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USB Protocol Exploration Findings

Date: 2025-07-13
Device: Rokid Max2

Major Discoveries

1. SET Command Mode Switching

  • Device operates in two modes: configuration echo and telemetry
  • SET commands (bRequestType 0x41) change device state
  • Pattern 00 40 bf 00 restores telemetry mode

2. Extended Data Format

  • Standard telemetry is 64 bytes
  • Extended formats support up to 512 bytes
  • Extended data contains what appears to be memory addresses/pointers
  • Pattern observed: 00 05 00 20, 44 05 00 20, etc.

3. Version Information

  • Command 0x81 returns version: "0.17" (ASCII: 30 2e 31 37)
  • This confirms direct hardware query capability

4. Working Commands Summary

Information Commands

  • 0x00: Device info (returns zeros after reset)
  • 0x81: Version string "0.17"

Telemetry Commands

  • 0x01: Primary IMU telemetry (supports extended format)
  • 0x02: Secondary telemetry (also supports extended format)

Configuration Commands

  • 0x10-0x13: Display control (accepted but effect unknown)
  • 0x20-0x21: Configuration/features
  • 0x30-0x33: Camera range (accepted)
  • 0x40-0x41: Tracking range (accepted)
  • 0x50: Mode setting (6DOF attempt)
  • 0xF0-0xF1: Factory/debug range

5. Extended Data Analysis

When requesting >64 bytes, we get additional data:

Bytes 64-67:  00 00 00 00 (counter incrementing: 00->80->00 01->00 02)
Bytes 68-79:  Memory addresses? (00 05 00 20 pattern)
Bytes 80-127: More addresses (44 05 00 20, b4 05 00 20, etc.)

The addresses appear to be ARM memory locations (0x20000500 range).

6. Initialization Sequence

Successful initialization pattern discovered:

  1. Reset device: cmd=0xFF with zeros
  2. Query version: cmd=0x81
  3. Enable features: cmd=0x20 with 0xFFFF value
  4. Set mode: cmd=0x50 with 6DOF pattern
  5. Return to telemetry: cmd=0x01 with 00 40 bf 00

7. Hardware Capabilities Confirmed

Based on USB exploration:

  • ✅ High-rate IMU (220Hz measured)
  • ✅ Extended telemetry format available
  • ✅ Version query capability
  • ✅ Configuration accepted for all subsystems
  • ❓ Camera data not yet streaming
  • ❓ 6DOF data format unclear
  • ❓ Display control effect unknown

Next Steps

  1. Decode Extended Format: The memory addresses might point to:

    • Camera frame buffers
    • 6DOF transformation matrices
    • Configuration structures

  2. Monitor Physical Changes: Test display commands while watching screen

  3. Analyze Memory Patterns: The 0x20000500 range suggests RAM addresses

  4. Windows Driver Path:

    • Implement initialization sequence
    • Parse extended telemetry format
    • Map memory addresses to features

Conclusion

The Rokid Max2 has significantly more capability than standard drivers expose. We've found:

  • Direct hardware version query
  • Extended data formats beyond basic IMU
  • Memory address patterns suggesting deeper access
  • All commands accept configuration

The device is clearly capable of more than 3DOF tracking, with infrastructure for cameras, 6DOF, and advanced features - just need the right initialization sequence.