diff --git a/core/src/apps/webauthn/fido2.py b/core/src/apps/webauthn/fido2.py
index 4ac0a6ce89..056dc56f54 100644
--- a/core/src/apps/webauthn/fido2.py
+++ b/core/src/apps/webauthn/fido2.py
@@ -374,6 +374,7 @@ async def _read_cmd(iface: HID) -> Cmd | None:
     desc_cont = frame_cont()
     read = loop.wait(iface.iface_num() | io.POLL_READ)
 
+    # wait for incoming comand indefinitely
     buf = await read
     while True:
         ifrm = overlay_struct(bytearray(buf), desc_init)
@@ -409,9 +410,12 @@ async def _read_cmd(iface: HID) -> Cmd | None:
         else:
             data = data[:bcnt]
 
+        # set a timeout for subsequent reads
+        read.timeout_ms = _CTAP_HID_TIMEOUT_MS
         while datalen < bcnt:
-            buf = await loop.race(read, loop.sleep(_CTAP_HID_TIMEOUT_MS))
-            if not isinstance(buf, bytes):
+            try:
+                buf = await read
+            except loop.Timeout:
                 if __debug__:
                     warning(__name__, "_ERR_MSG_TIMEOUT")
                 await send_cmd(cmd_error(ifrm_cid, _ERR_MSG_TIMEOUT), iface)
@@ -494,7 +498,9 @@ async def send_cmd(cmd: Cmd, iface: HID) -> None:
     if offset < datalen:
         frm = overlay_struct(buf, cont_desc)
 
-    write = loop.wait(iface.iface_num() | io.POLL_WRITE)
+    write = loop.wait(
+        iface.iface_num() | io.POLL_WRITE, timeout_ms=_CTAP_HID_TIMEOUT_MS
+    )
     while offset < datalen:
         frm.seq = seq
         copied = utils.memcpy(frm.data, 0, cmd.data, offset, datalen)
@@ -502,10 +508,7 @@ async def send_cmd(cmd: Cmd, iface: HID) -> None:
         if copied < _FRAME_CONT_SIZE:
             frm.data[copied:] = bytearray(_FRAME_CONT_SIZE - copied)
         while True:
-            ret = await loop.race(write, loop.sleep(_CTAP_HID_TIMEOUT_MS))
-            if ret is not None:
-                raise TimeoutError
-
+            await write
             if iface.write(buf) > 0:
                 break
         seq += 1
diff --git a/core/src/trezor/loop.py b/core/src/trezor/loop.py
index f7edc6485c..636ee333cd 100644
--- a/core/src/trezor/loop.py
+++ b/core/src/trezor/loop.py
@@ -14,9 +14,9 @@ from typing import TYPE_CHECKING
 from trezor import io, log
 
 if TYPE_CHECKING:
-    from typing import Any, Awaitable, Callable, Coroutine, Generator
+    from typing import Any, Awaitable, Callable, Coroutine, Generator, Union
 
-    Task = Coroutine | Generator
+    Task = Union[Coroutine, Generator, "wait"]
     AwaitableTask = Task | Awaitable
     Finalizer = Callable[[Task, Any], None]
 
@@ -202,6 +202,13 @@ class Syscall:
         pass
 
 
+class Timeout(Exception):
+    pass
+
+
+_TIMEOUT_ERROR = Timeout()
+
+
 class sleep(Syscall):
     """Pause current task and resume it after given delay.
 
@@ -233,11 +240,41 @@ class wait(Syscall):
     >>> event, x, y = await loop.wait(io.TOUCH)  # await touch event
     """
 
-    def __init__(self, msg_iface: int) -> None:
+    _DO_NOT_RESCHEDULE = Syscall()
+
+    def __init__(self, msg_iface: int, timeout_ms: int | None = None) -> None:
         self.msg_iface = msg_iface
+        self.timeout_ms = timeout_ms
+        self.task: Task | None = None
 
     def handle(self, task: Task) -> None:
-        pause(task, self.msg_iface)
+        self.task = task
+        pause(self, self.msg_iface)
+        if self.timeout_ms is not None:
+            deadline = utime.ticks_add(utime.ticks_ms(), self.timeout_ms)
+            schedule(self, _TIMEOUT_ERROR, deadline)
+
+    def send(self, __value: Any) -> Any:
+        assert self.task is not None
+        self.close()
+        _step(self.task, __value)
+        return self._DO_NOT_RESCHEDULE
+
+    throw = send
+
+    def close(self) -> None:
+        _queue.discard(self)
+        if self.msg_iface in _paused:
+            _paused[self.msg_iface].discard(self)
+            if not _paused[self.msg_iface]:
+                del _paused[self.msg_iface]
+
+    def __iter__(self) -> Generator:
+        try:
+            return (yield self)
+        finally:
+            # whichever way we got here, we must be removed from the paused list
+            self.close()
 
 
 _type_gen: type[Generator] = type((lambda: (yield))())