Русский
EnglishCryptocurrencies:
9028 /
Markets: 116353
Market Cap: $ 3 074 122 047 133 /
24h Vol: $ 152 063 144 543 /
BTC
Dominance: 58.612082252983%
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.
-
12.11.25 09:37
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
-
13.11.25 19:01
peggy09
i Lost $200,000 to a phishing scam in 2022. Funds went to a mixer service. Davies traced 70% through Ethereum layers. He teamed with an exchange to freeze the rest. i got $140,000 back in six months. Hiring Davies means clear steps. You share details. He checks facts. Then, the hunt begins. Expect ups and downs, but his plan keeps it steady. you can reach out to him by sending an email to anthonydaviestech {@} gmail com
-
13.11.25 20:05
[email protected]
A scam cost me $72,000 in USDT. It shook me up. USDT is a stablecoin linked to the dollar. Its value stays even. I believed I found a safe path to build my wealth. At the start, all seemed fine. My account grew to $120,000 in profits. But when I tried to withdraw, the site locked me out. No way to get in. No money left. Fear took over. I felt stuck and alone. These frauds hit crypto investors often. They lure with fast riches. Then they steal your cash and disappear. Billions vanish each year from such schemes. I looked for aid in every spot. Online boards. Help chats. None helped. Then a buddy offered support. He had dealt with the same issue once. He mentioned Sylvester Bryant. My friend praised his expertise. I contacted him at once. His email is [email protected]. Sylvester Bryant changed everything. He heard my tale with no blame. His crew jumped in quickly. They checked all scam details first. One by one, they followed my lost USDT trail. They used software to track the blockchain. That is the open log of coin transfers. It reveals fund paths. Scammers try to cover their steps. Bryant's team went far. They reached out to related platforms and services. Each day brought progress. No easy ways. They shared updates with me always. Each message and talk stayed open and true. Finally, they got back every dollar. My $52,000 returned whole. The effort needed drive and resolve. Bryant's fairness shone through. He added no secret costs. Only fair pay for the job. My worry faded. I relaxed once more. Nights grew calm. My faith in recovery grew strong. If fraud stole your funds, move fast. Contact Sylvester Bryant. He treats such cases with skill. Email at [email protected]. Or use WhatsApp at +1 512 577 7957 or +44 7428 662701. Do not delay. Reclaim what is yours.
-
13.11.25 20:05
[email protected]
A scam cost me $72,000 in USDT. It shook me up. USDT is a stablecoin linked to the dollar. Its value stays even. I believed I found a safe path to build my wealth. At the start, all seemed fine. My account grew to $120,000 in profits. But when I tried to withdraw, the site locked me out. No way to get in. No money left. Fear took over. I felt stuck and alone. These frauds hit crypto investors often. They lure with fast riches. Then they steal your cash and disappear. Billions vanish each year from such schemes. I looked for aid in every spot. Online boards. Help chats. None helped. Then a buddy offered support. He had dealt with the same issue once. He mentioned Sylvester Bryant. My friend praised his expertise. I contacted him at once. His email is [email protected]. Sylvester Bryant changed everything. He heard my tale with no blame. His crew jumped in quickly. They checked all scam details first. One by one, they followed my lost USDT trail. They used software to track the blockchain. That is the open log of coin transfers. It reveals fund paths. Scammers try to cover their steps. Bryant's team went far. They reached out to related platforms and services. Each day brought progress. No easy ways. They shared updates with me always. Each message and talk stayed open and true. Finally, they got back every dollar. My $52,000 returned whole. The effort needed drive and resolve. Bryant's fairness shone through. He added no secret costs. Only fair pay for the job. My worry faded. I relaxed once more. Nights grew calm. My faith in recovery grew strong. If fraud stole your funds, move fast. Contact Sylvester Bryant. He treats such cases with skill. Email at [email protected]. Or use WhatsApp at +1 512 577 7957 or +44 7428 662701. Do not delay. Reclaim what is yours.
-
13.11.25 22:51
ashley11
Recover All Lost Cryptocurrency From Scammers
-
13.11.25 22:52
ashley11
Recover All Lost Cryptocurrency From Scammers TREQORA INTEL has exhibited unparalleled strength in the realm of recovery. They stand out as the premier team to collaborate with if you encounter withdrawal difficulties from the platform where you’ve invested. Recently, I engaged with them to recover over a million dollars trapped in an investment platform I’d been involved with for months. I furnished their team with every detail of the investment via Email (SUPPORT @ TREQORA . C O M”), including accounts, names, and wallet addresses to which I sent the funds. This decision proved to be the best I’ve made, especially after realizing I had been sc**med by the company. Initially, I harbored doubts about their services, but I was proven wrong. TREQORA INTEL ensures exemplary service delivery and ensures the perpetrators face justice. They employ advanced techniques to ensure you regain access to your funds. Understandably, many individuals who have fallen victim to investment scams may still harbor trepidation about engaging in online services again due to the trauma of being sc**med. However, I implore you to take action. Seek assistance from TREQORA INTEL today and witness their remarkable capabilities firsthand. Among the myriad of hackers available, TREQORA INTEL stands head and shoulders above the rest. While I may not have sampled all of them, the few I attempted to work with previously were unhelpful and solely focused on depleting the little funds I had left. I am grateful that I resisted their enticements, and despite the time it took me to discover TREQORA INTEL, they ultimately fulfilled my primary objective. I am confident they will execute the task proficiently. Without their intervention, I would have remained despondent and perplexed indefinitely. Don’t make the error of entrusting sc**mers to rectify a sc*m; the consequences are evident. Email:support@treqora. com,WhatsApp: +1 (7 7 3) 9 7 7 - 7 8 7 7 ,Website: Treqora. com. How Can I Recover My Lost Bitcoin From A Romance Scammer-HIRE TREQORA INTEL
-
13.11.25 23:36
daisy
i Lost $200,000 to a phishing scam in 2022. Funds went to a mixer service. Davies traced 70% through Ethereum layers. He teamed with an exchange to freeze the rest. i got $140,000 back in six months. Hiring Davies means clear steps. You share details. He checks facts. Then, the hunt begins. Expect ups and downs, but his plan keeps it steady. you can reach out to him by sending an email to anthonydaviestech {@} gmail com
-
14.11.25 03:42
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
-
14.11.25 03:42
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
-
14.11.25 08:38
[email protected]
A scam cost me $72,000 in USDT. It shook me up. USDT is a stablecoin linked to the dollar. Its value stays even. I believed I found a safe path to build my wealth. At the start, all seemed fine. My account grew to $120,000 in profits. But when I tried to withdraw, the site locked me out. No way to get in. No money left. Fear took over. I felt stuck and alone. These frauds hit crypto investors often. They lure with fast riches. Then they steal your cash and disappear. Billions vanish each year from such schemes. I looked for aid in every spot. Online boards. Help chats. None helped. Then a buddy offered support. He had dealt with the same issue once. He mentioned Sylvester Bryant. My friend praised his expertise. I contacted him at once. His email is [email protected]. Sylvester Bryant changed everything. He heard my tale with no blame. His crew jumped in quickly. They checked all scam details first. One by one, they followed my lost USDT trail. They used software to track the blockchain. That is the open log of coin transfers. It reveals fund paths. Scammers try to cover their steps. Bryant's team went far. They reached out to related platforms and services. Each day brought progress. No easy ways. They shared updates with me always. Each message and talk stayed open and true. Finally, they got back every dollar. My $52,000 returned whole. The effort needed drive and resolve. Bryant's fairness shone through. He added no secret costs. Only fair pay for the job. My worry faded. I relaxed once more. Nights grew calm. My faith in recovery grew strong. If fraud stole your funds, move fast. Contact Sylvester Bryant. He treats such cases with skill. Email at [email protected]. Or use WhatsApp at +1 512 577 7957 or +44 7428 662701. Do not delay. Reclaim what is yours.
-
14.11.25 10:39
MATT PHILLIP
I never imagined I’d fall for a crypto romance scam but it happened. Over the course of a few months, I sent nearly $184,000 worth of Bitcoin to someone I genuinely believed I was building a future with. When they disappeared without a trace, I was left heartbroken, humiliated, and financially devastated. For a long time, I didn’t tell anyone. I felt ashamed. But eventually, while searching for answers, I came across a Reddit thread that mentioned Agent Jasmine Lopez a crypto recovery agent. I reached out, not expecting much. To my surprise, she treated me with kindness, not judgment. She used advanced tools like blockchain forensics, IP tracing, and smart contract analysis and with persistence and legal support, she was able to recover nearly 85% of what I lost. I know not everyone gets that kind of outcome, but thanks to [email protected] WhatsApp at +44 736-644-5035, I’ve started to reclaim not just my assets, but my confidence and peace of mind. If you’re going through something similar, you’re not alone and there is hope.
-
14.11.25 12:12
daisy
i Lost $200,000 to a phishing scam in 2022. Funds went to a mixer service. Davies traced 70% through Ethereum layers. He teamed with an exchange to freeze the rest. i got $140,000 back in six months. Hiring Davies means clear steps. You share details. He checks facts. Then, the hunt begins. Expect ups and downs, but his plan keeps it steady. you can reach out to him by sending an email to anthonydaviestech {@} gmail com
-
14.11.25 15:07
caridad
Perth Family Saved After $400K Crypto Scam Our family in Perth, WA invested through what we thought was a trusted platform but ended up being a fraudulent investment scheme. We lost nearly AUD 420,000 worth of BTC and USDT. Luckily, a friend recommended Bitreclaim.com. Their 24/7 customer support assigned us a smart contract audit specialist who asked for wallet addresses and transaction hashes. With their forensic blockchain trace, they recovered over 5.1 BTC directly into our hardware wallet. For Perth investors: don’t give up hope. Submit a case at Bitreclaim.com immediately. Their professionalism and success rate in Australia is unmatched.
-
14.11.25 18:33
justinekelly45
FAST & RELIABLE CRYPTO RECOVERY SERVICES Hire iFORCE HACKER RECOVERY I was one of many victims deceived by fake cryptocurrency investment offers on Telegram. Hoping to build a retirement fund, I invested heavily and ended up losing about $470,000, including borrowed money. Just when I thought recovery was impossible, I found iForce Hacker Recovery. Their team of crypto recovery experts worked tirelessly and helped me recover my assets within 72 hours, even tracing the scammers involved. I’m deeply thankful for their professionalism and highly recommend their services to anyone facing a similar situation. Website: ht tps://iforcehackers. co m WhatsApp: +1 240-803-3706 Email: iforcehk @ consultant. c om
-
14.11.25 20:56
juliamarvin
Firstly, the importance of verifying the authenticity of online communications, especially those about financial matters. Secondly, the potential for recovery exists even in cases where it seems hopeless, thanks to innovative services like TechY Force Cyber Retrieval. Lastly, the cryptocurrency community needs to be more aware of these risks and the available solutions to combat them. My experience serves as a warning to others to be cautious of online impersonators and never to underestimate the potential for recovery in the face of theft. It also highlights the critical role that professional retrieval services can play in securing your digital assets. In conclusion, while the cryptocurrency space offers unparalleled opportunities, it also presents unique challenges, and being informed and vigilant is key to navigating this landscape safely. W.h.a.t.s.A.p.p.. +.15.6.1.7.2.6.3.6.9.7. M.a.i.l T.e.c.h.y.f.o.r.c.e.c.y.b.e.r.r.e.t.r.i.e.v.a.l.@.c.o.n.s.u.l.t.a.n.t.c.o.m. T.e.l.e.g.r.a.m +.15.6.1.7.2.6.3.6.9.7
-
15.11.25 12:47
MATT PHILLIP
I never imagined I’d fall for a crypto romance scam but it happened. Over the course of a few months, I sent nearly $184,000 worth of Bitcoin to someone I genuinely believed I was building a future with. When they disappeared without a trace, I was left heartbroken, humiliated, and financially devastated. For a long time, I didn’t tell anyone. I felt ashamed. But eventually, while searching for answers, I came across a Reddit thread that mentioned Agent Jasmine Lopez a crypto recovery agent. I reached out, not expecting much. To my surprise, she treated me with kindness, not judgment. She used advanced tools like blockchain forensics, IP tracing, and smart contract analysis and with persistence and legal support, she was able to recover nearly 85% of what I lost. I know not everyone gets that kind of outcome, but thanks to [email protected] WhatsApp at +44 736-644-5035, I’ve started to reclaim not just my assets, but my confidence and peace of mind. If you’re going through something similar, you’re not alone and there is hope.
-
15.11.25 14:39
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
15.11.25 14:39
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
15.11.25 15:31
MATT PHILLIP
I never imagined I’d fall for a crypto romance scam but it happened. Over the course of a few months, I sent nearly $184,000 worth of Bitcoin to someone I genuinely believed I was building a future with. When they disappeared without a trace, I was left heartbroken, humiliated, and financially devastated. For a long time, I didn’t tell anyone. I felt ashamed. But eventually, while searching for answers, I came across a Reddit thread that mentioned Agent Jasmine Lopez a crypto recovery agent. I reached out, not expecting much. To my surprise, she treated me with kindness, not judgment. She used advanced tools like blockchain forensics, IP tracing, and smart contract analysis and with persistence and legal support, she was able to recover nearly 85% of what I lost. I know not everyone gets that kind of outcome, but thanks to [email protected] WhatsApp at +44 736-644-5035, I’ve started to reclaim not just my assets, but my confidence and peace of mind. If you’re going through something similar, you’re not alone and there is hope.
-
15.11.25 15:52
[email protected]
A scam cost me $72,000 in USDT. It shook me up. USDT is a stablecoin linked to the dollar. Its value stays even. I believed I found a safe path to build my wealth. At the start, all seemed fine. My account grew to $120,000 in profits. But when I tried to withdraw, the site locked me out. No way to get in. No money left. Fear took over. I felt stuck and alone. These frauds hit crypto investors often. They lure with fast riches. Then they steal your cash and disappear. Billions vanish each year from such schemes. I looked for aid in every spot. Online boards. Help chats. None helped. Then a buddy offered support. He had dealt with the same issue once. He mentioned Sylvester Bryant. My friend praised his expertise. I contacted him at once. His email is [email protected]. Sylvester Bryant changed everything. He heard my tale with no blame. His crew jumped in quickly. They checked all scam details first. One by one, they followed my lost USDT trail. They used software to track the blockchain. That is the open log of coin transfers. It reveals fund paths. Scammers try to cover their steps. Bryant's team went far. They reached out to related platforms and services. Each day brought progress. No easy ways. They shared updates with me always. Each message and talk stayed open and true. Finally, they got back every dollar. My $52,000 returned whole. The effort needed drive and resolve. Bryant's fairness shone through. He added no secret costs. Only fair pay for the job. My worry faded. I relaxed once more. Nights grew calm. My faith in recovery grew strong. If fraud stole your funds, move fast. Contact Sylvester Bryant. He treats such cases with skill. Email at [email protected]. Or use WhatsApp at +1 512 577 7957 or +44 7428 662701. Do not delay. Reclaim what is yours.
-
16.11.25 14:43
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
16.11.25 14:44
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
16.11.25 20:38
[email protected]
A scam cost me $72,000 in USDT. It shook me up. USDT is a stablecoin linked to the dollar. Its value stays even. I believed I found a safe path to build my wealth. At the start, all seemed fine. My account grew to $120,000 in profits. But when I tried to withdraw, the site locked me out. No way to get in. No money left. Fear took over. I felt stuck and alone. These frauds hit crypto investors often. They lure with fast riches. Then they steal your cash and disappear. Billions vanish each year from such schemes. I looked for aid in every spot. Online boards. Help chats. None helped. Then a buddy offered support. He had dealt with the same issue once. He mentioned Sylvester Bryant. My friend praised his expertise. I contacted him at once. His email is [email protected]. Sylvester Bryant changed everything. He heard my tale with no blame. His crew jumped in quickly. They checked all scam details first. One by one, they followed my lost USDT trail. They used software to track the blockchain. That is the open log of coin transfers. It reveals fund paths. Scammers try to cover their steps. Bryant's team went far. They reached out to related platforms and services. Each day brought progress. No easy ways. They shared updates with me always. Each message and talk stayed open and true. Finally, they got back every dollar. My $52,000 returned whole. The effort needed drive and resolve. Bryant's fairness shone through. He added no secret costs. Only fair pay for the job. My worry faded. I relaxed once more. Nights grew calm. My faith in recovery grew strong. If fraud stole your funds, move fast. Contact Sylvester Bryant. He treats such cases with skill. Email at [email protected]. Or use WhatsApp at +1 512 577 7957 or +44 7428 662701. Do not delay. Reclaim what is yours.
-
17.11.25 03:24
johnny231
INFO@THEBARRYCYBERINVESTIGATIONSDOTCOM is one of the best cyber hackers that i have actually met and had an encounter with, i was suspecting my partner was cheating on me for some time now but i was not sure of my assumptions so i had to contact BARRY CYBER INVESTIGATIONS to help me out with my suspicion. During the cause of their investigation they intercepted his text messages, social media(facebook, twittwer, snapchat whatsapp, instagram),also call logs as well as pictures and videos(deleted files also) they found out my spouse was cheating on me for over 3 years and was already even sending nudes out as well as money to anonymous wallets,so i deciced to file for a divorce and then when i did that i came to the understanding that most of the cryptocurrency we had invested in forex by him was already gone. BARRY CYBER INVESTIGATIONS helped me out through out the cause of my divorce with my spouse they also helped me in retrieving some of the cryptocurrency back, as if that was not enough i decided to introduce them to another of my friend who had lost her most of her savings on a bad crytpo investment and as a result of that it affected her credit score, BARRY CYBER INVESTIGATIONS helped her recover some of the funds back and helped her build her credit score, i have never seen anything like this in my life and to top it off they are very professional and they have intergrity to it you can contact them also on their whatsapp +1814-488-3301. for any hacking or pi jobs you can contact them and i assure you nothing but the best out of the job
-
17.11.25 11:26
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
17.11.25 11:27
wendytaylor015
My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
19.11.25 01:56
VERONICAFREDDIE809
Earlier this year, I made a mistake that changed everything. I downloaded what I thought was a legitimate trading app I’d found through a Telegram channel. At first, everything looked real until I tried to withdraw. My entire investment vanished into a bot account, and that’s when the truth hit me: I had been scammed. I can’t describe the feeling. It was as if the ground dropped out from under me. I blamed myself. I felt stupid, ashamed, helpless every painful emotion at once. For a while, I couldn’t even talk about it. I thought no one would understand. But then I got connected to the best female expert AGENT Jasmine Lopez,,( [email protected] ) ,She didn’t brush me off or judge me. She took my fear seriously. She followed leads I didn’t even know existed, and identified multiple off-chain indicators and wallet clusters linked to the scammer network, she helped me understand what had truly happened behind the scenes. For the first time since everything fell apart, I felt hope. Hearing that other people students, parents, hardworking people had been targeted the same way made me realize I wasn’t alone. What happened to us wasn’t stupidity. It was a coordinated attack. We were prey in a system built to deceive. And somehow, through all the chaos, Agent Jasmine stepped in and shined a light into the darkest moment of my life. I’m still healing from the experience. It changed me. But it also reminded me that even when you think you’re at the end, sometimes a lifeline appears where you least expect it. Contact her at [email protected] WhatsApp at +44 736-644-5035.
-
19.11.25 08:11
JuneWatkins
I’m June Watkins from California. I never thought I’d lose my life savings in Bitcoin. One wrong click, a fake wallet update, and $187,000 vanished in seconds. I cried for days, felt stupid, ashamed, and completely hopeless. But God wouldn’t let me stay silent or defeated. A friend sent me a simple message: “Contact Mbcoin Recovery Group, they specialize in this.” I was skeptical (there are so many scammers), but something in my spirit said “try.” I reached out to Mbcoin Recovery Group through their official site and within minutes their team responded with kindness and clarity. They walked with me step by step, and stayed in constant contact. Three days later, I watched in tears as every single Bitcoin returned to my wallet, 100% recovered. God turned my mess into a message and my shame into a testimony! If you’ve lost crypto and feel it’s gone forever, don’t give up. I’m living proof that recovery is possible. Thank you, Mbcoin Recovery Group, and thank You, Jesus, for never leaving me stranded. contact: (https://mbcoinrecoverygrou.wixsite.com/mb-coin-recovery) (Email: [email protected]) (Call Number: +1 346 954-1564)
-
19.11.25 08:26
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) (Email [email protected])
-
19.11.25 08:27
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])
-
19.11.25 16:30
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
-
19.11.25 16:30
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
-
20.11.25 15:55
mariotuttle94
HIRE THE BEST HACKER ONLINE FOR CRYPTO BITCOIN SCAM RECOVERY / iFORCE HACKER RECOVERY After a security breach, my husband lost $133,000 in Bitcoin. We sought help from a professional cybersecurity team iForce Hacker Recovery they guided us through each step of the recovery process. Their expertise allowed them to trace the compromised funds and help us understand how the breach occurred. The experience brought us clarity, restored a sense of stability, and reminded us of the importance of strong digital asset and security practices. Website: ht tps:/ /iforcehackers. c om WhatsApp: +1 240-803-3706 Email: iforcehk @ consultant. c om
-
21.11.25 10:56
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
-
21.11.25 10:56
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
-
22.11.25 04:41
VERONICAFREDDIE809
Earlier this year, I made a mistake that changed everything. I downloaded what I thought was a legitimate trading app I’d found through a Telegram channel. At first, everything looked real until I tried to withdraw. My entire investment vanished into a bot account, and that’s when the truth hit me: I had been scammed. I can’t describe the feeling. It was as if the ground dropped out from under me. I blamed myself. I felt stupid, ashamed, helpless every painful emotion at once. For a while, I couldn’t even talk about it. I thought no one would understand. But then I got connected to the best female expert AGENT Jasmine Lopez,,( [email protected] ) ,She didn’t brush me off or judge me. She took my fear seriously. She followed leads I didn’t even know existed, and identified multiple off-chain indicators and wallet clusters linked to the scammer network, she helped me understand what had truly happened behind the scenes. For the first time since everything fell apart, I felt hope. Hearing that other people students, parents, hardworking people had been targeted the same way made me realize I wasn’t alone. What happened to us wasn’t stupidity. It was a coordinated attack. We were prey in a system built to deceive. And somehow, through all the chaos, Agent Jasmine stepped in and shined a light into the darkest moment of my life. I’m still healing from the experience. It changed me. But it also reminded me that even when you think you’re at the end, sometimes a lifeline appears where you least expect it. Contact her at [email protected] WhatsApp at +44 736-644-5035.
-
22.11.25 22:04
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
-
22.11.25 22:04
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
-
22.11.25 22:05
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
-
23.11.25 03:34
Matt Kegan
SolidBlock Forensics are absolutely the best Crypto forensics team, they're swift to action and accurate
-
23.11.25 09:54
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
23.11.25 18:01
mosbygerry
I recently had the opportunity to work with a skilled programmer who specialized in recovering crypto assets, and the results were nothing short of impressive. The experience not only helped me regain control of my investments but also provided valuable insight into the intricacies of cryptocurrency technology and cybersecurity. The journey began when I attempted to withdraw $183,000 from an investment firm, only to encounter a series of challenges that made it impossible for me to access my funds. Despite seeking assistance from individuals claiming to be Bitcoin miners, I was unable to recover my investments. The situation was further complicated by the fact that all my deposits were made using various cryptocurrencies that are difficult to trace. However, I persisted in my pursuit of recovery, driven by the determination to reclaim my losses. It was during this time that I discovered TechY Force Cyber Retrieval, a team of experts with a proven track record of successfully recovering crypto assets. With their assistance, I was finally able to recover my investments, and in doing so, gained a deeper understanding of the complex mechanisms that underpin cryptocurrency transactions. The experience taught me that with the right expertise and guidance, even the most seemingly insurmountable challenges can be overcome. I feel a sense of obligation to share my positive experience with others who may have fallen victim to cryptocurrency scams or are struggling to recover their investments. If you find yourself in a similar situation, I highly recommend seeking the assistance of a trustworthy and skilled programmer, such as those at TechY Force Cyber Retrieval. WhatsApp (+1561726 3697) or (+1561726 3697). Their expertise and dedication to helping individuals recover their crypto assets are truly commendable, and I have no hesitation in endorsing their services to anyone in need. By sharing my story, I hope to provide a beacon of hope for those who may have lost faith in their ability to recover their investments and to emphasize the importance of seeking professional help when navigating the complex world of cryptocurrency.
-
24.11.25 11:43
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
-
24.11.25 11:43
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
-
24.11.25 16:34
Mundo
I wired 120k in crypto to the wrong wallet. One dumb slip-up, and poof gone. That hit me hard. Lost everything I had built up. Crypto moves on the blockchain. It's like a public record book. Once you send, that's it. No take-backs. Banks can fix wire mistakes. Not here. Transfers stick forever. a buddy tipped me off right away. Meet Sylvester Bryant. Guy's a pro at pulling back lost crypto. Handles cases others can't touch, he spots scammer moves cold. Follows money down secret paths. Mixers. Fake trades. Hidden swaps. You name it, he tracks it. this happens to tons of folks. Fat-finger a key. Miss one digit in the address. Boom. Billions vanish like that each year. I panicked. Figured my stash was toast for good. Bryant flipped the script. He jumps on hard jobs quick. Digs deep. Cracks the trail. Got my funds back safe. You're in the same boat? Don't sit there. Hit him up today. Email [email protected]. WhatsApp +1 512 577 7957. Or +44 7428 662701. Time's your enemy here. Scammers spend fast. Chains churn non-stop. Move now. Grab your cash back home.
-
25.11.25 05:15
michaeldavenport218
I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance contact [email protected] and on Telegram OR Call Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
25.11.25 13:31
mickaelroques52
CRYPTO TRACING AND INVESTIGATION EXPERT: HOW TO RECOVER STOLEN CRYPTO_HIRE RAPID DIGITAL RECOVERY
-
25.11.25 13:31
mickaelroques52
I’ve always considered myself a careful person when it comes to money, but even the most cautious people can be fooled. A few months ago, I invested some of my Bitcoin into what I believed was a legitimate platform. Everything seemed right, professional website, live chat support and even convincing testimonials. I thought I had done my homework. But when I tried to withdraw my funds, everything fell apart. My account was blocked, the so-called support team disappeared and I realized I had been scammed. The shock was overwhelming. I couldn’t believe I had fallen for it. That Bitcoin represented years of savings and sacrifices and it felt like everything had been stolen from me in seconds. I didn’t sleep for days and I was angry at myself for trusting the wrong people. In my desperation, I started searching for solutions and came across Rapid Digital Recovery. At first, I thought it was just another promise that would lead nowhere. But after speaking with them, I realized this was different. They were professional, clear and understanding. They explained exactly how they track stolen funds through blockchain forensics and what steps would be taken in my case. I gave them all the transaction details and they immediately got to work. What impressed me most was their transparency, they gave me updates regularly and kept me involved in the process. After weeks of investigation, they achieved what I thought was impossible: they recovered my stolen Bitcoin and safely returned it to my wallet. The relief I felt that day is indescribable. I went from feeling hopeless and broken to feeling like I had been given a second chance. I am forever grateful to Rapid Digital Recovery. They didn’t just recover my money, they restored my peace of mind. If you’re reading this because you’ve been scammed, please know you’re not alone and that recovery is possible. I’m living proof that with the right help, you can get your funds back... Contact Info Below WhatSapp: + 1 414 807 1485 Email: rapiddigitalrecovery (@) execs. com Telegram: + 1 680 5881 631
-
26.11.25 18:18
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
-
26.11.25 18:20
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
-
26.11.25 19:13
James Robert
I am James Robert from Chicago. Few months ago, I fell victim to an online Bitcoin investment scheme that promised high returns within a short period. At first, everything seemed legitimate, their website looked professional, and the people behind it were very convincing. I invested a significant amount of money about $440,000 with the way they talk to me into investing on their bitcoin platform. Two months later I realized that it was a scam when I could no longer have access to my account and couldn’t withdraw my money. At first, I lost hope that I wouldn't be able to get my money back, I cried and was angry at how I even fell victim to a scam. For days after doing some research and seeking professional help online, I came across GREAT WHIP RECOVERY CYBER SERVICES and saw how they have helped people recover their money back from scammers. I reported the case immediately to them and gather every transaction detail, documentation and sent it to them. Today, I’m very happy because the GREAT WHIP RECOVERY CYBER SERVICES help me recover all my money I was scammed. You can contact GREAT WHIP RECOVERY CYBER SERVICES if you have ever fallen victim to scam. Email: [email protected] or Website https://greatwhiprecoveryc.wixsite.com/greatwhip-site
-
26.11.25 19:13
James Robert
I am James Robert from Chicago. Few months ago, I fell victim to an online Bitcoin investment scheme that promised high returns within a short period. At first, everything seemed legitimate, their website looked professional, and the people behind it were very convincing. I invested a significant amount of money about $440,000 with the way they talk to me into investing on their bitcoin platform. Two months later I realized that it was a scam when I could no longer have access to my account and couldn’t withdraw my money. At first, I lost hope that I wouldn't be able to get my money back, I cried and was angry at how I even fell victim to a scam. For days after doing some research and seeking professional help online, I came across GREAT WHIP RECOVERY CYBER SERVICES and saw how they have helped people recover their money back from scammers. I reported the case immediately to them and gather every transaction detail, documentation and sent it to them. Today, I’m very happy because the GREAT WHIP RECOVERY CYBER SERVICES help me recover all my money I was scammed. You can contact GREAT WHIP RECOVERY CYBER SERVICES if you have ever fallen victim to scam. Email: [email protected] or Website https://greatwhiprecoveryc.wixsite.com/greatwhip-site
-
26.11.25 19:13
James Robert
I am James Robert from Chicago. Few months ago, I fell victim to an online Bitcoin investment scheme that promised high returns within a short period. At first, everything seemed legitimate, their website looked professional, and the people behind it were very convincing. I invested a significant amount of money about $440,000 with the way they talk to me into investing on their bitcoin platform. Two months later I realized that it was a scam when I could no longer have access to my account and couldn’t withdraw my money. At first, I lost hope that I wouldn't be able to get my money back, I cried and was angry at how I even fell victim to a scam. For days after doing some research and seeking professional help online, I came across GREAT WHIP RECOVERY CYBER SERVICES and saw how they have helped people recover their money back from scammers. I reported the case immediately to them and gather every transaction detail, documentation and sent it to them. Today, I’m very happy because the GREAT WHIP RECOVERY CYBER SERVICES help me recover all my money I was scammed. You can contact GREAT WHIP RECOVERY CYBER SERVICES if you have ever fallen victim to scam. Email: [email protected] or Website https://greatwhiprecoveryc.wixsite.com/greatwhip-site
-
27.11.25 10:56
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
-
27.11.25 10:56
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
-
27.11.25 20:04
deborah113
Scammed Crypto Asset Recovery Solution Hire iFORCE HACKER RECOVERY When I traded online, I lost both my investment money and the anticipated gains. Before permitting any withdrawals, the site kept requesting more money, and soon I recognized I had been duped. It was really hard to deal with the loss after their customer service ceased responding. I saw a Facebook testimonial about how iForce Hacker Recovery assisted a victim of fraud in getting back the bitcoin she had transferred to con artists. I contacted iForce Hacker Recovery, submitted all relevant case paperwork, and meticulously followed the guidelines. I'm relieved that I was eventually able to get my money back, including the gains that were initially displayed on my account. I'm sharing my story to let others who have been conned know that you can recover your money. WhatsApp: +1 240-803-3706 Email: iforcehk @ consultant. c om Website: ht tps:/ /iforcehackers. c om
-
27.11.25 23:48
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
27.11.25 23:48
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
28.11.25 00:08
VERONICAFREDDIE809
Earlier this year, I made a mistake that changed everything. I downloaded what I thought was a legitimate trading app I’d found through a Telegram channel. At first, everything looked real until I tried to withdraw. My entire investment vanished into a bot account, and that’s when the truth hit me: I had been scammed. I can’t describe the feeling. It was as if the ground dropped out from under me. I blamed myself. I felt stupid, ashamed, helpless every painful emotion at once. For a while, I couldn’t even talk about it. I thought no one would understand. But then I found someone Agent Jasmine Lopez ([email protected])WhatsApp at +44 736-644-5035. ,She didn’t brush me off or judge me. She took my fear seriously. She followed leads I didn’t even know existed, and identified multiple off-chain indicators and wallet clusters linked to the scammer network, she helped me understand what had truly happened behind the scenes. For the first time since everything fell apart, I felt hope. Hearing that other people students, parents, hardworking people had been targeted the same way made me realize I wasn’t alone. What happened to us wasn’t stupidity. It was a coordinated attack. We were prey in a system built to deceive. And somehow, through all the chaos, Agent Jasmine stepped in and shined a light into the darkest moment of my life. I’m still healing from the experience. It changed me. But it also reminded me that even when you think you’re at the end, sometimes a lifeline appears where you least expect it.
-
28.11.25 11:15
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
-
28.11.25 11:15
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
-
28.11.25 11:43
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])
-
28.11.25 11:43
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])
-
29.11.25 12:35
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
29.11.25 12:35
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
29.11.25 12:35
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
30.11.25 20:37
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
-
01.12.25 12:27
Thomas Muller
YOU CAN REACH OUT TO GREAT WHIP RECOVERY CYBER SERVICES FOR HELP TO RECOVER YOUR STOLEN BTC OR ETH BACK WHATSAPP +1(208)713-0697 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]
-
01.12.25 12:27
Thomas Muller
YOU CAN REACH OUT TO GREAT WHIP RECOVERY CYBER SERVICES FOR HELP TO RECOVER YOUR STOLEN BTC OR ETH BACK WHATSAPP +1(208)713-0697 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]
-
01.12.25 23:45
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
-
01.12.25 23:45
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
-
02.12.25 02:21
donald121
In 2025 alone, hackers stole over $1.5 billion in digital assets from users worldwide. That's a wake-up call for anyone holding crypto. Theft hits hard because once funds move, they're tough to get back. Common ways it happens include phishing emails that trick you into giving up keys, big exchange breaches, or malware sneaking into your wallet. Marie guide walks you through steps to recover stolen cryptocurrency. You'll learn quick actions to stop more loss, how to trace funds, and ways to fight back legally. Plus, tips to avoid this mess next time. reach her (infocyberrecoveryinc@gmail com and whatsapp:+1 7127594675)
-
02.12.25 15:05
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.
-
03.12.25 09:22
tyrelldavis1
I still recall the day I fell victim to an online scam, losing a substantial amount of money to a cunning fraudster. The feeling of helplessness and despair that followed was overwhelming, and I thought I had lost all hope of ever recovering my stolen funds. However, after months of searching for a solution, I stumbled upon a beacon of hope - GRAYWARE TECH SERVICE, a highly reputable and exceptionally skilled investigative and recovery firm. Their team of expert cybersecurity professionals specializes in tracking and retrieving money lost to internet fraud, and I was impressed by their unwavering dedication to helping victims like me. With their extensive knowledge and cutting-edge technology, they were able to navigate the complex world of online finance and identify the culprits behind my loss. What struck me most about GRAYWARE TECH SERVICE was their unparalleled expertise and exceptional customer service. They took the time to understand my situation, provided me with regular updates, and kept me informed throughout the entire recovery process. Their transparency and professionalism were truly reassuring, and I felt confident that I had finally found a reliable partner to help me recover my stolen money. Thanks to GRAYWARE TECH SERVICE, I was able to recover a significant portion of my lost funds, and I am forever grateful for their assistance. Their success in retrieving my money not only restored my financial stability but also restored my faith in the ability of authorities to combat online fraud. If you have fallen victim to internet scams, I highly recommend reaching out to GRAYWARE TECH SERVICE - their expertise and dedication to recovering stolen funds are unparalleled, and they may be your only hope for retrieving what is rightfully yours. You can reach them on whatsapp+18582759508 web at ( https://graywaretechservice.com/ ) also on Mail: ([email protected]
-
03.12.25 21:01
VERONICAFREDDIE809
Earlier this year, I made a mistake that changed everything. I downloaded what I thought was a legitimate trading app I’d found through a Telegram channel. At first, everything looked real until I tried to withdraw. My entire investment vanished into a bot account, and that’s when the truth hit me: I had been scammed. I can’t describe the feeling. It was as if the ground dropped out from under me. I blamed myself. I felt stupid, ashamed, helpless every painful emotion at once. For a while, I couldn’t even talk about it. I thought no one would understand. But then I found someone Agent Jasmine Lopez ([email protected]) ,She didn’t brush me off or judge me. She took my fear seriously. She followed leads I didn’t even know existed, and identified multiple off-chain indicators and wallet clusters linked to the scammer network, she helped me understand what had truly happened behind the scenes. For the first time since everything fell apart, I felt hope. Hearing that other people students, parents, hardworking people had been targeted the same way made me realize I wasn’t alone. What happened to us wasn’t stupidity. It was a coordinated attack. We were prey in a system built to deceive. And somehow, through all the chaos, Agent Jasmine stepped in and shined a light into the darkest moment of my life. I’m still healing from the experience. It changed me. But it also reminded me that even when you think you’re at the end, sometimes a lifeline appears where you least expect it. Contact her at [email protected] WhatsApp at +44 736-644-5035.
-
03.12.25 22:17
Tonerdomark
I lost $300,000 in USDC to a phishing scam. Scammers tricked me with a fake wallet link. They drained my account fast. I felt hopeless. No way to get it back. Then Sylvester stepped in. His skills traced the funds. He recovered every bit. USDC is a stablecoin tied to the dollar. Phishing scams hit hard in crypto. They fool you with urgent emails or sites. Billions vanish each year this way. Sylvester knows blockchain tracks. He used tools to follow the trail. I got my money back in weeks. Skills like his turn loss to win. Don't wait if scammed. Contact Mr. Sylvester now. Email: yt7cracker@gmail. com. WhatsApp only: + 1 512 577 7957 or + 44 7428 662701. He helped me. He can help you.
-
04.12.25 01:37
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
-
04.12.25 01:37
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
-
04.12.25 04:35
Tonerdomark
I lost $300,000 in USDC to a phishing scam. Scammers tricked me with a fake wallet link. They drained my account fast. I felt hopeless. No way to get it back. Then Sylvester stepped in. His skills traced the funds. He recovered every bit. USDC is a stablecoin tied to the dollar. Phishing scams hit hard in crypto. They fool you with urgent emails or sites. Billions vanish each year this way. Sylvester knows blockchain tracks. He used tools to follow the trail. I got my money back in weeks. Skills like his turn loss to win. Don't wait if scammed. Contact Mr. Sylvester now. Email: [email protected]. WhatsApp only: + 1 512 577 7957 or + 44 7428 662701. He helped me. He can help you.
-
04.12.25 10:32
Tonerdomark
I lost $300,000 in USDC to a phishing scam. Scammers tricked me with a fake wallet link. They drained my account fast. I felt hopeless. No way to get it back. Then Sylvester stepped in. His skills traced the funds. He recovered every bit. USDC is a stablecoin tied to the dollar. Phishing scams hit hard in crypto. They fool you with urgent emails or sites. Billions vanish each year this way. Sylvester knows blockchain tracks. He used tools to follow the trail. I got my money back in weeks. Skills like his turn loss to win. Don't wait if scammed. Contact Mr. Sylvester now. Email: [email protected]. WhatsApp only: + 1 512 577 7957 or + 44 7428 662701. He helped me. He can help you.
-
04.12.25 18:25
smithhazael
Hire Proficient Expert Consultant For any form of lost crypto "A man in Indonesia tragically took his own life after losing his family's savings to a scam. The shame and blame were too much to bear. It's heartbreaking to think he might still be alive if he knew help existed. "PROFICIENT EXPERT CONSULTANTS, I worked alongside PROFICIENT EXPERT CONSULTANTS when I lost my funds to an investment platform on Telegram. PROFICIENT EXPERT CONSULTANTS did a praiseworthy job, tracked and successfully recovered all my lost funds a total of $770,000 within 48hours after contacting them, with their verse experience in recovery issues and top tier skills they were able to transfer back all my funds into my account, to top it up I had full access to my account and immediately converted it to cash, they handled my case with professionalism and empathy and successfully recovered all my lost funds, with so many good reviews about PROFICIENT EXPERT CONSULTANTS, I’m glad I followed my instincts after reading all the reviews and I was able to recovery everything I thought I had lost, don’t commit suicide if in any case you are caught in the same situation, contact: Proficientexpert@consultant. com Telegram: @ PROFICIENTEXPERT, the reliable experts in recovery.
-
04.12.25 21:45
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
04.12.25 21:45
elizabethrush89
God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
-
05.12.25 08:35
into11
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)
-
05.12.25 08:48
Tonerdomark
SYLVESTER BRYANT WAS A PROFESSIONAL/ RELIABLE HACKER AND HIGHLY RECOMMENDED I’m very excited to speak about him as a Bitcoin Recovery agent, this cyber security company was able to assist me in recovering my stolen funds in cryptocurrency. I’m truly amazed by their excellent service and professional work. I never thought I could get back my funds until I approached them with my problems and provided all the necessary information. It took them time to recover my funds and I was amazed. Without any doubt, I highly recommend Sylvester for your BITCOIN, USDC, USDT, ETH Recovery, for all Cryptocurrency recovery, digital funds recovery, hacking Related issues, contact Sylvester Bryant professional services waapp only= +1 512 577 7957 or + 44 7428 662701 EMAIL = [email protected]
-
06.12.25 01:44
Tonerdomark
SYLVESTER BRYANT WAS A PROFESSIONAL/ RELIABLE HACKER AND HIGHLY RECOMMENDED I’m very excited to speak about him as a Bitcoin Recovery agent, this cyber security company was able to assist me in recovering my stolen funds in cryptocurrency. I’m truly amazed by their excellent service and professional work. I never thought I could get back my funds until I approached them with my problems and provided all the necessary information. It took them time to recover my funds and I was amazed. Without any doubt, I highly recommend Sylvester for your BITCOIN, USDC, USDT, ETH Recovery, for all Cryptocurrency recovery, digital funds recovery, hacking Related issues, contact Sylvester Bryant professional services waapp only= +1 512 577 7957 or + 44 7428 662701 EMAIL = [email protected]
-
06.12.25 01:48
Tonerdomark
SYLVESTER BRYANT WAS A PROFESSIONAL/ RELIABLE HACKER AND HIGHLY RECOMMENDED I’m very excited to speak about him as a Bitcoin Recovery agent, this cyber security company was able to assist me in recovering my stolen funds in cryptocurrency. I’m truly amazed by their excellent service and professional work. I never thought I could get back my funds until I approached them with my problems and provided all the necessary information. It took them time to recover my funds and I was amazed. Without any doubt, I highly recommend Sylvester for your BITCOIN, USDC, USDT, ETH Recovery, for all Cryptocurrency recovery, digital funds recovery, hacking Related issues, contact Sylvester Bryant professional services waapp only= +1 512 577 7957 or + 44 7428 662701 EMAIL = [email protected]
-
06.12.25 10:36
Thomas Muller
YOU CAN REACH OUT TO GREAT WHIP RECOVERY CYBER SERVICES FOR HELP TO RECOVER YOUR STOLEN BTC OR ETH BACK WHATSAPP +1(208)713-0697 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]
-
06.12.25 10:36
Thomas Muller
YOU CAN REACH OUT TO GREAT WHIP RECOVERY CYBER SERVICES FOR HELP TO RECOVER YOUR STOLEN BTC OR ETH BACK WHATSAPP +1(208)713-0697 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]
-
06.12.25 10:39
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
-
06.12.25 10:42
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
-
07.12.25 08:43
Tonerdomark
SYLVESTER BRYANT WAS A PROFESSIONAL/ RELIABLE HACKER AND HIGHLY RECOMMENDED I’m very excited to speak about him as a Bitcoin Recovery agent, this cyber security company was able to assist me in recovering my stolen funds in cryptocurrency. I’m truly amazed by their excellent service and professional work. I never thought I could get back my funds until I approached them with my problems and provided all the necessary information. It took them time to recover my funds and I was amazed. Without any doubt, I highly recommend Sylvester for your BITCOIN, USDC, USDT, ETH Recovery, for all Cryptocurrency recovery, digital funds recovery, hacking Related issues, contact Sylvester Bryant professional services waapp only= +1 512 577 7957 or + 44 7428 662701 EMAIL = [email protected]
-
08.12.25 02:17
liam
I recently fell a victim of cryptocurrency investment and mining scam, I lost almost all my life savings to BTC scammers. I almost gave up because the amount of crypto I lost was too much. So I spoke to a friend who told me about ANTHONYDAVIESTECH company. I Contacted them through their email and i provided them with the necessary information they requested from me and they told me to be patient and wait to see the outcome of their job. I was shocked after two days my Bitcoin was returned to my Wallet. All thanks to them for their genius work. I Contacted them via Email: anthonydaviestech @ gmail . com all thanks to my friend who saved my life
-
08.12.25 09:07
Tonerdomark
SYLVESTER BRYANT WAS A PROFESSIONAL/ RELIABLE HACKER AND HIGHLY RECOMMENDED I’m very excited to speak about him as a Bitcoin Recovery agent, this cyber security company was able to assist me in recovering my stolen funds in cryptocurrency. I’m truly amazed by their excellent service and professional work. I never thought I could get back my funds until I approached them with my problems and provided all the necessary information. It took them time to recover my funds and I was amazed. Without any doubt, I highly recommend Sylvester for your BITCOIN, USDC, USDT, ETH Recovery, for all Cryptocurrency recovery, digital funds recovery, hacking Related issues, contact Sylvester Bryant professional services waapp only= +1 512 577 7957 or + 44 7428 662701 EMAIL = [email protected]
-
09.12.25 00:18
swanky
For a long time, I had heard tales of individuals striking it rich through cryptocurrency investments, but I had little knowledge of how the system operated. The potential for financial gain piqued my interest, and I decided to dive in and invest. To help me navigate this complex landscape, I joined a group of online traders who promised to guide me through the investment process. Their confidence and expertise made me feel reassured about my decision.After spending some time learning from them and observing their trading strategies, I felt compelled to invest a substantial amount of money to which i lost, now in search of recovering my funds i got referred to anthonydavies on telegram a funds recovery specialist with his team help i was able to get back $300000 of my usdc back. you can reach him via anthonydaviestech AT gmail dot com
-
09.12.25 01:01
Tonerdomark
SYLVESTER BRYANT WAS A PROFESSIONAL/ RELIABLE HACKER AND HIGHLY RECOMMENDED I’m very excited to speak about him as a Bitcoin Recovery agent, this cyber security company was able to assist me in recovering my stolen funds in cryptocurrency. I’m truly amazed by their excellent service and professional work. I never thought I could get back my funds until I approached them with my problems and provided all the necessary information. It took them time to recover my funds and I was amazed. Without any doubt, I highly recommend Sylvester for your BITCOIN, USDC, USDT, ETH Recovery, for all Cryptocurrency recovery, digital funds recovery, hacking Related issues, contact Sylvester Bryant professional services waapp only= +1 512 577 7957 or + 44 7428 662701 EMAIL = Yt7CRACKER@gmail. com
-
09.12.25 05:44
swanky
For a long time, I had heard tales of individuals striking it rich through cryptocurrency investments, but I had little knowledge of how the system operated. The potential for financial gain piqued my interest, and I decided to dive in and invest. To help me navigate this complex landscape, I joined a group of online traders who promised to guide me through the investment process. Their confidence and expertise made me feel reassured about my decision.After spending some time learning from them and observing their trading strategies, I felt compelled to invest a substantial amount of money to which i lost, now in search of recovering my funds i got referred to anthonydavies on telegram a funds recovery specialist with his team help i was able to get back $300000 of my usdc back. you can reach him via anthonydaviestech AT gmail dot com
-
09.12.25 10:24
lane3215
It is distressing to lose USDT to a bitcoin wallet hack. Although challenging, recovering stolen USDT is feasible. Your chances increase if you move swiftly and strategically. Marie can help you with reporting the theft, recovering USDT, and taking immediate action. You can reach her via mail at [email protected], WhatsApp at +1 7127594675.
-
09.12.25 10:25
lane3215
It is distressing to lose USDT to a bitcoin wallet hack. Although challenging, recovering stolen USDT is feasible. Your chances increase if you move swiftly and strategically. Marie can help you with reporting the theft, recovering USDT, and taking immediate action. You can reach her via mail at [email protected], WhatsApp at +1 7127594675.
-
09.12.25 14:16
Matt Kegan
Grateful i came across SolidBlock Forensics. After investing in crypto trade and couldn't make withdrawals, it dawned on me something was wrong. They kept on asking for taxes, fees for maintenance, and more money for admin reasons. But being represented by SolidBlock Forensics, i was able to file reports, and finally, received all my investments with returns. Its great to know we have professionals that handle such issues and get the job done.
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