make a difference for you, just as he did for me. Your financial recovery is possible. Sylvester Bryant is the key to getting your money back.
-
08.08.25 16:16
briannawright679
Jasmine Lopez, renowned for her expertise in recovering stolen cryptocurrency, especially specializing in USDT, provided invaluable assistance in a scenario where a significant sum of $571,000 was taken from me. I had the privilege of witnessing her exceptional skills firsthand and I am truly thankful for her prompt efforts, which led to the successful recovery of the entire amount in just a span of 72 hours. Miss Lopez's swift reactions and efficient tactics not only resolved my financial troubles but also alleviated much of the stress on my mental well-being. You can reach out to her immediately and get connected with email at [email protected] also can be contacted on WhatsApp at +44 (736) 644- 5035, She is an expert in the field most especially in recovering lost digital assets.
-
08.08.25 18:16
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
08.08.25 18:16
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
08.08.25 22:01
abeggnatalie
Throughout the ordeal, we were provided with frequent updates and full transparency. In just 10 days, TECHY FORCE CYBER RETRIEVAL successfully retrieved $191000 of the lost funds. Beyond the monetary recovery, they provided us with a comprehensive post-incident report, enabling us to strengthen our cybersecurity protocols and conduct risk training for partner organizations. Their work was nothing short of extraordinary. TECHY FORCE CYBER RETRIEVAL did not just restore stolen assets; they restored our operational integrity, capacity, and sense of direction. WhatsApp (+156 172 636 97) Mail (support (At) techy forcecy berretrieval (Dot)com) Telegram (At) Techcyberforc
-
08.08.25 22:02
abeggnatalie
As the finance director of a humanitarian NGO, I have always exercised extreme diligence in how we handle our funding. So when I received an email from what appeared to be a prestigious global crypto foundation offering $500000 in matching grants for blockchain-based aid initiatives, I took notice. The proposal seemed credible, complete with polished branding, legal agreements, and referenced success stories. The only stipulation was an activation requirement: we had to transfer $250000 in USDT to initiate the grant process. After extensive internal consultation and document verification, we proceeded. The promise of doubling our operational funding could significantly amplify our outreach programs in conflict-affected regions. Then everything went silent. Follow-up emails were ignored, the contact number was disconnected, and within days, the foundation’s website vanished. The realization hit us hard; we had been defrauded. The emotional and reputational toll was immense. I felt personally culpable for having signed off on such a monumental error. It jeopardized not only our funding but also trust among our stakeholders. We turned to TECHY FORCE CYBER RETRIEVAL. Their response was immediate and professional. Within hours, we were assigned a dedicated case analyst. Their team operated with surgical precision. We learned we weren’t the only victims. This was a coordinated scam ring targeting nonprofits using highly customized and persuasive tactics. TECHY FORCE CYBER RETRIEVAL’s digital forensics experts tracked the stolen USDT through a labyrinth of six wallet addresses across various jurisdictions. Using advanced blockchain analytics, real-time monitoring software, and legal liaisons, they mapped the laundering trail with remarkable accuracy. They also coordinated directly with international regulators and the legal department of the real crypto foundation, which was alarmed to discover its identity had been fraudulently used. The recovery effort was rigorous and multifaceted, involving compliance teams at multiple exchanges, forensic IP tracing, and the audit of smart contracts linked to fraudulent addresses. Throughout the ordeal, we were provided with frequent updates and full transparency. In just 10 days, TECHY FORCE CYBER RETRIEVAL successfully retrieved $191000 of the lost funds. Beyond the monetary recovery, they provided us with a comprehensive post-incident report, enabling us to strengthen our cybersecurity protocols and conduct risk training for partner organizations. Their work was nothing short of extraordinary. TECHY FORCE CYBER RETRIEVAL did not just restore stolen assets; they restored our operational integrity, capacity, and sense of direction. WhatsApp (+156 172 636 97) Mail (support (At) techy forcecy berretrieval (Dot)com) Telegram (At) Techcyberforc
-
09.08.25 09:39
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
09.08.25 09:39
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
09.08.25 14:24
lisa111
Recovering lost money from scams calls for cooperation. Recovery professionals locate stolen funds by applying their expertise. Experts in law offer advice on the best course of action. This helps you recoup your investment. Scams teach us to be aware of the warning indications. Promises of large, rapid riches with minimal risk should be avoided. They may want you to make an investment right away. Get advice from Marie on how to prevent frauds in the future. She can help you recover your missing bitcoin as well. You can reach her at [email protected] or @Marie_consultancy on Telegram. Additionally, you can utilize WhatsApp at +1 7127594675.
-
09.08.25 16:31
vallatjosette
My Wild Ride: How a Wizard Hilton Cyber Tech Helped Me Recover Lost Bitcoin of 103,000 It all started when I had the misfortune of misplacing the digital wallet containing my substantial cryptocurrency holdings - a staggering 103,000 bitcoins. I had amassed this sizable fortune over the years through strategic investments and careful trading, but in a moment of carelessness, the private keys to my digital wallet had vanished. Panic set in as I grappled with the gravity of my situation - those bitcoins, worth millions at the time, were effectively lost to the ether, inaccessible and seemingly unrecoverable. Just when I had resigned myself to the devastating financial blow, a chance encounter with a self-proclaimed "digital wizard" Wizard Hilton Cyber Tech presented a glimmer of hope. This enigmatic individual, who operated in the shadowy corners of the crypto underworld, claimed to possess the arcane knowledge and skills necessary to retrieve my lost digital wealth. Intrigued and desperate, I put my skepticism aside and entrusted this mysterious wizard with the task. What followed was a wild, suspenseful journey into the depths of blockchain technology and cryptography, as the wizard navigated complex algorithms, exploited vulnerabilities, and pieced together the puzzle of my missing private keys. After days of intense effort, Wizard Hilton Cyber Tech emerged triumphant, having successfully recovered the entirety of my 103,000 bitcoin stash. The sheer relief and elation I felt in that moment was indescribable, as I regained access to my small digital fortune and was able to secure my financial future. This harrowing experience taught me the invaluable lesson of never taking the security of my cryptocurrency holdings for granted, and the importance of always maintaining the utmost diligence when it comes to protecting one's digital wealth. Email: wizardhiltoncybertech ( @ ) gmail (. ) com OR support ( @ ) wizardhiltoncybertech (.) com WhatsApp number +18737715701 Thanks.
-
09.08.25 16:43
meghanmarkle1998
I was scammed out $ 180,000 in BTC, but Spikes Assets Recovery came to my rescue. When my cryptocurrency investment fell into the wrong hands, I lost $115,330 in Bitcoin and was defrauded of my hard-earned money. I was on the verge of giving up after learning that the funds seemed unrecoverable, but then I came across a Google post about a legitimate recovery service called Spikes Assets Recovery, a firm specializing in stolen fund and crypto recovery. To my astonishment, after working with them, they successfully recovered the full $115,330 I had lost in BTC. I'm incredibly grateful and relieved that I was able to recover all of my missing Bitcoin. For inquiries or assistance with recovering your lost assets, you can contact Spikes Assets Recovery using the following details: Email: [email protected] Yahoo: [email protected]
-
09.08.25 17:24
Sophie Pugh
I would strongly love to recommend the services of the best team of recoveryhackers101. They are professional and very discreet in carrying out their jobs, they have the best customer service agents and satisfaction at heart. If you have any services you wish to contact them for, go on (recoveryhacker101@gmailcom), They help track and monitor your cheating partner's phone without his idea, clear or erase criminal records as well as repair a bad credit score, all social media hacks, Recovery lost Funds from scammers / Cryptocurrency / Binary / Forex / Recovery of Stolen Bitcoin and many others.
-
10.08.25 03:53
KEVIN3
HOW I RECOVER MY LOST FUNDS AFTER INVESTING Exercise extreme caution when dealing with this company. They scammed me out of my money and even gained unauthorized access to my banking information, which severely impacted my financial well-being. I had initially approached them with the hope of improving my life through investment, but instead, I was deceived. This company should be thoroughly investigated and shut down to prevent further harm. Fortunately, I was able to recover my funds thanks to Mrs. Rose. Although I was initially hesitant and unsure about contacting her, I decided to take the risk and I’m so glad I did. You can reach her via telegram user name (@RoseCyberHives) and email rosecryptoinvestment11@gmail. com With the help of her skilled team of cybersecurity professionals and cryptocurrency experts, I was able to recover my lost funds quickly and with minimal stress, a sharp contrast to my previous experience. If you’ve been scammed or are in a similar situation, I highly recommend reaching out to her for assistance. via telegram user name (@RoseCyberHives) rosecryptoinvestment11@ gmail. com
-
10.08.25 03:53
KEVIN3
HOW I RECOVER MY LOST FUNDS AFTER INVESTING Exercise extreme caution when dealing with this company. They scammed me out of my money and even gained unauthorized access to my banking information, which severely impacted my financial well-being. I had initially approached them with the hope of improving my life through investment, but instead, I was deceived. This company should be thoroughly investigated and shut down to prevent further harm. Fortunately, I was able to recover my funds thanks to Mrs. Rose. Although I was initially hesitant and unsure about contacting her, I decided to take the risk and I’m so glad I did. You can reach her via telegram user name (@RoseCyberHives) and email rosecryptoinvestment11@gmail. com With the help of her skilled team of cybersecurity professionals and cryptocurrency experts, I was able to recover my lost funds quickly and with minimal stress, a sharp contrast to my previous experience. If you’ve been scammed or are in a similar situation, I highly recommend reaching out to her for assistance. via telegram user name (@RoseCyberHives) rosecryptoinvestment11@ gmail. com
-
10.08.25 03:54
KEVIN3
HOW I RECOVER MY LOST FUNDS AFTER INVESTING Exercise extreme caution when dealing with this company. They scammed me out of my money and even gained unauthorized access to my banking information, which severely impacted my financial well-being. I had initially approached them with the hope of improving my life through investment, but instead, I was deceived. This company should be thoroughly investigated and shut down to prevent further harm. Fortunately, I was able to recover my funds thanks to Mrs. Rose. Although I was initially hesitant and unsure about contacting her, I decided to take the risk and I’m so glad I did. You can reach her via telegram user name (@RoseCyberHives) and email rosecryptoinvestment11@gmail. com With the help of her skilled team of cybersecurity professionals and cryptocurrency experts, I was able to recover my lost funds quickly and with minimal stress, a sharp contrast to my previous experience. If you’ve been scammed or are in a similar situation, I highly recommend reaching out to her for assistance. via telegram user name (@RoseCyberHives) rosecryptoinvestment11@ gmail. com
-
10.08.25 03:54
KEVIN3
HOW I RECOVER MY LOST FUNDS AFTER INVESTING Exercise extreme caution when dealing with this company. They scammed me out of my money and even gained unauthorized access to my banking information, which severely impacted my financial well-being. I had initially approached them with the hope of improving my life through investment, but instead, I was deceived. This company should be thoroughly investigated and shut down to prevent further harm. Fortunately, I was able to recover my funds thanks to Mrs. Rose. Although I was initially hesitant and unsure about contacting her, I decided to take the risk and I’m so glad I did. You can reach her via telegram user name (@RoseCyberHives) and email rosecryptoinvestment11@gmail. com With the help of her skilled team of cybersecurity professionals and cryptocurrency experts, I was able to recover my lost funds quickly and with minimal stress, a sharp contrast to my previous experience. If you’ve been scammed or are in a similar situation, I highly recommend reaching out to her for assistance. via telegram user name (@RoseCyberHives) rosecryptoinvestment11@ gmail. com
-
10.08.25 03:54
KEVIN3
HOW I RECOVER MY LOST FUNDS AFTER INVESTING Exercise extreme caution when dealing with this company. They scammed me out of my money and even gained unauthorized access to my banking information, which severely impacted my financial well-being. I had initially approached them with the hope of improving my life through investment, but instead, I was deceived. This company should be thoroughly investigated and shut down to prevent further harm. Fortunately, I was able to recover my funds thanks to Mrs. Rose. Although I was initially hesitant and unsure about contacting her, I decided to take the risk and I’m so glad I did. You can reach her via telegram user name (@RoseCyberHives) and email rosecryptoinvestment11@gmail. com With the help of her skilled team of cybersecurity professionals and cryptocurrency experts, I was able to recover my lost funds quickly and with minimal stress, a sharp contrast to my previous experience. If you’ve been scammed or are in a similar situation, I highly recommend reaching out to her for assistance. via telegram user name (@RoseCyberHives) rosecryptoinvestment11@ gmail. com
-
10.08.25 03:54
KEVIN3
HOW I RECOVER MY LOST FUNDS AFTER INVESTING Exercise extreme caution when dealing with this company. They scammed me out of my money and even gained unauthorized access to my banking information, which severely impacted my financial well-being. I had initially approached them with the hope of improving my life through investment, but instead, I was deceived. This company should be thoroughly investigated and shut down to prevent further harm. Fortunately, I was able to recover my funds thanks to Mrs. Rose. Although I was initially hesitant and unsure about contacting her, I decided to take the risk and I’m so glad I did. You can reach her via telegram user name (@RoseCyberHives) and email rosecryptoinvestment11@gmail. com With the help of her skilled team of cybersecurity professionals and cryptocurrency experts, I was able to recover my lost funds quickly and with minimal stress, a sharp contrast to my previous experience. If you’ve been scammed or are in a similar situation, I highly recommend reaching out to her for assistance. via telegram user name (@RoseCyberHives) rosecryptoinvestment11@ gmail. com
-
10.08.25 03:55
KEVIN3
HOW I RECOVER MY LOST FUNDS AFTER INVESTING Exercise extreme caution when dealing with this company. They scammed me out of my money and even gained unauthorized access to my banking information, which severely impacted my financial well-being. I had initially approached them with the hope of improving my life through investment, but instead, I was deceived. This company should be thoroughly investigated and shut down to prevent further harm. Fortunately, I was able to recover my funds thanks to Mrs. Rose. Although I was initially hesitant and unsure about contacting her, I decided to take the risk and I’m so glad I did. You can reach her via telegram user name (@RoseCyberHives) and email rosecryptoinvestment11@gmail. com With the help of her skilled team of cybersecurity professionals and cryptocurrency experts, I was able to recover my lost funds quickly and with minimal stress, a sharp contrast to my previous experience. If you’ve been scammed or are in a similar situation, I highly recommend reaching out to her for assistance. via telegram user name (@RoseCyberHives) rosecryptoinvestment11@ gmail. com
-
10.08.25 04:55
lisared
I thought losing £85,000 in Doge was the end until Agent Jasmine Lopez proved me wrong. With unmatched skill and persistence, she traced my stolen money, tracked down the scammers, and recovered a huge portion of my funds. If you’ve been scammed, don’t wait reach out to her at (recoveryfundprovider@gmail. com) WhatsApp at +{44 736-644-5035}. She could be the reason you get your money back.
-
10.08.25 12:57
Marthaamahle
My name is Martha, and I never thought I’d be the victim of a crypto scam, but life has a way of humbling you. A few months ago, I invested a huge chunk of my savings, decades of hard-earned money into what seemed like a promising crypto platform. The slick website, glowing testimonials, and a charming advisor convinced me to transfer 15 Bitcoin, into their wallet. Days later, the platform vanished, my funds were gone, and I was left with nothing but regret. Desperate, I turned to the internet, scouring forums and posts on X for help. That’s when I stumbled across Alpha Spy Nest, a shadowy group of cyber-recovery experts specializing in crypto fraud. Their reputation was murky but promising whispers of successful recoveries and a no-nonsense approach. I reached out through their encrypted portal, half-expecting a scam. Within hours, they responded, asking for details: transaction IDs, wallet addresses, and screenshots of my interactions with the scammers. Alpha Spy Nest operated in the dark corners of the web, using a mix of blockchain forensics, social engineering, and unconventional methods to track lost crypto. They traced my Bitcoin to a series of obfuscated wallets, likely controlled by an offshore syndicate. The team deployed advanced chain-analysis tools to follow the funds, pinpointing a weak link in the scammers’ network, a poorly secured exchange account in Eastern Europe.Over weeks, Alpha Spy Nest worked tirelessly, infiltrating the scammers’ digital trails. And then i received a message, we’ve got a lead. They’d recovered 12 of my 15 Bitcoin, transferred to a secure wallet they set up for me. The rest, they said, was likely gone forever, but I was overjoyed. My savings were partially restored, and I felt a weight lift. I never met them, but they gave me back hope and a lesson, the crypto world is a jungle, but sometimes, even in the dark, there are allies. Contact them via: website: www.alphaspynest.org, whatsapp: +15132924878 , telegram: https://t.me/Alphaspynest
-
10.08.25 14:33
tomcooper0147
Losing €256,000 On trading was one of the worst moments of my life. I felt sick, helpless, and convinced I’d never see that money again. Every day that passed made the loss feel heavier. Then I found Agent Jasmine Lopez and everything changed. With relentless determination, she traced the stolen funds, tracked down the scammers, and recovered a huge portion of my losses in the space of a few days. Her skill and persistence gave me hope when I had none. Time is everything contact her now: [email protected] Whats//App at +{44 736-644-5035}.
-
10.08.25 17:06
kevin
I see a lot of recommendations online and it’s already obvious there are bad eggs online who will only add to your mystery. I can only recommend one and you can reach them via mail on (zattechrecovery AT gmailc0 m ) if you need help on recovering what you lost to scammers.
-
10.08.25 18:13
michaeldavenport218
I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance contact [email protected] and on Telegram OR Call Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
10.08.25 18:13
michaeldavenport218
I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance contact [email protected] and on Telegram OR Call Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
10.08.25 20:35
Bartlevi
Sylvester demonstrated truly exceptional skill. He successfully recovered over $610,000 in USDT. This was a momentous personal triumph. His support extended far beyond this initial success. He diligently assisted in reclaiming additional lost funds. Throughout this complex process, he maintained consistent contact. He kept me fully updated at every turn. The entire undertaking was conducted with utmost honesty. There were no concealed charges or dubious methods. My funds were directly returned to my crypto wallet. The transaction proceeded smoothly and without any issues. I can confidently state Sylvester Bryant is the most reliable recovery agent I have ever encountered. I strongly urge anyone facing a similar situation to contact him without delay. You may reach Sylvester by email at yt7cracker@gmail. com. You can also contact him on WhatsApp at +1 (512) 577-7957. Do not surrender to despair. Sylvester possesses the ability and commitment to retrieve your stolen funds. He can achieve this for you, as he did for me. Your financial recovery is attainable. Sylvester Bryant is your path to recovering your money.
-
10.08.25 23:28
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
10.08.25 23:29
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
11.08.25 10:33
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
11.08.25 10:33
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
11.08.25 10:34
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
11.08.25 10:34
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
11.08.25 11:35
Dennisblaq
Hi everyone, I'm an entrepreneur, and when I learned about cryptocurrencies and how they potentially triple my income, I was excited to invest. I hope this message finds the correct audience. On the internet, I came across someone who assured me of exceptionally significant returns on my investment. I was readily persuaded by this man's seeming wisdom. I quickly discovered that this cryptocurrency was a hoax and that I was unable to withdraw my money after making a substantial investment. My business was in tatters, and I owed money.Fortunately for me, a pop-up regarding cryptocurrency recovery and cybersecurity specialists that could help me get all of my money back appeared when seeking for help on the internet. This organization, WIZARD JAMES RECOVERY, is a cyber security and cryptocurrency recovery firm that helped me get my investment money back. I sincerely appreciate their assistance and heartily endorse them to anyone in need of cryptocurrency recovery. The following is their contact information: E - M A I L: [email protected] W H A T S A P P: (+ 44 741 836 7204)
-
11.08.25 13:05
alaincharlotte5
RECLAIM CRYPTO LOSS: HIRE META TECH RECOVERY PRO TO RECOVER LOST ASSET BACK. The adage "all that glitters is not gold" proved a harsh reality I recently encountered. The digital realm of cryptocurrency investments and exchange platforms is not immune to deception. My pursuit of cryptocurrency investments led me to a seemingly legitimate site, complete with convincing investor testimonials touting successful withdrawals. Unbeknownst to me, it was an elaborate scheme. I invested $210,000.00 worth of cryptocurrency across multiple wallets, as directed by the scammers. Initially, the process mirrored typical modern investments, but my withdrawal requests were met with evasiveness and silence. This represented my entire life savings, accumulated through years of dedicated work, now vanished in an instant. Refusing to accept defeat, I sought assistance from METATECH-RECOVERYPRO, which facilitated a successful recovery. Their process was remarkably efficient. They meticulously traced my lost funds back to the perpetrators, and within a short timeframe, the recovered assets were returned to my bank account. Without this exceptional recovery team, which offered support when all hope seemed lost, my situation would have been dire. To initiate your recovery, I strongly advise sending a detailed email ([email protected]) of your task, outlining your specific circumstances. Ask (META TECH RECOVERY PRO) for help via: Telegram:@metatechrecoveryproteam W/S +1 (469) 692‑8049 thank you.
-
11.08.25 13:05
alaincharlotte5
RECLAIM CRYPTO LOSS: HIRE META TECH RECOVERY PRO TO RECOVER LOST ASSET BACK. The adage "all that glitters is not gold" proved a harsh reality I recently encountered. The digital realm of cryptocurrency investments and exchange platforms is not immune to deception. My pursuit of cryptocurrency investments led me to a seemingly legitimate site, complete with convincing investor testimonials touting successful withdrawals. Unbeknownst to me, it was an elaborate scheme. I invested $210,000.00 worth of cryptocurrency across multiple wallets, as directed by the scammers. Initially, the process mirrored typical modern investments, but my withdrawal requests were met with evasiveness and silence. This represented my entire life savings, accumulated through years of dedicated work, now vanished in an instant. Refusing to accept defeat, I sought assistance from METATECH-RECOVERYPRO, which facilitated a successful recovery. Their process was remarkably efficient. They meticulously traced my lost funds back to the perpetrators, and within a short timeframe, the recovered assets were returned to my bank account. Without this exceptional recovery team, which offered support when all hope seemed lost, my situation would have been dire. To initiate your recovery, I strongly advise sending a detailed email ([email protected]) of your task, outlining your specific circumstances. Ask (META TECH RECOVERY PRO) for help via: Telegram:@metatechrecoveryproteam W/S +1 (469) 692‑8049 thank you.
-
11.08.25 13:05
alaincharlotte5
RECLAIM CRYPTO LOSS: HIRE META TECH RECOVERY PRO TO RECOVER LOST ASSET BACK. The adage "all that glitters is not gold" proved a harsh reality I recently encountered. The digital realm of cryptocurrency investments and exchange platforms is not immune to deception. My pursuit of cryptocurrency investments led me to a seemingly legitimate site, complete with convincing investor testimonials touting successful withdrawals. Unbeknownst to me, it was an elaborate scheme. I invested $210,000.00 worth of cryptocurrency across multiple wallets, as directed by the scammers. Initially, the process mirrored typical modern investments, but my withdrawal requests were met with evasiveness and silence. This represented my entire life savings, accumulated through years of dedicated work, now vanished in an instant. Refusing to accept defeat, I sought assistance from METATECH-RECOVERYPRO, which facilitated a successful recovery. Their process was remarkably efficient. They meticulously traced my lost funds back to the perpetrators, and within a short timeframe, the recovered assets were returned to my bank account. Without this exceptional recovery team, which offered support when all hope seemed lost, my situation would have been dire. To initiate your recovery, I strongly advise sending a detailed email ([email protected]) of your task, outlining your specific circumstances. Ask (META TECH RECOVERY PRO) for help via: Telegram:@metatechrecoveryproteam W/S +1 (469) 692‑8049 thank you.
-
11.08.25 17:49
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
11.08.25 17:49
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
11.08.25 17:49
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
11.08.25 19:46
KEVIN3
HOW I RECOVER MY LOST FUNDS AFTER INVESTING Exercise extreme caution when dealing with this company. They scammed me $800,000 out of my money and even gained unauthorized access to my banking information, which severely impacted my financial well-being. I had initially approached them with the hope of improving my life through investment, but instead, I was deceived. This company should be thoroughly investigated and shut down to prevent further harm. Fortunately, I was able to recover my funds thanks to Mrs. Rose. Although I was initially hesitant and unsure about contacting her, I decided to take the risk and I’m so glad I did. You can reach her via telegram 📱(@RoseCyberHives) and email rosecryptorecovery@gmail. com With the help of her skilled team of cybersecurity professionals and cryptocurrency experts, I was able to recover my lost funds quickly and with minimal stress, a sharp contrast to my previous experience. If you’ve been scammed or are in a similar situation, I highly recommend reaching out to her for assistance. via telegram 📱 (@RoseCyberHives) rosecryptorecovery@gmail. com
-
11.08.25 20:06
KEVIN3
HOW I RECOVER MY LOST FUNDS AFTER INVESTING Exercise extreme caution when dealing with this company. They scammed me $800,000 out of my money and even gained unauthorized access to my banking information, which severely impacted my financial well-being. I had initially approached them with the hope of improving my life through investment, but instead, I was deceived. This company should be thoroughly investigated and shut down to prevent further harm. Fortunately, I was able to recover my funds thanks to Mrs. Rose. Although I was initially hesitant and unsure about contacting her, I decided to take the risk and I’m so glad I did. You can reach her via telegram 📱(@RoseCyberHives) and email rosecryptorecovery@gmail. com With the help of her skilled team of cybersecurity professionals and cryptocurrency experts, I was able to recover my lost funds quickly and with minimal stress, a sharp contrast to my previous experience. If you’ve been scammed or are in a similar situation, I highly recommend reaching out to her for assistance. via telegram 📱 (@RoseCyberHives) rosecryptorecovery@gmail. com
-
12.08.25 02:43
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] and on Telegram OR Call Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
12.08.25 02:43
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] and on Telegram OR Call Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
12.08.25 02:43
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] and on Telegram OR Call Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
12.08.25 16:48
ahmed11
It takes a team to recover lost money from scams. Recovery professionals locate stolen money by using their expertise. The best course of action is advised by legal professionals. This helps you get your money back. Identifying warning indicators is a crucial lesson learned from frauds. Promises of large, fast, risk-free profits should be avoided. They may put pressure on you to make an investment right away. For assistance avoiding frauds in the future, get in touch with Marie. She can also help you retrieve your misplaced Bitcoin. You can reach her on Telegram at @Marie_consultancy or via email at [email protected]. Also, you can use WhatsApp at +1 7127594675.
-
12.08.25 17:13
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
12.08.25 17:13
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
12.08.25 18:44
edinavida027
CRYPTO TRACING AND RECOVERY: HIRE A LEGITIMATE RECOVERY EXPERT" CONTACT RAPID DIGITAL RECOVERY
-
12.08.25 18:44
edinavida027
A recruiter named Emma Zhang reached out to me on LinkedIn regarding an intriguing job opportunity that piqued my interest. She presented a position for a Crypto Security Specialist with a Coinbase-certified firm. Her profile appeared legitimate, boasting over 1200 connections and numerous endorsements from industry professionals that seemed authentic. The offer was enticing: a salary of $180,000 plus bonuses, all disbursed in Bitcoin. The recruiter promptly sent me an email from a seemingly official domain , which closely resembled Coinbase's actual email addresses. It felt like an incredible opportunity. However, there was a stipulation: to qualify for the position, I needed to confirm that I possessed at least 4 BTC. This requirement struck me as peculiar but not entirely implausible, given the nature of the role. At that moment, I had sufficient BTC to meet the demand, so I decided to proceed. The HR representative directed me to a portal that closely mimicked Coinbase's official interface. It was convincing enough that I didn’t hesitate to log in and complete the necessary steps. Unfortunately, that was where everything began to unravel. I was instructed to send a verification deposit of 1 BTC to confirm my ownership. Since everything appeared legitimate, I complied without hesitation. However, the moment I transferred the BTC, an unsettling feeling washed over me. The following day, I noticed that the remaining 3 BTC in my wallet began to vanish. My heart sank as I realized something was terribly amiss. I immediately attempted to reach out to both the HR representative and the company, but my efforts were met with silence. Upon checking the LinkedIn profiles of Emma Zhang and her team, I discovered they had mysteriously vanished. I was left with nothing no job offer, no recruiter, and no Bitcoin. I turned to the internet in search of solutions. That’s when I stumbled upon RAPID DIGITAL RECOVERY, a company specializing in Bitcoin recovery. I contacted them, and they assured me they could assist in recovering my lost funds. After a tense and arduous process, they successfully retrieved my stolen BTC. The relief I felt was indescribable, and I am profoundly grateful to RAPID DIGITAL RECOVERY for their expertise and unwavering support. CONTACT INFO BELOW Email: rapid digital recovery (@) execs. com Telegram: htt ps: // t. me/ Rapid digital recovery519 WhatSapp: +1 4 1 4 8 0 7 1 4 8 5
-
12.08.25 19:15
vallatjosette
Fortunately, my luck changed when I encountered Wizard Hilton Cyber Tech. Their expertise and dedication to helping victims of cryptocurrency scams are truly remarkable. They worked tirelessly to track down the scammers and recover my lost crypto coins.Email : wizardhiltoncybertech ( @ ) gmail (. ) com OR support ( @ ) wizardhiltoncybertech (.) com
-
12.08.25 23:07
babatunde162
I recommend Marie when it comes to recovering lost/stolen usdt/bitcoin or any kind of cryptocurrencies' from fake investment platforms because they're well specialized in that area and you'll get your money back in full. I can boldly say this right now based on my prior deal i had with them; she was the only one who was able to recover my lost money $52,760 dollars back to my account, Only • ([email protected] and telegram:@Marie_consultancy or whatsapp +1 7127594675) she was successful in recovering my money. They are the only one who can fully restore your lost funds to your account without any deductions, I really value their work and am recommending her to you today. THANK ME LATER
-
13.08.25 06:11
tyler231
DO YOU REQUIRE TECHNICAL SKILLS TO SOLVE YOUR HACKING RELATED PROBLEMS? ●Hacking of all social media accounts ●Spying on cheating partner ●Retrieving of lost Cryptocurrency ●Data alteration ●Finding of lost phone ●Clearing/paying off of mortgage/loan ●Increasing of credit score ●Bitcoin mining ●Tracking of location ●Hacking of cell phone/other devices ●Block out or track down hackers Secure yourself now!!! Contact: [email protected] OR WHATSAPP+14106350697 They are the best at what they do they helped me out and i am here to testify contact them and come back testifying
-
13.08.25 07:01
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
13.08.25 07:01
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
13.08.25 07:01
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
13.08.25 08:26
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
13.08.25 08:27
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
13.08.25 08:27
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
13.08.25 10:37
babatunde162
Since Marie is an expert in recovering lost or stolen USDT, bitcoin, or any other cryptocurrency from fraudulent investment platforms, I suggest them for this task. You will receive your money back in full. I can confidently state this at this time because of my previous transaction with them: she was the only one who successfully returned $52,760 of my lost funds to my account. Her contact information is [email protected], and her telegram handle is @Marie_consultancy or +1 7127594675. Because they are the only ones that can completely return your lost money to your account without taking any money out, I truly appreciate what they do and am suggesting her to you today. Afterward, thank you.
-
13.08.25 13:15
Bartlevi
Sylvester showcased remarkable talent. He brought back over $610,000 in crypto. This felt like a massive win. His help went beyond this first success. He worked hard to get back more lost money. He stayed in touch all the time. He kept me in the loop. The whole process was very honest. There were no hidden fees or tricky ways. My money went straight to my crypto account. The transfer was easy. Sylvester Bryant is the most honest recovery agent I know. If you're in a similar spot, contact him now. You can email Sylvester at yt7cracker@gmail. com. Or reach him on WhatsApp at +1 (512) 577-7957. Don't give up hope. Sylvester can find your stolen money. He did it for me. You can get your money back. Sylvester Bryant will help you recover your funds.
-
13.08.25 14:23
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
13.08.25 14:23
Morris Jason
HIRE A REPUTABLE RECOVERY FIRM THAT HELPED ME RETRIEVE MY LOST INVESTMENT FUNDS : THE HACK ANGELS If you’re lost your Bitcoin to scammers, and you’re searching for trustworthy recovery services, getting in touch with THE HACK ANGELS is the only way to get your Bitcoin back. After losing my Bitcoin investments. I was determined to find a solution. I began by researching online and found several recovery services claiming to retrieve lost Bitcoin. However, most of these services turned out to be scams themselves. I thought I’d never see my funds again. It was then that I came across THE HACK ANGELS. A reputable Bitcoin recovery expert with a proven track record of retrieving lost Funds. I reached out to him, and he responded promptly, explaining the process of recovering my lost Bitcoin. They provide essential guidance on protecting digital assets, recognizing cyber threats and using effective security practices to prevent future incidents. Great communication and a successful outcome, when it comes to bitcoins recovery, quick contact THE HACK ANGELS RECOVERY EXPERT WhatsApp +1(520)2 0 0-2 3 2 0 Email at [email protected] Website at www.thehackangels.com If you're in London, you can even visit them in person at their office located at 45-46 Red Lion Street, London WC1R 4PF, UK. Don’t hesitate to reach out if you need help! And ready to reclaim what's rightfully yours?
-
13.08.25 19:46
marcushenderson624
Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
13.08.25 19:46
marcushenderson624
Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
13.08.25 19:46
marcushenderson624
Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
13.08.25 19:50
babatunde162
When it comes to recovering lost or stolen bitcoin, USDT, or any other cryptocurrency from fraudulent investment platforms, I suggest Marie because they are highly skilled in the field and will return all of your money. Based on my previous transaction with them, I can state with confidence that she was the only one who successfully returned $52,760 of my lost funds to my account. Her email address is [email protected], and her telegram handle is @Marie_consultancy, or her WhatsApp number is +1 7127594675. I truly appreciate their work and am suggesting her to you today because they are the only ones who can completely return your missing money to your account without any deductions.
-
14.08.25 00:20
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
14.08.25 00:20
robertalfred175
CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
14.08.25 17:47
Joanne Ruth
The innovative company Captain Jack Recovery was created to address the challenges associated with recovering cryptocurrency assets. A group of seasoned professionals with backgrounds in offshore legal solutions, asset recovery, crypto intelligence, and crypto investigations founded Captain Jack Recovery. For people and companies who have been the victims of bitcoin fraud or theft, his goal is to offer complete recovery options. Conatc address ([email protected])
-
14.08.25 18:27
lisared
Losing nearly 500,000 USDT to hackers was one of the most devastating experience of my life. I felt powerless as my hard-earned assets vanished into anonymous blockchain transactions until I found Agent Jasmine Lopez. Her deep expertise, tireless effort, and unwavering focus gave me hope and delivered results. She traced complex transactions, pursued every lead, and recovered a large portion of my stolen funds something I never thought possible. If you’ve lost digital assets, don’t give up. Contact her at recoveryfundprovider [AT] gmail [DOT] com Whats//App at +{44 736-644-5035}. She turned my nightmare into a recovery story, and she could do the same for you
-
14.08.25 19:23
Joanne Ruth
The innovative company Captain Jack Recovery was created to address the challenges associated with recovering cryptocurrency assets. A group of seasoned professionals with backgrounds in offshore legal solutions, asset recovery, crypto intelligence, and crypto investigations founded Captain Jack Recovery. For people and companies who have been the victims of bitcoin fraud or theft, his goal is to offer complete recovery options. Conatc address ([email protected])
-
14.08.25 21:49
Rickbayford
If you need to recover cryptocurrency that has been lost to wallet hackers, internet scammers, or BTC transferred to the wrong address, I suggest Wizard James Recovery, a very trustworthy recovery organization. Just by sending my case to the Expert and supplying the necessary data, Wizard James Recovery was able to help me recover my Bitcoin. I'm glad I was able to recover this much after losing even more to the fraudulent broker I initially put my belief in. Errors are unavoidable, thus we can never be careful enough. If you have lost money to cryptocurrency scams, I strongly advise getting in touch with Wizard James Recovery. Mail: ([email protected])
-
15.08.25 03:10
KEVIN3
HOW I RECOVER MY LOST FUNDS AFTER INVESTING Exercise extreme caution when dealing with this company. They scammed me $800,000 out of my money and even gained unauthorized access to my banking information, which severely impacted my financial well-being. I had initially approached them with the hope of improving my life through investment, but instead, I was deceived. This company should be thoroughly investigated and shut down to prevent further harm. Fortunately, I was able to recover my funds thanks to Mrs. Rose. Although I was initially hesitant and unsure about contacting her, I decided to take the risk and I’m so glad I did. You can reach her via telegram (@RoseCyberHives) and email rosecryptorecovery@gmail. com With the help of her skilled team of cybersecurity professionals and cryptocurrency experts, I was able to recover my lost funds quickly and with minimal stress, a sharp contrast to my previous experience. If you’ve been scammed or are in a similar situation, I highly recommend reaching out to her for assistance. via telegram (@RoseCyberHives) rosecryptorecovery@gmail. com
-
15.08.25 04:59
marcushenderson624
Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
15.08.25 04:59
marcushenderson624
Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
15.08.25 04:59
marcushenderson624
Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
15.08.25 04:59
marcushenderson624
Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
15.08.25 09:13
eva117
Recovery experts and legal experts work together to get back stolen money. They use special skills to find and retrieve assets. This teamwork improves your chances of success. Learning to spot scam warnings is key. Look out for promises of big returns with no risk. Be wary of pressure to invest fast. Contact Marie at [email protected], Telegram @Marie_consultancy, or WhatsApp +1 7127594675. She can help you avoid future scams and recover lost bitcoin
-
15.08.25 13:27
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
15.08.25 13:27
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
15.08.25 20:26
caitlinfedex
After my wife passed, I found myself lonely and searching for connection. I joined a senior living forum just to talk with others my age to share stories, maybe feel a little less isolated. That’s where I met a man who claimed to be helping retirees like me manage their savings with cryptocurrency. He spoke warmly and convincingly about a retirement care fund that guaranteed lifetime monthly payouts. He said it was specifically designed for people in my stage of life safe secure and backed by health organizations. He gained my trust over weeks of conversation. We spoke daily. He called me by name asked about my late wife, and remembered little details about my life. I believed he genuinely cared. Eventually, I transferred $200000 in USDT the majority of my retirement savings, into the wallet address he provided. That was the last time I heard from him. The forum profile vanished. His phone number stopped working. No response to emails. I was stunned. I couldn’t believe I had been tricked. I didn’t know who to turn to. I felt ashamed and foolish. At my age recovering from a financial loss like this is nearly impossible.My relative stepped in. They searched online for solutions and found TRUST GEEKS HACK EXPERT. I was skeptical at first but they insisted we give them a chance. From the moment we contacted them they treated me with respect patience and genuine concern. Their team didn’t speak in technical riddles. They explained every step. They used blockchain analysis tools to trace the movement of my funds through several addresses.It turned out the wallet was linked to a scam platform. TRUST GEEKS HACK EXPERT worked directly with the USDT issuer and coordinated with relevant platforms to freeze the funds before they were fully laundered.In just two weeks they managed to recover $155000 in USDT.The money helped yes but it was more than that. I no longer felt powerless. I had been taken advantage of but I wasn’t alone in the fight. Thanks to TRUST GEEKS HACK EXPERT I got back not only a large part of my savings but also peace of mind a sense of dignity and hope for the future. If you ever find yourself in such situation I encourage you to contact TRUST GEEKS HACK EXPERT Email.trustgeekshackexpert{At}fastservice{Dot}com — Telegram:: Trustgeekshackexpert & W h a t's A p p +1 7 1 9 4 9 2 2 6 9 3
-
15.08.25 20:27
caitlinfedex
After my wife passed, I found myself lonely and searching for connection. I joined a senior living forum just to talk with others my age to share stories, maybe feel a little less isolated. That’s where I met a man who claimed to be helping retirees like me manage their savings with cryptocurrency. He spoke warmly and convincingly about a retirement care fund that guaranteed lifetime monthly payouts. He said it was specifically designed for people in my stage of life safe secure and backed by health organizations. He gained my trust over weeks of conversation. We spoke daily. He called me by name asked about my late wife, and remembered little details about my life. I believed he genuinely cared. Eventually, I transferred $200000 in USDT the majority of my retirement savings, into the wallet address he provided. That was the last time I heard from him. The forum profile vanished. His phone number stopped working. No response to emails. I was stunned. I couldn’t believe I had been tricked. I didn’t know who to turn to. I felt ashamed and foolish. At my age recovering from a financial loss like this is nearly impossible.My relative stepped in. They searched online for solutions and found TRUST GEEKS HACK EXPERT. I was skeptical at first but they insisted we give them a chance. From the moment we contacted them they treated me with respect patience and genuine concern. Their team didn’t speak in technical riddles. They explained every step. They used blockchain analysis tools to trace the movement of my funds through several addresses.It turned out the wallet was linked to a scam platform. TRUST GEEKS HACK EXPERT worked directly with the USDT issuer and coordinated with relevant platforms to freeze the funds before they were fully laundered.In just two weeks they managed to recover $155000 in USDT.The money helped yes but it was more than that. I no longer felt powerless. I had been taken advantage of but I wasn’t alone in the fight. Thanks to TRUST GEEKS HACK EXPERT I got back not only a large part of my savings but also peace of mind a sense of dignity and hope for the future. If you ever find yourself in such situation I encourage you to contact TRUST GEEKS HACK EXPERT Email.trustgeekshackexpert{At}fastservice{Dot}com — Telegram:: Trustgeekshackexpert & W h a t's A p p +1 7 1 9 4 9 2 2 6 9 3
-
15.08.25 21:04
vallatjosette
My Wild Ride: How a Wizard Hilton Cyber Tech Helped Me Recover Lost Bitcoin of 103,000 It all started when I had the misfortune of misplacing the digital wallet containing my substantial cryptocurrency holdings - a staggering 103,000 bitcoins. I had amassed this sizable fortune over the years through strategic investments and careful trading, but in a moment of carelessness, the private keys to my digital wallet had vanished. Panic set in as I grappled with the gravity of my situation - those bitcoins, worth millions at the time, were effectively lost to the ether, inaccessible and seemingly unrecoverable. Just when I had resigned myself to the devastating financial blow, a chance encounter with a self-proclaimed "digital wizard" Wizard Hilton Cyber Tech presented a glimmer of hope. This enigmatic individual, who operated in the shadowy corners of the crypto underworld, claimed to possess the arcane knowledge and skills necessary to retrieve my lost digital wealth. Intrigued and desperate, I put my skepticism aside and entrusted this mysterious wizard with the task. What followed was a wild, suspenseful journey into the depths of blockchain technology and cryptography, as the wizard navigated complex algorithms, exploited vulnerabilities, and pieced together the puzzle of my missing private keys. After days of intense effort, Wizard Hilton Cyber Tech emerged triumphant, having successfully recovered the entirety of my 103,000 bitcoin stash. The sheer relief and elation I felt in that moment was indescribable, as I regained access to my small digital fortune and was able to secure my financial future. This harrowing experience taught me the invaluable lesson of never taking the security of my cryptocurrency holdings for granted, and the importance of always maintaining the utmost diligence when it comes to protecting one's digital wealth. Email: wizardhiltoncybertech ( @ ) gmail (. ) com OR support ( @ ) wizardhiltoncybertech (.) com WhatsApp number +18737715701 Thanks.
-
16.08.25 06:53
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
16.08.25 06:53
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
16.08.25 06:53
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
16.08.25 07:01
lisared
Losing nearly 500,000 USDT to hackers was one of the most devastating experience of my life. I felt powerless as my hard-earned assets vanished into anonymous blockchain transactions until I found Agent Jasmine Lopez. Her deep expertise, tireless effort, and unwavering focus gave me hope and delivered results. She traced complex transactions, pursued every lead, and recovered a large portion of my stolen funds something I never thought possible. If you’ve lost digital assets, don’t give up. Contact Recoveryfundprovider@gmail. com WhatsApp at +{44 736-644-5035}. She turned my nightmare into a recovery story, and she could do the same for you.
-
16.08.25 17:05
mark
I see a lot of recommendations online and it’s already obvious there are bad eggs online who will only add to your mystery. I can only recommend one and you can reach them via mail on (zattechrecovery @ gmail c0 m ) if you need help on recovering what you lost to scammers.
-
17.08.25 03:33
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
17.08.25 03:33
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
17.08.25 05:22
aveasley4
I’m a California resident who was contacted by someone named “Lin” on WhatsApp. Our conversation eventually turned to cryptocurrency investments. Lin introduced me to a trading platform called CBOTBIT (https://cbotbit.com), walked me through setting up an account, and guided me on transferring funds. Under Lin’s direction, I began trading and was led to believe that my account was growing significantly. However, when I attempted to withdraw my funds, I was unable to do so — and shortly after, the website went offline entirely. I had invested over $340,000 in Bitcoin, planning to use it for my retirement. The experience was devastating, and I was at a loss for what to do next. Eventually, I came across [email protected] and decided to reach out. I followed their instructions, and within a few days, I was able to recover my original investment. I'm incredibly relieved and grateful for their assistance, and I recommend contacting them if you’re in a similar situation and need help recovering lost funds.
-
17.08.25 17:49
marcushenderson624
Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
17.08.25 17:49
marcushenderson624
Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
17.08.25 17:49
marcushenderson624
Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
18.08.25 21:10
Connorhelms
I can honestly say losing my bitcoin savings was one of the darkest moments of my life. I had put everything I could into that investment, believing it would secure my future, only to wake up one day and realize the platform had vanished with all my funds. The feeling was indescribable, fear, shame, and helplessness all at once. I thought I’d never see that money again. Then I came across Alpha Spy Nest. At first, I was hesitant, I had already been deceived once, and the thought of trusting anyone else terrified me. But something about their professionalism and the way they patiently explained things gave me a little hope. For the first time in weeks, I felt like I wasn’t completely alone in the fight. They listened to my story without judgment, broke down the technical side in a way I could understand, and reassured me that there was still a chance. Watching them work was incredible. They traced every transaction, uncovered where my bitcoin had been moved, and kept me updated through every stage. It felt like they cared as much about my recovery as I did. The day they told me they had successfully recovered my lost savings, I actually cried. Seeing those funds back in my wallet felt unreal, it was like a huge weight had been lifted off my shoulders. Beyond just recovering my bitcoin, Alpha Spy Nest gave me back my peace of mind and restored a trust I thought I had lost forever. I’m forever grateful to them. If I hadn’t found Alpha Spy Nest, I’d still be stuck in regret and despair. Instead, I now share my story as proof that recovery is possible. You can also reach out to them via: Email: [email protected], WhatsApp: +15132924878, Telegram: https://t.me/Alphaspynest, Website: www.alphaspynest.org
-
18.08.25 22:17
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
18.08.25 22:17
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
Для участия в Чате вам необходим бесплатный аккаунт pro-blockchain.com
Войти
Регистрация
Похожие новости
Подпишись на telegram канал и узнавай первым обо всех новостях