Cross-technology interference is a major threat to the dependability of low-power wireless communications. Due to power and bandwidth asymmetries, technologies such as Wi-Fi tend to dominate the RF channel and unintentionally destroy low-power wireless communications from resource-constrained technologies such as ZigBee, leading to severe coexistence issues. To address these issues, existing schemes make ZigBee nodes individually assess the RF channel's availability or let Wi-Fi appliances blindly reserve the medium for the transmissions of low-power devices. Without a two-way interaction between devices making use of different wireless technologies, these approaches have limited scenarios or achieve inefficient network performance. This paper presents BiCord, a bidirectional coordination scheme in which resource-constrained wireless devices such as ZigBee nodes and powerful Wi-Fi appliances coordinate their activities to increase coexistence and enhance network performance. Specifically, in BiCord, ZigBee nodes directly request channel resources from Wi-Fi devices, who then reserve the channel for ZigBee transmissions on-demand. This interaction continues until the transmission requirement of ZigBee nodes is both fulfilled and understood by Wi-Fi devices. This way, BiCord avoids unnecessary channel allocations, maximizes the availability of the spectrum, and minimizes transmission delays. We evaluate BiCord on off-the-shelf Wi-Fi and ZigBee devices, demonstrating its effectiveness experimentally. Among others, our results show that BiCord increases channel utilization by up to 50.6% and reduces the average transmission delay of ZigBee nodes by 84.2% compared to state-of-the-art approaches.