WeDo – O Falcão

A Snap! extension for WeDo 1.0

Yesterday I returned to Snap! to fast write a LEGO WeDo 1.0 extension.

It just requires two files:

A python script that implements a very basic HTTP server that exposes the WeDo 1.0 methods from WeDoMaster library.
A xml file containg 3 Snap! custom blocks (motor, tilt sensor and distance sensor)

It works on Raspberry Pi so anyone that wants to use the LEGO WeDo 1.0 just need an RPi and a browser with internet access. I used a Raspberry Pi Zero W so just a USB Hub with microUSB port and a power source is needed.

Source and details at github project SnapWeDo1.

Big thanks to:

Connor Hudson (AKA technoboy10) that wrote snap-server
Ian Daniher (AKA itdaniher) that wrote WeDoMore
Jetro de Château and Marina Tarusello who gave me the idea

LEGO WeDo 2.0 – playing sound

Este artigo é a parte 4 de 6 da série WeDo 2.0 - reverse engineering

Great news – LEGO Eduction released the WeDo 2.0 SDK today!

After digging into it, I found the information needed to control the Piezo: as expected, it’s controlled by the same handle that is used for controlling the motor and the RGB LED (0x003d). The “port” is “05” and the “command” to activate the Piezo is “02”, followed by a payload of “04” bytes containing:

the Frequency in Hz (2 bytes, reversed)
the duration in ms (2 bytes, reversed)

So to play a “C” (or “Do”, 261 Hz) during 1/8 of a second (125 ms) we use this command:

[A0:E6:F8:1E:58:57][LE]> char-write-cmd 003d 050204B801E803

So let’s hear the very first music played by a WeDo 2.0 from a linux shell script:

#!/usr/bin/env bash

# In Ubuntu run this script with sudo
# "Imperial March on a WeDo 2.0" was inspired by https://gist.github.com/tagliati/1804108

# command: gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204

# beep(a, 500) 
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B801F401
sleep 0.5

# beep(a, 500) 
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B801F401
sleep 0.5

# beep(a, 500) 
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B801F401
sleep 0.5

# beep(f, 350)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502045D015E01
sleep 0.35

# beep(cH, 150)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502040B029600
sleep 0.15

# beep(a, 500)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B801F401
sleep 0.5

# beep(f, 350)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502045D015E01
sleep 0.35

# beep(cH, 150)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502040B029600
sleep 0.15

# beep(a, 1000)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B801E803
sleep 1.0

# beep(eH, 500)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502049302F401
sleep 0.5
    
# beep(eH, 500)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502049302F401
sleep 0.5

# beep(eH, 500)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502049302F401
sleep 0.5

# beep(fH, 350) 
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204BA025E01
sleep 0.35

# beep(cH, 150)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502040B029600
sleep 0.15

# beep(gS, 500)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502049F01F401
sleep 0.5    

# beep(f, 350)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502045D015E01
sleep 0.35

# beep(cH, 150)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502040B029600
sleep 0.15

# beep(a, 1000)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B801E803
sleep 1.0
 
# beep(aH, 500)   
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502047003F401
sleep 0.5

# beep(a, 350) 
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B8015E01
sleep 0.35

# beep(a, 150)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B8019600
sleep 0.15

# beep(aH, 500)   
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502047003F401
sleep 0.5

# beep(gSH, 250)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502043E03FA00
sleep 0.25

# beep(gH, 250)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502041003FA00
sleep 0.25

# beep(fSH, 125)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204E4027D00
sleep 0.125

# beep(fH, 125) 
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204BA027D00
sleep 0.125  
   
# beep(fSH, 250)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204E402FA00
sleep 0.25

# delay(250)
sleep 0.25

# beep(aS, 250)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204C701FA00
sleep 0.25

# beep(dSH, 500)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502046E02F401
sleep 0.5

# beep(dH, 250)  
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502044B02FA00
sleep 0.25

# beep(cSH, 250)  
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502042A02FA00
sleep 0.25

# beep(cH, 125)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502040B027D00
sleep 0.125

# beep(b, 125)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204D2017D00
sleep 0.125

# beep(cH, 250)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502040B02FA00
sleep 0.25
      
# delay(250)
sleep 0.25

# beep(f, 125)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502045D017D00
sleep 0.125

# beep(gS, 500)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502049F01F401
sleep 0.5

# beep(f, 375) 
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502045D017701
sleep 0.375

# beep(a, 125)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B8017D00
sleep 0.125
  
# beep(cH, 500)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502040B02F401
sleep 0.5

# beep(a, 375)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B8017701
sleep 0.375

# beep(cH, 125)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502040B027D00
sleep 0.125

# beep(eH, 1000)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502049302E803
sleep 1.0

# beep(aH, 500)   
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502047003F401
sleep 0.5

# beep(a, 350) 
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B8015E01
sleep 0.35

# beep(a, 150)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B8019600
sleep 0.15

# beep(aH, 500)   
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502047003F401
sleep 0.5

# beep(gSH, 250)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502043E03FA00
sleep 0.25

# beep(gH, 250)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502041003FA00
sleep 0.25

# beep(fSH, 125)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204E4027D00
sleep 0.125
    
# beep(fH, 125) 
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204BA027D00
sleep 0.125

# beep(fSH, 250)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204E402FA00
sleep 0.25

# delay(250)
sleep 0.25

# beep(aS, 250)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204C701FA00
sleep 0.25

# beep(dSH, 500)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502046E02F401
sleep 0.5

# beep(dH, 250)  
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502044B02FA00
sleep 0.25

# beep(cSH, 250)  
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502042A02FA00
sleep 0.25

# beep(cH, 125)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502040B027D00
sleep 0.125

# beep(b, 125)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204D2017D00
sleep 0.125

# beep(cH, 250)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502040B02FA00
sleep 0.25

# delay(250)
sleep 0.25

# beep(f, 250)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502045D01FA00
sleep 0.25

# beep(gS, 500)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502049F01F401
sleep 0.5 
  
# beep(f, 375)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502045D017701
sleep 0.375

# beep(cH, 125)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502040B027D00
sleep 0.125
           
# beep(a, 500)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B801F401
sleep 0.5

# beep(f, 375)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 0502045D017701
sleep 0.375

# beep(c, 125)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 05020405017D00
sleep 0.125

# beep(a, 1000)
gatttool -i hci0 -b A0:E6:F8:1E:58:57 --char-write-req -a 0x003d -n 050204B801E803
sleep 1.0

WeDo 2.0 – reverse engineering

Este artigo é a parte 1 de 6 da série WeDo 2.0 - reverse engineering

This post tries to gather all the information I collected in the last weeks related to the WeDo 2.0.

I’m not a programmer but I’m a very stubborn guy so after I managed to get my linux systems (my Ubuntu laptop, some Raspberry Pi’s and my two Mindstorms EV3) controlling the SBrick I told to myself: I’m gonna make the same with this new WeDo 2.0 system no matter what it takes.

So first things first: let’s use my Android mobile to inspect the WeDo 2.0 Hub. Nordic has a very good (and free) app that I like to use: nRF Master Control Panel (recently renamed to nRF Connect). After connecting to the Hub we find 6 services:

Some of this services, like “Battery Service” are known BLE services so [hopefully] it will be easy to use.

There’s also a very important finding at the top:

“U0001 A0:E6:F8:1E:58:57

“A0:E6:F8:1E:58:57” is the Bluetooth address of my Hub (similar to the MAC Address of every network device). It will be used *a lot* in the rest of this post.

And “U0001” is the friendly name that the Hub advertises – that’s the name that shows up in the LEGO Education WeDo 2.0 App when connecting to the Hub:

A note about this name: before I finally managed to make the LEGO Education WeDo 2.0 App work in my Android phone, my Hub advertised itself as “LPF2 Smart Hub 2 I/O”. So the LEGO App changed it to “u0001”, probably at the first time it connected to it (but since my Hub was first used by 3 other AFOL’s at Paredes de Coura I’m not sure if the process is automatic or the user is given some kind of option).

So the default (factory set) name of the Hub is “LPF2 Smart Hub 2 I/O” – LEGO Power Functions 2 Smart Hub 2 I/O”. Not much to speculate here: LEGO announced that Power Functions and Mindstorms will adopt a new plug type so new devices are expected, this is just the first one. But “Smart Hub 2 I/O” is interesting… does that means that there will be other Smart Hubs? Perhaps even a “Smart Hub 4 I/O”? That would answer some of the points I have been discussing with Fernando Conchas like “what’s the use for a 4.5 Volt device in LEGO Technic unless there’s also another device with better power features just waiting to come out”?

Now let’s look deeper to those BLE services…

I can use the nRF App and take a lot of screenshots but now that I know the BT address I will switch to my Ubuntu laptop and use 2 of the available BlueZ (the native Linux Bluetooth stack) functions, ‘hcitool’ and ‘gatttool’

$ sudo hcitool -i hci0 lescan
LE Scan ...
A0:E6:F8:1E:58:57 (unknown)
A0:E6:F8:1E:58:57 LPF2 Smart Hub 2 I/O

sudo gatttool -i hci0 -b A0:E6:F8:1E:58:57 --primary
attr handle = 0x0001, end grp handle = 0x0007 uuid: 00001800-0000-1000-8000-00805f9b34fb
attr handle = 0x0008, end grp handle = 0x000b uuid: 00001801-0000-1000-8000-00805f9b34fb
attr handle = 0x000c, end grp handle = 0x002f uuid: 00001523-1212-efde-1523-785feabcd123
attr handle = 0x0030, end grp handle = 0x003e uuid: 00004f0e-1212-efde-1523-785feabcd123
attr handle = 0x003f, end grp handle = 0x0045 uuid: 0000180a-0000-1000-8000-00805f9b34fb
attr handle = 0x0046, end grp handle = 0xffff uuid: 0000180f-0000-1000-8000-00805f9b34fb

The ‘gatttool’ command is a powerfull tool for BLE – in the past, without a proper BLE library for python, I used it (through python system calls) to talk with the SBrick. Clumsy but… hey, I said I’m not a programmer 😉

The ‘gatttool’ can run in an interactive mode that allows us to establish a connection and keep it until we disconnect instead of making a new connection each time we want to test a command:

$ sudo gatttool -i hci0 -I
[                 ][LE]> connect A0:E6:F8:1E:58:57
Attempting to connect to A0:E6:F8:1E:58:57
Connection successful
[A0:E6:F8:1E:58:57][LE]>

In this “interactive” session we just send ‘primary’ to get the same output as using the command with ‘–primary’ option [but sometimes the commands differ a bit, so use ‘help’ and ‘–help’ to know what to use.

So the ‘primary’ command gets a list of the primary services offered by the WeDo 2.0 Hub. Of course, those are the same 6 services found by the Nordic app but that screenshot looks much better as Nordic developers added lots of intelligence to it.

First service:

attr handle = 0x0001, end grp handle = 0x0007 uuid: 00001800-0000-1000-8000-00805f9b34fb

The Nordic app shows just:

Generic Access
UUID: 0x1800
PRIMARY SERVICE

So this service has 7 handles assigned (from 0x0001 to 0x0007) and serves a well know service (the ‘Generic Access‘) so it’s UUID is shortened to just 0x1800 instead of ‘00001800-0000-1000-8000-00805f9b34fb’.

Bluetooth specification for ‘Generic Access’ defines 5 properties:

Device Name (0x2A00)
Appearance (0x2A01)
Peripheral Privacy Flag (0x2A02)
Reconnection Address (0x2A03)
Peripheral Preferred Connection Parameters (0x2A04)

From these list, only ‘Device Name’ and ‘Appearance’ are defined as ‘Mandatory’.

With the gatttool we read these properties with command ‘char-read-uuid’:

[A0:E6:F8:1E:58:57][LE]> char-read-uuid 0x2A00
handle: 0x0003      value: 75 30 30 30 31 
[A0:E6:F8:1E:58:57][LE]> char-read-uuid 0x2A01
handle: 0x0005      value: 00 00 
[A0:E6:F8:1E:58:57][LE]> char-read-uuid 0x2A02
Error: Read characteristics by UUID failed: No attribute found within the given range
[A0:E6:F8:1E:58:57][LE]> char-read-uuid 0x2A03
Error: Read characteristics by UUID failed: No attribute found within the given range
[A0:E6:F8:1E:58:57][LE]> char-read-uuid 0x2A04
handle: 0x0007      value: 50 00 a0 00 00 00 e8 03

So ‘Peripheral Privacy Flag’ and ‘Reconnection Address’ were not implemented by LEGO. But what’s the meaning of this hexadecimal values?

‘Device Name‘ is a string so we just convert it to ASCII (we can use an online tool like RapidTables):

75 30 30 30 31 -> u0001

Ah-ha!

‘Appearance‘ is two-byte value “composed of a category (10-bits) and sub-categories (6-bits)” that classifies the device. Since it is ‘0’, it’s not classified in any known category (so it is ‘Unknown’).

‘Peripheral Preferred Connection Parameters‘ is an 8-byte value containing 4 parameters (each one is 2-byte):

Minimum Connection Interval
Maximum Connection Interval
Slave Latency
Connection Supervision Timeout Multiplier

Each value is written in reverse order so

Minimum Connection Interval =005h = 80d
Maximum Connection Interval = 000ah = 160
Slave Latency = 0
Connection Supervision Timeout Multiplier = 03e8h=1000d

According to definition, the Min/Max Connection Interval values should be multiplied by 1.25 so the range is in fact 100~200 [ms].

So let’s return to the Android and validate these:

Yes, it certainly looks good!

Next post we’ll see another well-know service: the ‘Battery Service’.

WeDo 2.0 colors with python

Now that I can finally use LEGO Education WeDo 2.0 app let’s use my latest crazy aquisition: the Ubertooth One (an open source Bluetooth sniffer).

I used a simple project to change the WeDo 2.0 Hub color to ‘pink’ (‘1’) each time I click the ‘Play’ block:

After capturing a few packets I selected just the interesting part:

1    0.000000000            LE LL    33    Empty PDU
2    0.037564000            ATT    44    UnknownDirection Write Command, Handle: 0x003d
3    0.074999800            LE LL    33    Empty PDU
4    0.187500200            LE LL    33    Empty PDU
5    0.225000800            LE LL    33    Empty PDU
6    0.262503000            LE LL    33    Empty PDU
7    0.262732400            LE LL    33    Empty PDU
8    0.375069400            ATT    44    UnknownDirection Write Command, Handle: 0x003d
9    0.412505800            LE LL    33    Empty PDU

Most frames are empty but 2 frames (‘2’ and ‘8’) show some writing to the 0x003d handle (the same handle that is used to control the motors). Let’s inspect those frames:

Frame 2: 44 bytes on wire (352 bits), 44 bytes captured (352 bits) on interface 0
PPI version 0, 24 bytes
DLT: 147, Payload: btle (Bluetooth Low Energy Link Layer)
Bluetooth Low Energy Link Layer
Bluetooth L2CAP Protocol
Bluetooth Attribute Protocol
    Opcode: Write Command (0x52)
        0... .... = Authentication Signature: False
        .1.. .... = Command: True
        ..01 0010 = Method: Write Request (0x12)
    Handle: 0x003d
    Value: 06040101

Frame 8: 44 bytes on wire (352 bits), 44 bytes captured (352 bits) on interface 0
PPI version 0, 24 bytes
DLT: 147, Payload: btle (Bluetooth Low Energy Link Layer)
Bluetooth Low Energy Link Layer
Bluetooth L2CAP Protocol
Bluetooth Attribute Protocol
    Opcode: Write Command (0x52)
        0... .... = Authentication Signature: False
        .1.. .... = Command: True
        ..01 0010 = Method: Write Request (0x12)
    Handle: 0x003d
    Value: 06040103

So the App is writing “06040101” to the handle and then “06040103”.

I already know something about this handler from the motor control examples I found before:

first byte is the “port” identifier (’01’ and ’02’ are the physical plugs to connect motors or sensors so ’06’ is the LED port)
second byte is the command sent to the port so ’04’ means “change color”
third byte is the length of the arguments of the command so ’01’ means that the color is just one byte length – the fourth

So ’01’ and ’03’ must be some colors right? And I already know that ‘1’ in the App means ‘red’ so probably “06040101” means “change color to pink” and “06040103” means “change color to blue” (blue is the color of the WeDo Hub while waiting for commands).

So let’s test it with gatttool:

char-write-cmd 3d 06040101

Yes! It turns red indeed!

After testing other values I got these 11 values:

00 off
01 pink
02 purple
03 blue
04 cyan
05 light green
06 green
07 yellow
08 orange
09 red
0A light blue

(the real color labels may differ as I’m not very good with colors)

Now a small python script to cycle through all those colors:

#!/usr/bin/python

from gattlib import GATTRequester
from time import sleep

colors = ['\x00','\x01','\x02','\x03','\x04','\x05','\x06','\x07','\x08','\x09','\x0A']

req = GATTRequester("A0:E6:F8:1E:58:57",True,"hci0")

while True:
  for color in colors:
    req.write_by_handle(0x3d, "\x06\x04\x01" + color)
    sleep(2)

And, of course, the video: