Русский
EnglishCryptocurrencies:
8589 /
Markets: 116203
Market Cap: $ 2 444 505 039 380 /
24h Vol: $ 111 150 352 801 /
BTC
Dominance: 58.308752832465%
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.
-
22.01.26 07:48
Kelvin Alfons
Hello everyone. I’d like to share my personal experience from one of the most challenging times in my life. I’m based in Sydney, Australia, and on November 13, 2025, I fell victim to a fraudulent cryptocurrency investment platform that promised substantial financial growth. Believing their claims, I invested a total of $220,000 with the expectation of earning solid returns. However, when I attempted to withdraw my funds, all communication abruptly stopped. My calls were ignored, my emails went unanswered, and I was left feeling completely powerless. Like many others, I had heard that Bitcoin transactions are impossible to trace, so I assumed my money was lost forever. After some time, I discovered information about GREAT WHIP RECOVERY CYBER SERVICES, a reputable digital asset recovery firm. I decided to reach out to them, and to my astonishment, they were able to help me recover the full amount I had lost. I’m sharing my story in the hope that it may help someone else who is going through a similar situation and looking for support. Their contact is, Website: https://greatwhiprecoveryc.wixsite.com/greatwhip-site Email:[email protected] Call: +1(406)2729101
-
22.01.26 07:50
Kelvin Alfons
Hello everyone. I’d like to share my personal experience from one of the most challenging times in my life. I’m based in Sydney, Australia, and on November 13, 2025, I fell victim to a fraudulent cryptocurrency investment platform that promised substantial financial growth. Believing their claims, I invested a total of $220,000 with the expectation of earning solid returns. However, when I attempted to withdraw my funds, all communication abruptly stopped. My calls were ignored, my emails went unanswered, and I was left feeling completely powerless. Like many others, I had heard that Bitcoin transactions are impossible to trace, so I assumed my money was lost forever. After some time, I discovered information about GREAT WHIP RECOVERY CYBER SERVICES, a reputable digital asset recovery firm. I decided to reach out to them, and to my astonishment, they were able to help me recover the full amount I had lost. I’m sharing my story in the hope that it may help someone else who is going through a similar situation and looking for support. Their contact is, Website: https://greatwhiprecoveryc.wixsite.com/greatwhip-site Email:[email protected] Call: +1(406)2729101
-
22.01.26 10:42
Tonerdomark
I got my money back from the Elon Musk scam. It cost me over 1 BTC and $55,000 in Dogecoin. Scammers vowed to double investments. Their sites seemed real. Fraud was tough to catch early. They hooked me with fast doubles in weeks or months. Videos showed Musk promising giveaways and gains. I bought in. I sent Bitcoin and Dogecoin in bits at first. Small sends worked. Then I wired my full savings. It vanished quick. No answers came. Bank account empty. Bills piled up. Loans covered rent and food. Sleep fled. Stress hit hard. Life crumbled. A friend spotted my trouble. He told of his scam loss last year. Same old plays. He pointed me to Sylvester Bryant, a recovery expert. Email Yt7cracker@gmail. com. WhatsApp +1 512 577 7957 or +44 7428 662701. Sylvester acted fast. He tracked blockchain trails. Dealt with exchanges. Outsmarted the scammers. In weeks, my Bitcoin came back. Even their phony profits too. Debts gone. Life back on track. Got hit? Contact him now.
-
22.01.26 19:25
Angela_Moore
Help to recover money from elon musk giveaway scam I got my money back from the Elon Musk scam. It cost me over 1 BTC and $55,000 in Dogecoin. Scammers vowed to double investments. Their sites seemed real. Fraud was tough to catch early. They hooked me with fast doubles in weeks or months. Videos showed Musk promising giveaways and gains. I bought in. I sent Bitcoin and Dogecoin in bits at first. Small sends worked. Then I wired my full savings. It vanished quick. No answers came. Bank account empty. Bills piled up. Loans covered rent and food. Sleep fled. Stress hit hard. Life crumbled. A friend spotted my trouble. He told of his scam loss last year. Same old plays. He pointed me to Sylvester Bryant, a recovery expert. Email Yt7cracker@gmail. com. WhatsApp +1 512 577 7957 or +44 7428 662701. Sylvester acted fast. He tracked blockchain trails. Dealt with exchanges. Outsmarted the scammers. In weeks, my Bitcoin came back. Even their phony profits too. Debts gone. Life back on track. Got hit? Contact him now.
-
23.01.26 07:35
Kelvin Alfons
Hello everyone. I’d like to share my personal experience from one of the most challenging times in my life. I’m based in Sydney, Australia, and on November 13, 2025, I fell victim to a fraudulent cryptocurrency investment platform that promised substantial financial growth. Believing their claims, I invested a total of $220,000 with the expectation of earning solid returns. However, when I attempted to withdraw my funds, all communication abruptly stopped. My calls were ignored, my emails went unanswered, and I was left feeling completely powerless. Like many others, I had heard that Bitcoin transactions are impossible to trace, so I assumed my money was lost forever. After some time, I discovered information about GREAT WHIP RECOVERY CYBER SERVICES, a reputable digital asset recovery firm. I decided to reach out to them, and to my astonishment, they were able to help me recover the full amount I had lost. I’m sharing my story in the hope that it may help someone else who is going through a similar situation and looking for support. Their contact is, Website: https://greatwhiprecoveryc.wixsite.com/greatwhip-site Email:[email protected] Call: +1(406)2729101
-
23.01.26 07:35
Kelvin Alfons
Hello everyone. I’d like to share my personal experience from one of the most challenging times in my life. I’m based in Sydney, Australia, and on November 13, 2025, I fell victim to a fraudulent cryptocurrency investment platform that promised substantial financial growth. Believing their claims, I invested a total of $220,000 with the expectation of earning solid returns. However, when I attempted to withdraw my funds, all communication abruptly stopped. My calls were ignored, my emails went unanswered, and I was left feeling completely powerless. Like many others, I had heard that Bitcoin transactions are impossible to trace, so I assumed my money was lost forever. After some time, I discovered information about GREAT WHIP RECOVERY CYBER SERVICES, a reputable digital asset recovery firm. I decided to reach out to them, and to my astonishment, they were able to help me recover the full amount I had lost. I’m sharing my story in the hope that it may help someone else who is going through a similar situation and looking for support. Their contact is, Website: https://greatwhiprecoveryc.wixsite.com/greatwhip-site Email:[email protected] Call: +1(406)2729101
-
26.01.26 10:36
alksnismareks
It all started when I decided to explore online trading as a way to grow my savings. Like many, I trusted what appeared to be a legitimate platform, only to find myself trapped in a nightmare. After making consistent trades and finally deciding to withdraw my profits, I was met with silence. My account was suddenly restricted—no warning, no explanation. Every attempt to contact the broker went unanswered or was met with vague, dismissive replies. For three long, agonizing months, I lived in uncertainty. I couldn’t sleep at night. I replayed every email, every transaction, wondering if I’d made a mistake. But deep down, I knew the truth: I hadn’t done anything wrong. The broker had simply decided to lock me out and keep my money. During that time, I felt completely powerless—like I was shouting into a void. The stress affected my health, my relationships, and my ability to focus on anything else. There were days I truly believed that $167,000 was gone forever, lost to the shadows of the unregulated online trading world. I even began to accept it as a painful lesson—one that would cost me dearly but might teach me to be more cautious in the future. But something inside me refused to surrender completely. That’s when I discovered TechY Force Cyber Retrieval. At first, I was cautious—after being scammed once, I didn’t want to fall victim again. But everything about TechY Force felt different. They were transparent from the start. No grand promises, no pressure tactics. Just clear, professional communication and a deep understanding of how these fraudulent brokers operate. Most importantly, they are a licensed specialist in binary options and forex fund recovery, which gave me the confidence to move forward. From our very first consultation, their team treated my case with urgency and empathy. They walked me through the entire process, explained the legal and technical avenues available, and assured me they would handle every detail. They collected documentation, analyzed transaction trails, and engaged directly with the payment processors and the broker using precise, strategic methods I never could have navigated on my own. What happened next was nothing short of miraculous. Within weeks, the broker—who had ignored me for months—began responding. And then, without any further drama or delays, my full $167,000 USD was returned to me. No deductions. No hidden fees. Just clean, complete recovery. The relief I felt was indescribable. It wasn’t just about the money—it was about reclaiming control, restoring trust, and proving that even in the face of deception, there are still good people who fight for what’s right. If you’ve been locked out of your trading account, scammed by a fake investment platform, or had your funds unjustly withheld, please know this: you are not alone, and your money may not be lost forever. Thanks to TechY Force Cyber Retrieval, I got my life back. Their expertise, integrity, and unwavering commitment turned my despair into deliverance. I cannot recommend them highly enough. To anyone reading this in distress: don’t give up. Reach out. Take that step. Because if someone like me—broken, doubtful, and nearly hopeless—can recover every dollar… so can you. WhatsApp them + 156 172 63 697 With heartfelt thanks and renewed hope, — A Recovered and Grateful Client
-
26.01.26 23:21
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
-
26.01.26 23:21
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
-
26.01.26 23:21
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
-
27.01.26 01:18
Kelvin Alfons
Hello everyone. I’d like to share my personal experience from one of the most challenging times in my life. I’m based in Sydney, Australia, and on November 13, 2025, I fell victim to a fraudulent cryptocurrency investment platform that promised substantial financial growth. Believing their claims, I invested a total of $220,000 with the expectation of earning solid returns. However, when I attempted to withdraw my funds, all communication abruptly stopped. My calls were ignored, my emails went unanswered, and I was left feeling completely powerless. Like many others, I had heard that Bitcoin transactions are impossible to trace, so I assumed my money was lost forever. After some time, I discovered information about GREAT WHIP RECOVERY CYBER SERVICES, a reputable digital asset recovery firm. I decided to reach out to them, and to my astonishment, they were able to help me recover the full amount I had lost. I’m sharing my story in the hope that it may help someone else who is going through a similar situation and looking for support. Their contact is, Website: https://greatwhiprecoveryc.wixsite.com/greatwhip-site Email:[email protected] Call: +1(406)2729101
-
27.01.26 01:19
Kelvin Alfons
Hello everyone. I’d like to share my personal experience from one of the most challenging times in my life. I’m based in Sydney, Australia, and on November 13, 2025, I fell victim to a fraudulent cryptocurrency investment platform that promised substantial financial growth. Believing their claims, I invested a total of $220,000 with the expectation of earning solid returns. However, when I attempted to withdraw my funds, all communication abruptly stopped. My calls were ignored, my emails went unanswered, and I was left feeling completely powerless. Like many others, I had heard that Bitcoin transactions are impossible to trace, so I assumed my money was lost forever. After some time, I discovered information about GREAT WHIP RECOVERY CYBER SERVICES, a reputable digital asset recovery firm. I decided to reach out to them, and to my astonishment, they were able to help me recover the full amount I had lost. I’m sharing my story in the hope that it may help someone else who is going through a similar situation and looking for support. Their contact is, Website: https://greatwhiprecoveryc.wixsite.com/greatwhip-site Email:[email protected] Call: +1(406)2729101
-
27.01.26 09:29
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
-
27.01.26 09:29
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
-
27.01.26 09:32
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
-
29.01.26 05:03
joyo
The digital world of cryptocurrency offers big chances, but it also hides tricky scams. Losing your crypto to fraud feels awful. It can leave you feeling lost and violated. This guide tells you what to do right away if a crypto scam has hit you. These steps can help you get funds back or stop more trouble. Knowing what to do fast can change everything,reach marie ([email protected] and whatsapp:+1 7127594675)
-
30.01.26 08:23
joseph67t
It's a joy to write this review. Since I began working with Marie at the beginning of 2018, the service has been outstanding. Hackers stole my monies, and I was frightened about how I would get them back. I didn't know where to begin, consequently it was a nightmare for me. But once my friend told me about ([email protected] and whatsap:+1 7127594675), things became simple for me. I'm glad she was able to get my bitcoin back so I could start trading on Binance again!
-
31.01.26 00:55
harristhomas7376
"In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
31.01.26 00:55
harristhomas7376
"In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
02.02.26 18:52
Christopherbelle
Sylvester Bryant is a top crypto recovery agent! Then I contacted them with my story that i have been scammed. It took time, yet my stolen crypto was recovered . Need help? Reach out to Sylvester on WhatsApp at +1 512 577 7957 or +44 7428 662701. Or email yt7cracker@gmail . com.
-
03.02.26 08:05
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
-
03.02.26 08:05
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
-
04.02.26 16:23
borutaralf
GREAT WHIP RECOVERY CYBER SERVICES TRUSTED EXPERTS IN ONLINE RECOVERY SOLUTIONS PHONE CALL:+1(406)2729101 I was unfortunately deceived and scammed out of $88,000 by someone I trusted to manage my funds during a transaction we carried out together. The experience left me deeply disappointed and hurt, realizing that someone could betray that level of trust without any remorse. Determined to seek justice and recover what was stolen, I began searching for legal assistance and came across numerous testimonials about GREAT WHIP RECOVERY CYBER SERVICES, a group known for helping victims recover lost funds. From what I learned, they have successfully assisted many people facing similar situations, returning stolen funds to their rightful owners in a remarkably short time. In my case, the GREAT WHIP RECOVERY CYBER SERVICES were able to recover my funds within just 48 hours, which was truly unbelievable. Even more reassuring was the fact that the scammer was identified, located, and eventually arrested by local authorities in his region. That outcome brought a great sense of relief and closure. I hope this information helps others who have lost their hard-earned money due to misplaced trust. If you’re in a similar situation, you can contact them through their info below to seek help in recovering your stolen funds. Email: [email protected] Website https://greatwhiprecoveryc.wixsite.com/greatwhip-site Phone Call:+1(406)2729101
-
04.02.26 16:24
borutaralf
GREAT WHIP RECOVERY CYBER SERVICES TRUSTED EXPERTS IN ONLINE RECOVERY SOLUTIONS PHONE CALL:+1(406)2729101 I was unfortunately deceived and scammed out of $88,000 by someone I trusted to manage my funds during a transaction we carried out together. The experience left me deeply disappointed and hurt, realizing that someone could betray that level of trust without any remorse. Determined to seek justice and recover what was stolen, I began searching for legal assistance and came across numerous testimonials about GREAT WHIP RECOVERY CYBER SERVICES, a group known for helping victims recover lost funds. From what I learned, they have successfully assisted many people facing similar situations, returning stolen funds to their rightful owners in a remarkably short time. In my case, the GREAT WHIP RECOVERY CYBER SERVICES were able to recover my funds within just 48 hours, which was truly unbelievable. Even more reassuring was the fact that the scammer was identified, located, and eventually arrested by local authorities in his region. That outcome brought a great sense of relief and closure. I hope this information helps others who have lost their hard-earned money due to misplaced trust. If you’re in a similar situation, you can contact them through their info below to seek help in recovering your stolen funds. Email: [email protected] Website https://greatwhiprecoveryc.wixsite.com/greatwhip-site Phone Call:+1(406)2729101
-
04.02.26 17:11
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
-
05.02.26 12:07
Thomas Muller
YOU CAN REACH OUT TO GREAT WHIP RECOVERY CYBER SERVICES FOR HELP TO RECOVER YOUR STOLEN BTC OR ETH BACK CALL:+1(406)2729101 I once fell victim to online investment scheme that cost me a devastating €254,000. I’m Thomas Muller from Berlin, Germany. The person I trusted turned out to be a fraud, and the moment I realized I’d been deceived, my entire world stopped. I immediately began searching for legitimate ways to recover my funds and hold the scammer accountable. During my search, I came across several testimonies of how Great Whip Recovery Cyber Services helped some people recover money they lost to cyber fraud, I contacted Great Whip Recovery Cyber Service team and provided all the evidence I had. Within about 36 hours, the experts traced the digital trail left by the fraudster, the individual was eventually tracked down and I recovered all my money back. You can contact them with, website https://greatwhiprecoveryc.wixsite.com/greatwhip-site text +1(406)2729101 email [email protected]
-
05.02.26 15:46
feliciabotezatu
Losing access to your cryptocurrency can be devastating—whether you’ve been scammed, hacked, or locked out due to a forgotten password. Many assume their digital assets are gone forever. But with the right expertise, recovery is not only possible—it’s our daily reality. At TECHY FORCE CYBER RETRIEVAL (TFCR), we’re a globally recognized, fully legitimate crypto recovery service dedicated to helping victims reclaim lost or stolen digital assets—safely, ethically, and effectively. Who We Are Backed by a team of certified blockchain forensic analysts, cybersecurity specialists, and ethical hackers, TFCR has recovered millions of dollars in Bitcoin, Ethereum, USDT, and other major cryptocurrencies for clients worldwide. We specialize in cases involving: - Investment scams and fake platforms - Wallet hacks and unauthorized transactions - Forgotten passwords, seed phrases, or corrupted backups - Inaccessible hardware or software wallets Our mission is clear: Help you recover what’s rightfully yours—with honesty, transparency, and proven results. How We Work 1. Confidential Case Review Share your situation with us—no cost, no obligation. We assess whether your case is recoverable based on transaction data, wallet details, and loss type. 2. Advanced Blockchain Forensics Using industry-leading tools, we trace your funds across blockchains, identify destination addresses, and determine if assets are held on exchanges or recoverable platforms—even after complex laundering attempts. 3. Custom Recovery Execution Depending on your case, we: - Reconstruct access to locked wallets using secure decryption methods - Engage with exchanges or payment processors to freeze or retrieve funds - Provide forensic reports to support legal or compliance actions - Negotiate with third parties when appropriate and safe 4. Secure Return & Prevention Advice Recovered assets go directly to a wallet you control. We also offer practical guidance to help you avoid future losses—because security starts after recovery. Why Choose TFCR? No Recovery, No Fee – You only pay upon successful retrieval Legitimate & Transparent – No upfront payments, no hidden costs Global Expertise – Proven success across 50+ countries Ethical Standards – All actions comply with cybersecurity and privacy best practices While crypto threats grow daily, so does our resolve. At TECHY FORCE CYBER RETRIEVAL, we don’t just track transactions—we restore trust, hope, and financial peace of mind. Don’t give up on your crypto. Act now—before critical evidence disappears. 📧 Email: [email protected] 🌐 Visit: Official https://techyforcecyberretrieval.com Website] 🕒 Available 24/7 for urgent cases Your crypto may be missing—but with TFCR, it’s never truly lost. ©️ 2026 TECHY FORCE CYBER RETRIEVAL — Trusted. Professional. Results-Driven.
-
05.02.26 15:52
harryjones5
How Can I Contact a Cryptocurrency Recovery Company? Visit iFORCE HACKER RECOVERY I realize how volatile and thrilling cryptocurrency can be. After joining a Telegram-based service, I made consistent profits for six months before unexpected faults deprived me of approximately $343,000. Withdrawal blunders, little help, and rising dread kept me stuck. I then discovered iForce Hacker Recovery from positive reviews. They replied swiftly, handled my issue professionally, and walked me through every step. My valuables were returned within a week, giving me back my confidence. I heartily recommend their dependable, professional aid services. Contact Info: Website address: htt p:// iforcehackers. co m. Email: iforcehk @ consultant .co m WhatsApp: +1 240 803-3706
-
06.02.26 14:44
feliciabotezatu
Losing access to your cryptocurrency can be devastating—whether you’ve been scammed, hacked, or locked out due to a forgotten password. Many assume their digital assets are gone forever. But with the right expertise, recovery is not only possible—it’s our daily reality. At TECHY FORCE CYBER RETRIEVAL (TFCR), we’re a globally recognized, fully legitimate crypto recovery service dedicated to helping victims reclaim lost or stolen digital assets—safely, ethically, and effectively. Who We Are Backed by a team of certified blockchain forensic analysts, cybersecurity specialists, and ethical hackers, TFCR has recovered millions of dollars in Bitcoin, Ethereum, USDT, and other major cryptocurrencies for clients worldwide. We specialize in cases involving: - Investment scams and fake platforms - Wallet hacks and unauthorized transactions - Forgotten passwords, seed phrases, or corrupted backups - Inaccessible hardware or software wallets Our mission is clear: Help you recover what’s rightfully yours—with honesty, transparency, and proven results. How We Work 1. Confidential Case Review Share your situation with us—no cost, no obligation. We assess whether your case is recoverable based on transaction data, wallet details, and loss type. 2. Advanced Blockchain Forensics Using industry-leading tools, we trace your funds across blockchains, identify destination addresses, and determine if assets are held on exchanges or recoverable platforms—even after complex laundering attempts. 3. Custom Recovery Execution Depending on your case, we: - Reconstruct access to locked wallets using secure decryption methods - Engage with exchanges or payment processors to freeze or retrieve funds - Provide forensic reports to support legal or compliance actions - Negotiate with third parties when appropriate and safe 4. Secure Return & Prevention Advice Recovered assets go directly to a wallet you control. We also offer practical guidance to help you avoid future losses—because security starts after recovery. Why Choose TFCR? No Recovery, No Fee – You only pay upon successful retrieval Legitimate & Transparent – No upfront payments, no hidden costs Global Expertise – Proven success across 50+ countries Ethical Standards – All actions comply with cybersecurity and privacy best practices While crypto threats grow daily, so does our resolve. At TECHY FORCE CYBER RETRIEVAL, we don’t just track transactions—we restore trust, hope, and financial peace of mind. Don’t give up on your crypto. Act now—before critical evidence disappears. Email: [email protected] Visit: Official https://techyforcecyberretrieval.com Website] Available 24/7 for urgent cases Your crypto may be missing—but with TFCR, it’s never truly lost. ©️ 2026 TECHY FORCE CYBER RETRIEVAL — Trusted. Professional. Results-Driven.
-
07.02.26 00:44
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
-
07.02.26 00:44
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
-
07.02.26 04:43
Matt Kegan
Reach out to SolidBlock Forensics if you want to get back your coins from fake crypto investment or your wallet was compromised and all your coins gone. SolidBlock Forensics provide deep ethical analysis and investigation that enables them to trace these schemes, and recover all your funds. Their services are professional and reliable. http://www.solidblockforensics.com
-
07.02.26 17:31
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
-
10.02.26 23:52
frankqq
It is a pleasure to write this review. Since I began working with Marie in early 2018, the service has been outstanding. My coins were stolen by hackers, and I was afraid I wouldn't be able to recover them. It was a nightmare for me because I didn't know where to start. But after my friend told me about [email protected] and whatsapp:+1 7127594675, things became simple for me. I'm glad she was able to get my bitcoin back so I could start trading again.
-
11.02.26 05:50
patricialovick86
How To Recover Your Bitcoin Without Falling Victim To Scams: A Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. Contact: [email protected] You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
11.02.26 05:50
patricialovick86
How To Recover Your Bitcoin Without Falling Victim To Scams: A Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. Contact: [email protected] You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
12.02.26 23:55
brouwerspatrick8
I’ve always believed that sustainability begins at home—not just in how we recycle or conserve energy, but in the very structures we live in. For years, I dreamed of building a zero-waste neighborhood where every house functions like a living ecosystem: solar-powered, water-wise, and crowned with rooftop greenhouses that feed families and filter air. It wasn’t just architecture—it was my vision for a quieter, cleaner future. To make it real, I turned to Bitcoin. Not as a speculative bet, but as a long-term store of value aligned with my values—decentralized, transparent, and independent of broken systems. Over seven years, I poured savings, side income, and relentless discipline into building a $680,000 crypto portfolio. Every coin had a purpose: permits, materials, and community partnerships. My dream had a balance sheet. Then, in one exhausted, distracted moment, it all collapsed. It was November 2025. I was juggling contractor delays, city inspections, and endless design revisions. My nerves were frayed, my coffee pot never empty. When a “Ledger Live Update” notification popped up, I didn’t think twice. The interface looked identical—same logo, same layout. I entered my credentials… and within seconds, the app disappeared. My wallet balance dropped to zero. I sat frozen. My stomach dropped. All that work—years of sacrifice—gone in a blink. The days that followed were dark. I scoured forums, filed reports, and replayed my mistake on loop. Guilt ate at me. How could I have been so careless? My greenhouse renderings sat untouched. My dream felt like a cruel joke. Just when I was ready to walk away, I stumbled upon a newsletter about green innovation. Tucked between articles on carbon-neutral cities and next-gen solar panels was a short feature on *Digital Light Solution*—a specialized team that helps victims of crypto theft recover stolen assets. Skeptical but desperate, I reached out. What followed wasn’t magic—but it was close to it. Their team treated my case with urgency and compassion. They traced the transaction trail, identified the laundering path, and worked with exchanges to freeze what they could. Within weeks, they’d recovered a significant portion of my funds—enough to restart. Today, I’m not just rebuilding my portfolio—I’m breaking ground on my prototype greenhouse. And every beam, every pane of glass, carries the lesson I learned: that even in our most vulnerable moments, there’s still light to be found. [email protected] Telegram ——digitallightsolution website https://digitallightsolution.com/ WHAT'S APP https://wa.link/989vlf
-
12.02.26 23:56
brouwerspatrick8
I’ve always believed that sustainability begins at home—not just in how we recycle or conserve energy, but in the very structures we live in. For years, I dreamed of building a zero-waste neighborhood where every house functions like a living ecosystem: solar-powered, water-wise, and crowned with rooftop greenhouses that feed families and filter air. It wasn’t just architecture—it was my vision for a quieter, cleaner future. To make it real, I turned to Bitcoin. Not as a speculative bet, but as a long-term store of value aligned with my values—decentralized, transparent, and independent of broken systems. Over seven years, I poured savings, side income, and relentless discipline into building a $680,000 crypto portfolio. Every coin had a purpose: permits, materials, and community partnerships. My dream had a balance sheet. Then, in one exhausted, distracted moment, it all collapsed. It was November 2025. I was juggling contractor delays, city inspections, and endless design revisions. My nerves were frayed, my coffee pot never empty. When a “Ledger Live Update” notification popped up, I didn’t think twice. The interface looked identical—same logo, same layout. I entered my credentials… and within seconds, the app disappeared. My wallet balance dropped to zero. I sat frozen. My stomach dropped. All that work—years of sacrifice—gone in a blink. The days that followed were dark. I scoured forums, filed reports, and replayed my mistake on loop. Guilt ate at me. How could I have been so careless? My greenhouse renderings sat untouched. My dream felt like a cruel joke. Just when I was ready to walk away, I stumbled upon a newsletter about green innovation. Tucked between articles on carbon-neutral cities and next-gen solar panels was a short feature on *Digital Light Solution*—a specialized team that helps victims of crypto theft recover stolen assets. Skeptical but desperate, I reached out. What followed wasn’t magic—but it was close to it. Their team treated my case with urgency and compassion. They traced the transaction trail, identified the laundering path, and worked with exchanges to freeze what they could. Within weeks, they’d recovered a significant portion of my funds—enough to restart. Today, I’m not just rebuilding my portfolio—I’m breaking ground on my prototype greenhouse. And every beam, every pane of glass, carries the lesson I learned: that even in our most vulnerable moments, there’s still light to be found. [email protected] Telegram ——digitallightsolution website https://digitallightsolution.com/ WHAT'S APP https://wa.link/989vlf
-
13.02.26 00:17
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
-
13.02.26 00:17
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
-
13.02.26 02:16
Ralf Boruta
GREAT WHIP RECOVERY CYBER SERVICES TRUSTED EXPERTS IN ONLINE RECOVERY SOLUTIONS PHONE CALL:+1(406)2729101 I was unfortunately deceived and scammed out of $88,000 by someone I trusted to manage my funds during a transaction we carried out together. The experience left me deeply disappointed and hurt, realizing that someone could betray that level of trust without any remorse. Determined to seek justice and recover what was stolen, I began searching for legal assistance and came across numerous testimonials about GREAT WHIP RECOVERY CYBER SERVICES, a group known for helping victims recover lost funds. From what I learned, they have successfully assisted many people facing similar situations, returning stolen funds to their rightful owners in a remarkably short time. In my case, the GREAT WHIP RECOVERY CYBER SERVICES were able to recover my funds within just 48 hours, which was truly unbelievable. Even more reassuring was the fact that the scammer was identified, located, and eventually arrested by local authorities in his region. That outcome brought a great sense of relief and closure. I hope this information helps others who have lost their hard-earned money due to misplaced trust. If you’re in a similar situation, you can contact them through their info below to seek help in recovering your stolen funds. Email: [email protected] Website https://greatwhiprecoveryc.wixsite.com/greatwhip-site Phone Call:+1(406)2729101
-
13.02.26 02:16
Ralf Boruta
GREAT WHIP RECOVERY CYBER SERVICES TRUSTED EXPERTS IN ONLINE RECOVERY SOLUTIONS PHONE CALL:+1(406)2729101 I was unfortunately deceived and scammed out of $88,000 by someone I trusted to manage my funds during a transaction we carried out together. The experience left me deeply disappointed and hurt, realizing that someone could betray that level of trust without any remorse. Determined to seek justice and recover what was stolen, I began searching for legal assistance and came across numerous testimonials about GREAT WHIP RECOVERY CYBER SERVICES, a group known for helping victims recover lost funds. From what I learned, they have successfully assisted many people facing similar situations, returning stolen funds to their rightful owners in a remarkably short time. In my case, the GREAT WHIP RECOVERY CYBER SERVICES were able to recover my funds within just 48 hours, which was truly unbelievable. Even more reassuring was the fact that the scammer was identified, located, and eventually arrested by local authorities in his region. That outcome brought a great sense of relief and closure. I hope this information helps others who have lost their hard-earned money due to misplaced trust. If you’re in a similar situation, you can contact them through their info below to seek help in recovering your stolen funds. Email: [email protected] Website https://greatwhiprecoveryc.wixsite.com/greatwhip-site Phone Call:+1(406)2729101
-
13.02.26 18:29
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
-
13.02.26 18:29
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
-
17.02.26 23:59
Lilyfox
These group of CYBER GURUS below helped my family in recovering stolen bitcoin by scammers and they also helped me in securing a university title in one of the best university in the world I'm saying a very big thank you to them contact them now ; [email protected] or WhatsApp +447476606228 -Recovery of funds from fake platform/BINARY TRADING - Retrieval of fraudulent funds - Bank Transfer service - BITCOIN TOP UP - Money, recovery from any country in the world - Change of university degrees - Spying of all social media account within - Sales of Blank ATM and Credit Cards - Sales of university Titles originals. - Clearing of bank debts - University title offer and so many others ... Despite all odds these internet gurus have proven themselves worthy to be called a professional Cyber genius ... once again i beat up my chest to confess that these group of cyber gurus are reliable and satisfactory with 100% reliability.....
-
18.02.26 00:01
Lilyfox
GENERAL HACKING AND CRYPTO RECOVERY SERVICES These group of CYBER GURUS below helped my family in recovering stolen bitcoin worth of $168,000 USD by scammers and they also helped me in securing a university title in one of the best university in the world I'm saying a very big thank you to them contact them now ; [email protected] or WhatsApp +447476606228 -Recovery of funds from fake platform/BINARY TRADING - Retrieval of fraudulent funds - Bank Transfer service - BITCOIN TOP UP - Money, recovery from any country in the world - Change of university degrees - Spying of all social media account within - Sales of Blank ATM and Credit Cards - Sales of university Titles originals. - Clearing of bank debts - University title offer and so many others ... Despite all odds these internet gurus have proven themselves worthy to be called a professional Cyber genius ... once again i beat up my chest to confess that these group of cyber gurus are reliable and satisfactory with 100% reliability.....
-
18.02.26 03:23
walterlindahi9
This past January, my world came crashing down. I lost nearly $42,000 of my hard-earned savings to a sophisticated Solana-based crypto scam. At first, it all seemed legitimate: sleek website, professional whitepaper, even glowing testimonials from “investors.” I’d done my homework, or so I thought. The promise of high returns in a volatile market felt like my ticket to financial freedom. For the first few months, everything appeared to be working. My portfolio showed steady gains. I remember checking my wallet balance daily, feeling a mix of pride and relief. I’ve cracked the code to building real wealth. Then, without warning, the platform vanished. Wallet addresses went dead. Support channels disappeared, and my funds were gone in an instant. The emotional fallout was worse than the financial loss. Sleepless nights became the norm. Anxiety gnawed at me constantly. I replayed every decision in my head, blaming myself for being naive. I vowed never to trust anyone again, not influencers, not experts, not even my own judgment. But giving up wasn’t an option. I owed it to myself and to my future to fight back. So I began digging. I scoured Reddit threads, filed reports with blockchain analytics firms, and even contacted local authorities (though they offered little help). The more I searched, the more overwhelmed I became, lost in a labyrinth of technical jargon, dead ends, and predatory recovery services asking for upfront fees. Then, through a survivor’s forum, I stumbled upon TechY Force Cyber Retrieval. Skeptical but desperate, I reached out. What set them apart wasn’t just their expertise; it was their empathy. They didn’t make wild promises. Instead, they walked me through how crypto tracing works, what success looks like, and what realistic timelines are. No pressure. No false hope. Within weeks, their forensic team identified transaction trails linked to the scam wallet. Using on-chain analysis and coordination with exchanges, they flagged suspicious activity and initiated recovery protocols. It wasn’t magic, but it was methodical, transparent, and grounded in real blockchain intelligence. Today, I’m cautiously optimistic. While not all funds have been recovered yet, TechY Force has already secured a significant portion and, more importantly, restored my sense of agency. I’m sleeping again. I’m healing. If you’ve been scammed, know this: you’re not alone, and you’re not foolish. Crypto fraud preys on hope, but that same hope can fuel your comeback. Don’t suffer in silence. Reach out. Ask questions. And never let a scammer steal your future along with your funds. WhatsApp +1(561) 726 3697 Mail. Techyforcecyberretrieval(@)consultant(.)com Telegram (@)TechCyberforc
-
22.02.26 03:48
harristhomas7376
"In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
22.02.26 03:49
harristhomas7376
"In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
22.02.26 18:58
Natasha Williams
I am Natasha Williams from Dallas. I want to share my testimony to encourage anyone who has ever fallen victim to a scam or fraud. Some time ago, I was defrauded by some fraudulent cryptocurrency investment organization online, I was a victim and I lost a huge amount of money, $382,000. I felt angry, disappointed and helpless but I refused to give up and stay calm. I came across this agency, GREAT WHIP RECOVERY CYBER SERVICES.. who helped people recover their money from scammers and the testimonies I saw were quite amazing. And I decided to contact them. I gathered every piece of evidence, chats, receipts, account details, and messages and reported the case to the agency, GREAT WHIP RECOVERY CYBER SERVICES. After 73hours of follow up and not losing faith, the fraudster was traced and held accountable and I recovered all my money back. I highly recommend, GREAT WHIP RECOVERY CYBER SERVICES agency if you have ever fallen victim to scammers, you can contact them. Website: https://greatwhiprecoveryc.wixsite.com/greatwhip-site email: [email protected] Call Line: +1(406)2729101
-
22.02.26 19:00
Natasha Williams
I am Natasha Williams from Dallas. I want to share my testimony to encourage anyone who has ever fallen victim to a scam or fraud. Some time ago, I was defrauded by some fraudulent cryptocurrency investment organization online, I was a victim and I lost a huge amount of money, $382,000. I felt angry, disappointed and helpless but I refused to give up and stay calm. I came across this agency, GREAT WHIP RECOVERY CYBER SERVICES.. who helped people recover their money from scammers and the testimonies I saw were quite amazing. And I decided to contact them. I gathered every piece of evidence, chats, receipts, account details, and messages and reported the case to the agency, GREAT WHIP RECOVERY CYBER SERVICES. After 73hours of follow up and not losing faith, the fraudster was traced and held accountable and I recovered all my money back. I highly recommend, GREAT WHIP RECOVERY CYBER SERVICES agency if you have ever fallen victim to scammers, you can contact them. Website: https://greatwhiprecoveryc.wixsite.com/greatwhip-site email: [email protected] Call Line: +1(406)2729101
-
23.02.26 23:26
chongfook
As cryptocurrencies continue to reshape global finance in 2026, the risks have never been higher. From sophisticated phishing campaigns to fake wallet apps and investment scams, millions of investors face the devastating reality of lost or stolen digital assets. When your crypto vanishes, panic sets in—and that's when fraudsters strike again, posing as "recovery experts" to exploit your vulnerability. CONTACTS US Techyforcecyberretrieval(@)consultant(.)com https(://)techyforcecyberretrieval(.)com But there's a legitimate path forward. TECHY FORCE CYBER RETRIEVAL stands as the industry's most trusted crypto recovery company, combining advanced blockchain forensics, global partnerships, and a client-centric approach to help victims reclaim what was stolen. --- Why Recovery Is Possible—With the Right Team Cryptocurrency's decentralized, pseudonymous nature makes asset recovery complex—but not impossible. The blockchain is transparent. Every transaction leaves a trail. The challenge isn't finding the funds—it's having the expertise to follow that trail through mixers, bridges, and exchange deposits before they disappear forever. That's where TECHY FORCE CYBER RETRIEVAL excels. --- Our Proven Recovery Framework We don't believe in shortcuts, false promises, or upfront fees. Our process is built on transparency, forensic precision, and real results. Here's how we work: 1. Case Intake & Initial Assessment You begin by submitting a detailed report: compromised wallet addresses, transaction IDs, timestamps, and any communication with scammers. Our intake team reviews your case within hours to determine immediate next steps. 2. Blockchain Forensic Analysis Our specialists deploy proprietary tracking tools to map the movement of your stolen assets across multiple blockchains. We identify laundering patterns, exchange deposit addresses, and potential freezing points—building a clear investigative roadmap. 3. Global Partner Coordination Through established relationships with regulated exchanges, DeFi protocols, and compliance teams worldwide, we initiate direct communication to flag suspicious transactions and request asset freezes where legally permissible. 4. Legal & Regulatory Engagement When necessary, we collaborate with legal partners and law enforcement agencies to strengthen recovery efforts—especially in cases involving large-scale hacks or organized fraud rings. 5. Recovery Execution & Fund Return Once assets are secured, they're transferred directly to a new, secure wallet of your choice. We never hold your funds. And critically, we operate on a success-only model. You pay nothing unless we recover your assets. 6. Post-Recovery Security Guidance Recovery is only half the battle. We provide personalized recommendations to secure your remaining holdings—from hardware wallet setup to phishing awareness training—so you can move forward with confidence. --- What Sets TECHY FORCE CYBER RETRIEVAL Apart While countless "recovery services" flood the internet, few deliver legitimate results. Here's why we're consistently rated the best crypto recovery company in 2026: - Zero Upfront Fees – We only succeed when you do. No hidden charges. No bait-and-switch tactics. - Advanced Blockchain Intelligence – Our forensic tools track assets across Bitcoin, Ethereum, Solana, and 50+ other networks. - Global Reach – Partnerships with exchanges and regulatory bodies in North America, Europe, and Asia maximize recovery odds. - Client-First Communication – Weekly updates. Clear timelines. No ghosting. - Proven Track Record – Hundreds of successful recoveries in 2025–2026, with millions returned to rightful owners. --- Emerging Trends in 2026: What Victims Need to Know The threat landscape evolves constantly. This year's biggest risks include: - AI-Powered Phishing: Scammers now use deepfake voice and video to impersonate support staff. - Cross-Chain Bridge Exploits: Funds moved between networks are increasingly targeted. - Fake Recovery Services: Fraudsters pose as legitimate firms—always verify credentials before sharing information. TECHY FORCE CYBER RETRIEVAL stays ahead of these threats, continuously updating our tools and strategies to protect and serve our clients. CONTACTS US Techyforcecyberretrieval(@)consultant(.)com https(://)techyforcecyberretrieval(.)com --- Your Next Step If you've lost crypto to a scam, hack, or forgotten credentials, don't let despair—or another fraudster—steal your second chance. TECHY FORCE CYBER RETRIEVAL is accessible, transparent, and ready to help. Reach out today. Let our experts assess your case—and show you that even in 2026, stolen crypto doesn't have to stay lost forever. — TECHY FORCE CYBER RETRIEVAL Advanced Forensics. Global Reach. Your Recovery.
-
24.02.26 15:31
[email protected]`
Like many others, I was drawn in by the allure of cryptocurrency and the promise of financial freedom. When I encountered a self-proclaimed "crypto guru" online, his confidence and flashy lifestyle convinced me that he held the key to success. Eager to learn, I parted with $15,000 for his exclusive course, believing it would grant me access to an elite trading group and lucrative market insights. Initially, my excitement was palpable; I truly thought I was on the verge of a breakthrough. However, that enthusiasm quickly curdled into dread. Once inside the group, the dynamic shifted from education to aggressive exploitation. Instead of genuine mentorship, members were relentlessly upsold on fake trading signals that yielded nothing but losses. The pressure escalated when we were encouraged to invest in a supposed "private pool," which required an additional, staggering access fee of $60,000. It was only as I began to notice glaring inconsistencies and a complete lack of real results among the members that the fog lifted. I realized I hadn't joined a community of traders; I had walked into a sophisticated trap designed specifically to prey on newcomers like myself. The realization that the promises of wealth and insider knowledge were nothing more than a façade left me feeling vulnerable, deceived, and financially devastated. The dream of easy returns had turned into a heavy burden of regret. Desperate for a solution and refusing to let the fraudsters win, I began searching for help. That is when I discovered DIGITAL LIGHT SOLUTION, a firm specializing in online fraud investigations. Reaching out to them was the turning point. Their team approached my case with professionalism and empathy, immediately understanding the complexity of the scam. They guided me through the investigation process, uncovering the layers of deception used by the "guru" and his network. Thanks to their expertise and relentless pursuit of justice, I was able to navigate the aftermath of this ordeal with clarity rather than confusion. While the experience was a harsh lesson, connecting with DIGITAL LIGHT SOLUTION restored my hope and proved that there are still allies ready to fight against online exploitation. If you find yourself in a similar situation, do not lose hope—seek professional help immediately. Contact them directly Website https://digitallightsolution.com/ Email — Digitallightsolution(At)qualityservice(DOT)com What's App — https://wa.link/989vlf
-
24.02.26 15:32
[email protected]`
Like many others, I was drawn in by the allure of cryptocurrency and the promise of financial freedom. When I encountered a self-proclaimed "crypto guru" online, his confidence and flashy lifestyle convinced me that he held the key to success. Eager to learn, I parted with $15,000 for his exclusive course, believing it would grant me access to an elite trading group and lucrative market insights. Initially, my excitement was palpable; I truly thought I was on the verge of a breakthrough. However, that enthusiasm quickly curdled into dread. Once inside the group, the dynamic shifted from education to aggressive exploitation. Instead of genuine mentorship, members were relentlessly upsold on fake trading signals that yielded nothing but losses. The pressure escalated when we were encouraged to invest in a supposed "private pool," which required an additional, staggering access fee of $60,000. It was only as I began to notice glaring inconsistencies and a complete lack of real results among the members that the fog lifted. I realized I hadn't joined a community of traders; I had walked into a sophisticated trap designed specifically to prey on newcomers like myself. The realization that the promises of wealth and insider knowledge were nothing more than a façade left me feeling vulnerable, deceived, and financially devastated. The dream of easy returns had turned into a heavy burden of regret. Desperate for a solution and refusing to let the fraudsters win, I began searching for help. That is when I discovered DIGITAL LIGHT SOLUTION, a firm specializing in online fraud investigations. Reaching out to them was the turning point. Their team approached my case with professionalism and empathy, immediately understanding the complexity of the scam. They guided me through the investigation process, uncovering the layers of deception used by the "guru" and his network. Thanks to their expertise and relentless pursuit of justice, I was able to navigate the aftermath of this ordeal with clarity rather than confusion. While the experience was a harsh lesson, connecting with DIGITAL LIGHT SOLUTION restored my hope and proved that there are still allies ready to fight against online exploitation. If you find yourself in a similar situation, do not lose hope—seek professional help immediately. Contact them directly Website https://digitallightsolution.com/ Email — Digitallightsolution(At)qualityservice(DOT)com What's App — https://wa.link/989vlf
-
26.02.26 16:29
michaeldavenport238
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
-
26.02.26 16:29
michaeldavenport238
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
-
27.02.26 00:08
sanayoliver
I spend my days studying the mysteries of the universe, delving into black holes, quantum mechanics, and the nature of time itself. But apparently, the real black hole I should have been concerned about was my own memory. I encrypted my Bitcoin wallet to keep it as secure as possible. The problem? I promptly forgot the password. Classic, right? It didn't help that this wasn't just pocket change I was dealing with. No, I had $190,000 in Bitcoin sitting in that wallet, and my mind had decided to take a vacation, leaving me with absolutely no idea what that password was. The panic set in fast. My brain, which could solve some of the most complex physics equations, couldn't remember a 12-character password. It felt like my entire financial future was being sucked into a black hole, one I'd created myself. Desperate, I tried everything. I thought I could outsmart the system, using every trick I could think of. I tried variations of passwords I thought I might have used, analyzing them through the lens of my own behavioral patterns. I even resorted to good ol' brute force, typing random combinations for hours, hoping that maybe, just maybe, my subconscious would strike gold. Spoiler alert: it didn't. Each failed attempt made me feel more and more like a genius who'd locked themselves out of their own universe. In a final act of desperation, admitting that theoretical physics couldn't crack my own encryption, I contacted TechY Force Cyber Retrieval. From the moment I reached out, the difference was night and day. While I had been flailing in the dark, they approached my case with a precision that rivaled the calculations I do daily. They didn't promise miracles; they promised a methodical, advanced recovery process. Within a surprisingly short timeframe, they utilized specialized tools to bypass the mental block I couldn't overcome. When they finally recovered the wallet and confirmed the full $190,000 was intact and accessible, the relief was indescribable. It was as if I had pulled my financial future back from the event horizon just before it was lost forever. To anyone thinking they are too smart to lose their keys, or too logical to make such a mistake: don't wait until you are staring into the abyss. If you find yourself in a situation where your own memory has become your greatest enemy, trust the experts at TechY Force Cyber Retrieval. They turned my personal black hole into a success story, proving that sometimes, even the brightest minds need a little help to find the light. REACH OUT TO THEM ON MAIL [email protected]
-
27.02.26 02:04
elizabethmadison
My name is Elizabeth Madison currently living in New York. There was a time I felt completely broken. I had trusted a fraudulent bitcoin investment organization, who turned out to be a fraudster. I sent money, believing their sweet words and promises on the interest rate I will get back in return, only to realize later that I’ve been scammed. On the day of withdrawal there was no money in my account. The pain hit deep. I couldn’t sleep, I kept asking myself how I could have been so careless, meanwhile my mom was battling with a stroke and the expenses were too much. For days, I cried and blamed myself. The betrayal, the disappointment and my mom's health issues all of this stress made me want to give up on life. But one day, I decided that sitting in pain wouldn’t solve anything. I picked myself up and chose to fight for what I lost then I came across GREAT WHIP RECOVERY CYBER SERVICES and saw how he helped people recover their funds from online fraud. I emailed all the transactions and paperwork I had with the fraudulent organization and they helped me recover all my lost money in just five days. If you have ever fallen victim to scammers, contact GREAT WHIP RECOVERY CYBER SERVICES to help you recover every penny you have lost. (Text +1(406)2729101) (Website https://greatwhiprecoveryc.wixsite.com/greatwhip-site) (Email [email protected])
-
27.02.26 02:04
elizabethmadison
My name is Elizabeth Madison currently living in New York. There was a time I felt completely broken. I had trusted a fraudulent bitcoin investment organization, who turned out to be a fraudster. I sent money, believing their sweet words and promises on the interest rate I will get back in return, only to realize later that I’ve been scammed. On the day of withdrawal there was no money in my account. The pain hit deep. I couldn’t sleep, I kept asking myself how I could have been so careless, meanwhile my mom was battling with a stroke and the expenses were too much. For days, I cried and blamed myself. The betrayal, the disappointment and my mom's health issues all of this stress made me want to give up on life. But one day, I decided that sitting in pain wouldn’t solve anything. I picked myself up and chose to fight for what I lost then I came across GREAT WHIP RECOVERY CYBER SERVICES and saw how he helped people recover their funds from online fraud. I emailed all the transactions and paperwork I had with the fraudulent organization and they helped me recover all my lost money in just five days. If you have ever fallen victim to scammers, contact GREAT WHIP RECOVERY CYBER SERVICES to help you recover every penny you have lost. (Text +1(406)2729101) (Website https://greatwhiprecoveryc.wixsite.com/greatwhip-site) (Email [email protected])
-
27.02.26 15:57
luciajessy3
Don’t be deceived by different testimonies online that is most likely wrong. I have made use of several recovery options that got me disappointed at the end of the day but I must confess that the tech genius I eventually found is the best out here. It’s better you devise your time to find the valid professional that can help you recover your stolen or lost crypto such as bitcoins rather than falling victim of other amateur hackers that cannot get the job done. ADAMWILSON . TRADING @ CONSULTANT COM / is the most reliable and authentic blockchain tech expert you can work with to recover what you lost to scammers. They helped me get back on my feet and I’m very grateful for that. Contact their email today to recover your lost coins ASAP…
-
27.02.26 15:59
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
-
27.02.26 15:59
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
-
27.02.26 16:00
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
-
27.02.26 16:01
luciajessy3
Don’t be deceived by different testimonies online that is most likely wrong. I have made use of several recovery options that got me disappointed at the end of the day but I must confess that the tech genius I eventually found is the best out here. It’s better you devise your time to find the valid professional that can help you recover your stolen or lost crypto such as bitcoins rather than falling victim of other amateur hackers that cannot get the job done. ADAMWILSON . TRADING @ CONSULTANT COM / is the most reliable and authentic blockchain tech expert you can work with to recover what you lost to scammers. They helped me get back on my feet and I’m very grateful for that. Contact their email today to recover your lost coins ASAP…
-
27.02.26 16:01
luciajessy3
Don’t be deceived by different testimonies online that is most likely wrong. I have made use of several recovery options that got me disappointed at the end of the day but I must confess that the tech genius I eventually found is the best out here. It’s better you devise your time to find the valid professional that can help you recover your stolen or lost crypto such as bitcoins rather than falling victim of other amateur hackers that cannot get the job done. ADAMWILSON . TRADING @ CONSULTANT COM / is the most reliable and authentic blockchain tech expert you can work with to recover what you lost to scammers. They helped me get back on my feet and I’m very grateful for that. Contact their email today to recover your lost coins ASAP…
-
27.02.26 16:01
luciajessy3
Don’t be deceived by different testimonies online that is most likely wrong. I have made use of several recovery options that got me disappointed at the end of the day but I must confess that the tech genius I eventually found is the best out here. It’s better you devise your time to find the valid professional that can help you recover your stolen or lost crypto such as bitcoins rather than falling victim of other amateur hackers that cannot get the job done. ADAMWILSON . TRADING @ CONSULTANT COM / is the most reliable and authentic blockchain tech expert you can work with to recover what you lost to scammers. They helped me get back on my feet and I’m very grateful for that. Contact their email today to recover your lost coins ASAP…
-
01.03.26 10:48
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
-
01.03.26 10:48
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
-
03.03.26 14:09
Thomas Muller
YOU CAN REACH OUT TO GREAT WHIP RECOVERY CYBER SERVICES FOR HELP TO RECOVER YOUR STOLEN BTC OR ETH BACK CALL:+1(406)2729101 I once fell victim to online investment scheme that cost me a devastating €254,000. I’m Thomas Muller from Berlin, Germany. The person I trusted turned out to be a fraud, and the moment I realized I’d been deceived, my entire world stopped. I immediately began searching for legitimate ways to recover my funds and hold the scammer accountable. During my search, I came across several testimonies of how Great Whip Recovery Cyber Services helped some people recover money they lost to cyber fraud, I contacted Great Whip Recovery Cyber Service team and provided all the evidence I had. Within about 36 hours, the experts traced the digital trail left by the fraudster, the individual was eventually tracked down and I recovered all my money back. You can contact them with, website https://greatwhiprecoveryc.wixsite.com/greatwhip-site text +1(406)2729101 email [email protected]
-
03.03.26 14:09
Thomas Muller
YOU CAN REACH OUT TO GREAT WHIP RECOVERY CYBER SERVICES FOR HELP TO RECOVER YOUR STOLEN BTC OR ETH BACK CALL:+1(406)2729101 I once fell victim to online investment scheme that cost me a devastating €254,000. I’m Thomas Muller from Berlin, Germany. The person I trusted turned out to be a fraud, and the moment I realized I’d been deceived, my entire world stopped. I immediately began searching for legitimate ways to recover my funds and hold the scammer accountable. During my search, I came across several testimonies of how Great Whip Recovery Cyber Services helped some people recover money they lost to cyber fraud, I contacted Great Whip Recovery Cyber Service team and provided all the evidence I had. Within about 36 hours, the experts traced the digital trail left by the fraudster, the individual was eventually tracked down and I recovered all my money back. You can contact them with, website https://greatwhiprecoveryc.wixsite.com/greatwhip-site text +1(406)2729101 email [email protected]
-
04.03.26 07:21
Jane4
I lost about $600k Bitcoin last year, I searched around and tried to work with some recovery firm unfortunately I was scammed as well. This happened for months until I came across [email protected] They came to my rescue and all my funds were recovered within few days I'm so happy right now .
-
04.03.26 07:22
Jane4
I lost about $600k Bitcoin last year, I searched around and tried to work with some recovery firm unfortunately I was scammed as well. This happened for months until I came across [email protected] They came to my rescue and all my funds were recovered within few days I'm so happy right now .
-
04.03.26 12:25
patricialovick86
How To Recover Your Bitcoin Without Falling Victim To Scams: A Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. Contact: [email protected] You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
04.03.26 12:25
patricialovick86
How To Recover Your Bitcoin Without Falling Victim To Scams: A Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. Contact: [email protected] You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
06.03.26 13:36
CARL9090
In January, my life shifted in a way I never expected. I clicked a trading link given to me by someone I found on Telegram, believing it was legitimate. It looked professional. It felt secure. I trusted it. Until I tried to withdraw my money. Within seconds, everything was gone, transferred into a wallet claiming account without a trace. That was the moment the truth hit me: I had been scammed. The emotional fallout was brutal. For weeks, I couldn’t even speak about it. I thought people would judge me. I thought they’d say I should have known better. Then someone stepped in who changed everything Agent Jasmine Lopez ,She listened without judgment. She treated my fear as real and valid. She traced patterns, uncovered off-chain indicators, and identified wallet clusters linked to a larger scam network. She showed me that what happened wasn’t random it was organized and intentional. For the first time, I felt hope. Hearing that students, parents, and hardworking people had been targeted the same way made me realize this wasn’t stupidity. It was predation. We weren’t careless we were deliberately targeted and manipulated I’m still healing. The experience changed me. But it also reminded me that even in your darkest moment, there can be someone willing to shine a light. Contact her at [email protected] WHATSAPP +44 7478077894
-
07.03.26 07:46
Jane4
I lost about $600k Bitcoin last year, I searched around and tried to work with some recovery firm unfortunately I was scammed as well. This happened for months until I came across [email protected] They came to my rescue and all my funds were recovered within few days I'm so happy right now .
-
07.03.26 07:46
Jane4
I lost about $600k Bitcoin last year, I searched around and tried to work with some recovery firm unfortunately I was scammed as well. This happened for months until I came across [email protected] They came to my rescue and all my funds were recovered within few days I'm so happy right now .
-
07.03.26 08:39
Jane4
I lost about $600k Bitcoin last year, I searched around and tried to work with some recovery firm unfortunately I was scammed as well. This happened for months until I came across [email protected] They came to my rescue and all my funds were recovered within few days I'm so happy right now .
-
07.03.26 08:55
Jane4
I lost about $600k Bitcoin last year, I searched around and tried to work with some recovery firm unfortunately I was scammed as well. This happened for months until I came across [email protected] They came to my rescue and all my funds were recovered within few days I'm so happy right now .
-
07.03.26 09:40
Alena76
Most people have been scammed severally and they give up on their funds I'm saying these because I was a victim too After loosing 745,000 USD I lose my mind until I read about COIN HACK RECOVERY I decided to contact the company on: [email protected] and I'm glad I made the decision not to give up. they helped me to recover all my lost funds within two days.
-
07.03.26 10:37
Alena76
Most people have been scammed severally and they give up on their funds I'm saying these because I was a victim too After loosing 745,000 USD I lose my mind until I read about COIN HACK RECOVERY I decided to contact the company on: [email protected] and I'm glad I made the decision not to give up. they helped me to recover all my lost funds within two days.
-
07.03.26 10:37
Alena76
Most people have been scammed severally and they give up on their funds I'm saying these because I was a victim too After loosing 745,000 USD I lose my mind until I read about COIN HACK RECOVERY I decided to contact the company on: [email protected] and I'm glad I made the decision not to give up. they helped me to recover all my lost funds within two days.
-
07.03.26 17:49
Natasha Williams
I am Natasha Williams from Dallas. I want to share my testimony to encourage anyone who has ever fallen victim to a scam or fraud. Some time ago, I was defrauded by some fraudulent cryptocurrency investment organization online, I was a victim and I lost a huge amount of money, $382,000. I felt angry, disappointed and helpless but I refused to give up and stay calm. I came across this agency, GREAT WHIP RECOVERY CYBER SERVICES.. who helped people recover their money from scammers and the testimonies I saw were quite amazing. And I decided to contact them. I gathered every piece of evidence, chats, receipts, account details, and messages and reported the case to the agency, GREAT WHIP RECOVERY CYBER SERVICES. After 73hours of follow up and not losing faith, the fraudster was traced and held accountable and I recovered all my money back. I highly recommend, GREAT WHIP RECOVERY CYBER SERVICES agency if you have ever fallen victim to scammers, you can contact them. Website: https://greatwhiprecoveryc.wixsite.com/greatwhip-site email: [email protected] Call Line: +1(406)2729101
-
07.03.26 20:10
ericbank61
I never thought I’d be the one writing one of these stories. You hear about crypto scams, hacks, and lost fortunes, and you think, “That’s for other people. The careless ones.” I was careful. Or so I believed. It started with a sophisticated phishing attack. An email that looked identical to a legitimate exchange notification, a link to “verify my wallet security,” and a moment of distracted panic. I clicked. Within hours, my life savings in Bitcoin—a sum I’d been accumulating for five years—vanished from my private wallet. The transaction hash was a cold, unfeeling tombstone on the blockchain. My stomach dropped into a void. I felt physically ill. The police filed a report, but their knowledge ended at the edge of traditional finance. The exchange offered sympathy but no solutions. I was adrift, utterly hopeless. After weeks of despair, scouring forums in the dead of night, I found a thread mentioning Mighty Hacker Recovery. The name sounded almost too bold, like something from a cheesy movie. But the testimonials were detailed, sober, and from people who sounded just like me: desperate, betrayed, and out of options. With nothing left to lose, I reached out. Their intake process was professional but guarded. They asked for transaction IDs, wallet addresses, and a detailed timeline—no promises, just facts. A consultant named Leo became my point of contact. He had a calm, analytical voice that cut through my panic. “We don’t hack *into* systems,” he explained. “We follow the digital trail. We analyze the attack vector, trace the flow of funds through the blockchain’s transparency, and identify the weak points in the scammer’s own security. Sometimes, it’s about speed and outmaneuvering them before they can launder the assets.” What followed was a tense, silent partnership. I provided every shred of information I had, while Leo’s team worked in the shadows. There were days of silence that felt like years. Then, an update: they’d traced my BTC to a mixing service, a tool scammers use to obfuscate the trail. Mighty Hacker Recovery used advanced blockchain forensic techniques to peel back those layers. They discovered the scammer had made a critical error—a small portion of the funds was sent to a KYC-compliant exchange wallet. That was the chink in the armor. Using the immutable evidence from the blockchain and legal pressure channels they’d established with certain international platforms, they initiated a recovery claim. The process was complex, involving digital affidavits and proof of illicit origin. Three weeks after my first desperate email, Leo called. “We’ve secured a freeze on the destination wallet. The exchange is cooperating. We’re initiating the reversal.” I didn’t dare believe it until I saw it. Two days later, my wallet balance updated. My Bitcoin, minus Mighty Hacker Recovery’s contingency fee, was back. The relief wasn’t euphoric; it was a deep, trembling exhaustion, like waking up from a nightmare. They didn’t perform magic. They applied intense expertise, relentless persistence, and an intricate understanding of both the blockchain’s weaknesses and a scammer’s psychology. They gave me back more than my crypto; they gave me back a sense of agency in a landscape designed to make victims feel powerless. If you’re reading this from your own private hell of loss, know this: the trail never truly disappears. You just need the right team to follow it. For me, that was Mighty Hacker Recovery.
-
07.03.26 22:44
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
-
07.03.26 22:44
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
-
11.03.26 19:43
Michael Jensen
With the help and expertise of CapitalNode Analytics, i was able to get back my digital tokens from a fake investment platform. They are swift, precise and transparent in their operations.
-
12.03.26 15:04
Mike Franz
I recently ran into a serious issue with my cryptocurrency account that left me unable to access my bitcoin wallet. After several failed login attempts and repeated blocks from the system, I began to worry that I might lose access to my $415,000 permanently. Determined to fix the problem, After spending hours reading a review of GREAT WHIP RECOVERY CYBER SERVICES, on how they successfully assisted countless individuals in similar situations as mine. The process was stressful, but eventually the issue was resolved and I was able to regain access to my bitcoin wallet account. I’m immensely grateful to GREAT WHIP RECOVERY CYBER SERVICES for their incredible work, for those who need help, you can contact through the following channels: Phone Call: +1(406)2729101 Website: https://greatwhiprecoveryc.wixsite.com/greatwhip-site Mail: [email protected]
-
12.03.26 15:05
Mike Franz
I recently ran into a serious issue with my cryptocurrency account that left me unable to access my bitcoin wallet. After several failed login attempts and repeated blocks from the system, I began to worry that I might lose access to my $415,000 permanently. Determined to fix the problem, After spending hours reading a review of GREAT WHIP RECOVERY CYBER SERVICES, on how they successfully assisted countless individuals in similar situations as mine. The process was stressful, but eventually the issue was resolved and I was able to regain access to my bitcoin wallet account. I’m immensely grateful to GREAT WHIP RECOVERY CYBER SERVICES for their incredible work, for those who need help, you can contact through the following channels: Phone Call: +1(406)2729101 Website: https://greatwhiprecoveryc.wixsite.com/greatwhip-site Mail: [email protected]
-
15.03.26 20:22
harristhomas7376
"In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
15.03.26 20:22
harristhomas7376
"In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
15.03.26 20:22
harristhomas7376
"In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
16.03.26 12:01
[email protected]
I would like to highly recommend TOP RECOVERY EXPERT, the best in cryptocurrency recovery. I want the world to know how exceptional their services are. For years, I faced a very difficult time after being scammed out of $453,000 in Ethereum. It was devastating to realize that someone could steal from me without remorse after I trusted them. Determined to recover my funds legally, I began searching for reliable help and came across TOP RECOVERY EXPERT, the most professional recovery service I have ever found. With their expertise and support, I was able to recover my entire Ethereum wallet. I now understand that while many investment opportunities can seem too good to be true, professional guidance can make all the difference. Thanks to TOP RECOVERY EXPERT, I have regained not only my assets ETH but also my peace of mind and happiness. Their dedication and professionalism have truly changed my life. I am now the happiest person I have ever been, all because of their help. If you have been a victim of a crypto scam, I strongly advise you to reach out to TOP RECOVERY EXPERT. Contact Information: Text/Call: +1 (346) 980-9102 Email: [email protected] For more information visit his website: https://toprecoveryexpert2.wixsite.com/consultant
-
16.03.26 13:20
luciajessy3
There are many recommendations online, but not all of them are trustworthy. Unfortunately, some so-called “recovery services” are scams themselves and may try to take advantage of people who have already lost money. If you’ve been scammed, be extremely cautious about anyone promising guaranteed recovery — especially if they ask for upfront fees. Always do thorough research, verify credentials, and consider reporting the incident to. Cyberrefundexperts {A} Consultant {.} Com , Stay alert and protect yourself.
-
16.03.26 13:20
luciajessy3
There are many recommendations online, but not all of them are trustworthy. Unfortunately, some so-called “recovery services” are scams themselves and may try to take advantage of people who have already lost money. If you’ve been scammed, be extremely cautious about anyone promising guaranteed recovery — especially if they ask for upfront fees. Always do thorough research, verify credentials, and consider reporting the incident to. Cyberrefundexperts @ Consultant . Com , Stay alert and protect yourself.
-
18.03.26 15:27
keithwilson9899
ETHEREUM RECOVERY ASSISTANCE: CAPITAL CRYPTO RECOVER HELPED ME RECOVER $98,000 WORTH OF LOST ETH In cases of cryptocurrency scams, having accurate information and trusted support is essential. I would like to recommend Capital Crypto Recover Service, a professional team that specializes in assisting individuals with the recovery of lost or stolen Bitcoin and Ethereum (ETH). Their experienced experts are dedicated to helping victims of digital asset fraud by carefully analyzing each case, developing strategic recovery plans, Capital Crypto Recover Service knowledgeable team's primary goals are to satisfy clients and offer significant support and working diligently toward fund retrieval. The team is committed to providing reliable assistance and maintaining a high level of client satisfaction. Based on my assessment, their reputation professionalism and a strong commitment to their clients. If you have experienced a cryptocurrency loss, you can contacting them for further assistance Phone (Call/Text): +1 (336) 390-6684 Email: [email protected] Alternate Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
18.03.26 15:27
keithwilson9899
ETHEREUM RECOVERY ASSISTANCE: CAPITAL CRYPTO RECOVER HELPED ME RECOVER $98,000 WORTH OF LOST ETH In cases of cryptocurrency scams, having accurate information and trusted support is essential. I would like to recommend Capital Crypto Recover Service, a professional team that specializes in assisting individuals with the recovery of lost or stolen Bitcoin and Ethereum (ETH). Their experienced experts are dedicated to helping victims of digital asset fraud by carefully analyzing each case, developing strategic recovery plans, Capital Crypto Recover Service knowledgeable team's primary goals are to satisfy clients and offer significant support and working diligently toward fund retrieval. The team is committed to providing reliable assistance and maintaining a high level of client satisfaction. Based on my assessment, their reputation professionalism and a strong commitment to their clients. If you have experienced a cryptocurrency loss, you can contacting them for further assistance Phone (Call/Text): +1 (336) 390-6684 Email: [email protected] Alternate Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
08:03
Alena76
Most people have been scammed severally and they give up on their funds I'm saying these because I was a victim too After loosing 745,000 USD I lose my mind until I read about COIN HACK RECOVERY I decided to contact the company on: [email protected] and I'm glad I made the decision not to give up. they helped me to recover all my lost funds within two days.
-
08:04
Alena76
Most people have been scammed severally and they give up on their funds I'm saying these because I was a victim too After loosing 745,000 USD I lose my mind until I read about COIN HACK RECOVERY I decided to contact the company on: [email protected] and I'm glad I made the decision not to give up. they helped me to recover all my lost funds within two days.
-
08:15
Alena76
Most people have been scammed severally and they give up on their funds I'm saying these because I was a victim too After loosing 745,000 USD I lose my mind until I read about COIN HACK RECOVERY I decided to contact the company on: [email protected] and I'm glad I made the decision not to give up. they helped me to recover all my lost funds within two days.
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