diff --git a/tests/conftest.py b/tests/conftest.py
index 3dab4f2..9181a55 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -11,9 +11,24 @@ from fido2.cose import ES256
 import sys
 import pytest
 import os
+import struct
 
 DEFAULT_PIN='12345678'
 
+
+class Packet(object):
+    def __init__(self, data):
+        self.data = data
+
+    def ToWireFormat(
+        self,
+    ):
+        return self.data
+
+    @staticmethod
+    def FromWireFormat(pkt_size, data):
+        return Packet(data)
+
 class CliInteraction(UserInteraction):
     def prompt_up(self):
         print("\nTouch your authenticator device now...\n")
@@ -47,6 +62,7 @@ class Device():
 
         # Locate a device
         self.__dev = next(CtapHidDevice.list_devices(), None)
+        self.dev = self.__dev
         if self.__dev is not None:
             print("Use USB HID channel.")
         else:
@@ -96,6 +112,41 @@ class Device():
             self.__rp = rp
         return self.__rp
 
+    def send_data(self, cmd, data, timeout = 1.0, on_keepalive = None):
+        if not isinstance(data, bytes):
+            data = struct.pack("%dB" % len(data), *[ord(x) for x in data])
+        with Timeout(timeout) as event:
+            event.is_set()
+            return self.dev.call(cmd, data, event, on_keepalive = on_keepalive)
+
+    def cid(self):
+        return self.dev._channel_id
+
+    def set_cid(self, cid):
+        self.dev._channel_id = int.from_bytes(cid, 'big')
+
+    def recv_raw(self):
+            with Timeout(1.0):
+                r = self.dev._connection.read_packet()
+            return r[4], r[7:]
+
+    def send_raw(self, data, cid=None):
+        if cid is None:
+            cid = self.dev._channel_id.to_bytes(4, 'big')
+        elif not isinstance(cid, bytes):
+            cid = struct.pack("%dB" % len(cid), *[ord(x) for x in cid])
+        if not isinstance(data, bytes):
+            data = struct.pack("%dB" % len(data), *[ord(x) for x in data])
+        data = cid + data
+        l = len(data)
+        if l != 64:
+            pad = "\x00" * (64 - l)
+            pad = struct.pack("%dB" % len(pad), *[ord(x) for x in pad])
+            data = data + pad
+        data = bytes(data)
+        assert len(data) == 64
+        self.dev._connection.write_packet(data)
+
     def reset(self):
         print("Resetting Authenticator...")
         try:
diff --git a/tests/pico-fido/test_hid.py b/tests/pico-fido/test_hid.py
new file mode 100644
index 0000000..a75bffc
--- /dev/null
+++ b/tests/pico-fido/test_hid.py
@@ -0,0 +1,253 @@
+import os
+import socket
+import time
+from binascii import hexlify, unhexlify
+
+import pytest
+from fido2.ctap import CtapError
+from fido2.hid import CTAPHID
+from utils import Timeout
+
+class TestHID(object):
+    def test_long_ping(self, device):
+        amt = 1000
+        pingdata = os.urandom(amt)
+
+        t1 = time.time() * 1000
+        r = device.send_data(CTAPHID.PING, pingdata)
+        t2 = time.time() * 1000
+        delt = t2 - t1
+
+        assert not (delt > 555 * (amt / 1000))
+
+        assert r == pingdata
+
+    def test_init(self, device, check_timeouts=False):
+        if check_timeouts:
+            with pytest.raises(socket.timeout):
+                cmd, resp = self.recv_raw()
+
+        payload = b"\x11\x11\x11\x11\x11\x11\x11\x11"
+        r = device.send_data(CTAPHID.INIT, payload)
+        print(r)
+        assert r[:8] == payload
+
+    def test_ping(self, device):
+
+        pingdata = os.urandom(100)
+        r = device.send_data(CTAPHID.PING, pingdata)
+        assert r == pingdata
+
+    def test_wink(self, device):
+        r = device.send_data(CTAPHID.WINK, "")
+
+    def test_cbor_no_payload(self, device):
+        payload = b"\x11\x11\x11\x11\x11\x11\x11\x11"
+        r = device.send_data(CTAPHID.INIT, payload)
+        capabilities = r[16]
+
+        if (capabilities ^ 0x04) != 0:
+            print("Implements CBOR.")
+            with pytest.raises(CtapError) as e:
+                r = device.send_data(CTAPHID.CBOR, "")
+            assert e.value.code == CtapError.ERR.INVALID_LENGTH
+        else:
+            print("CBOR is not implemented.")
+
+    def test_no_data_in_u2f_msg(self, device):
+        payload = b"\x11\x11\x11\x11\x11\x11\x11\x11"
+        r = device.send_data(CTAPHID.INIT, payload)
+        capabilities = r[16]
+
+        if (capabilities ^ 0x08) == 0:
+            print("U2F implemented.")
+            with pytest.raises(CtapError) as e:
+                r = device.send_data(CTAPHID.MSG, "")
+                print(hexlify(r))
+            assert e.value.code == CtapError.ERR.INVALID_LENGTH
+        else:
+            print("U2F not implemented.")
+
+    def test_invalid_hid_cmd(self, device):
+        r = device.send_data(CTAPHID.INIT, "\x11\x22\x33\x44\x55\x66\x77\x88")
+
+        with pytest.raises(CtapError) as e:
+            r = device.send_data(0x66, "")
+        assert e.value.code == CtapError.ERR.INVALID_COMMAND
+
+    def test_oversize_packet(self, device):
+        device.send_raw("\x81\x1d\xba\x00")
+        cmd, resp = device.recv_raw()
+        assert resp[0] == CtapError.ERR.INVALID_LENGTH
+
+    def test_skip_sequence_number(self, device):
+        r = device.send_data(CTAPHID.PING, "\x44" * 200)
+        device.send_raw("\x81\x04\x90")
+        device.send_raw("\x00")
+        device.send_raw("\x01")
+        # skip 2
+        device.send_raw("\x03")
+        cmd, resp = device.recv_raw()
+        assert resp[0] == CtapError.ERR.INVALID_SEQ
+
+    def test_resync_and_ping(self, device):
+        r = device.send_data(CTAPHID.INIT, "\x11\x22\x33\x44\x55\x66\x77\x88")
+        pingdata = os.urandom(100)
+        r = device.send_data(CTAPHID.PING, pingdata)
+        if r != pingdata:
+            raise ValueError("Ping data not echo'd")
+
+    def test_ping_abort(self, device):
+        device.send_raw("\x81\x04\x00")
+        device.send_raw("\x00")
+        device.send_raw("\x01")
+        device.send_data(CTAPHID.INIT, "\x11\x22\x33\x44\x55\x66\x77\x88")
+
+    def test_ping_abort_from_different_cid(self, device, check_timeouts=False):
+        oldcid = device.dev._channel_id
+        newcid = int.from_bytes(b"\x11\x22\x33\x44", 'big')
+        device.send_raw("\x81\x10\x00")
+        device.send_raw("\x00")
+        device.send_raw("\x01")
+        device.dev._channel_id = newcid
+        device.send_raw(
+            "\x86\x00\x08\x11\x22\x33\x44\x55\x66\x77\x88"
+        )  # init from different cid
+        print("wait for init response")
+        cmd, r = device.recv_raw()  # init response
+        assert cmd == 0x86
+        device.dev._channel_id = oldcid
+        if check_timeouts:
+            # print('wait for timeout')
+            cmd, r = device.recv_raw()  # timeout response
+            assert cmd == 0xBF
+
+    def test_timeout(self, device):
+        device.send_data(CTAPHID.INIT, "\x11\x22\x33\x44\x55\x66\x77\x88")
+        t1 = time.time() * 1000
+        device.send_raw("\x81\x04\x00")
+        device.send_raw("\x00")
+        device.send_raw("\x01")
+        cmd, r = device.recv_raw()  # timeout response
+        t2 = time.time() * 1000
+        delt = t2 - t1
+        assert cmd == 0xBF
+        assert r[0] == CtapError.ERR.TIMEOUT
+        assert delt < 1000 and delt > 400
+
+    def test_not_cont(self, device, check_timeouts=False):
+        device.send_data(CTAPHID.INIT, "\x11\x22\x33\x44\x55\x66\x77\x88")
+        device.send_raw("\x81\x04\x00")
+        device.send_raw("\x00")
+        device.send_raw("\x01")
+        device.send_raw("\x81\x10\x00")  # init packet
+        cmd, r = device.recv_raw()  # timeout response
+        assert cmd == 0xBF
+        assert r[0] == CtapError.ERR.INVALID_SEQ
+
+        if check_timeouts:
+            device.send_data(CTAPHID.INIT, "\x11\x22\x33\x44\x55\x66\x77\x88")
+            device.send_raw("\x01\x10\x00")
+            with pytest.raises(socket.timeout):
+                cmd, r = device.recv_raw()  # timeout response
+
+    def test_check_busy(self, device):
+        t1 = time.time() * 1000
+        device.send_data(CTAPHID.INIT, "\x11\x22\x33\x44\x55\x66\x77\x88")
+        oldcid = device.cid()
+        newcid = b"\x11\x22\x33\x44"
+        device.send_raw("\x81\x04\x00")
+        device.set_cid(newcid)
+        device.send_raw("\x81\x04\x00")
+        cmd, r = device.recv_raw()  # busy response
+        t2 = time.time() * 1000
+        assert t2 - t1 < 100
+        assert cmd == 0xBF
+        assert r[0] == CtapError.ERR.CHANNEL_BUSY
+
+        device.set_cid(oldcid)
+        cmd, r = device.recv_raw()  # timeout response
+        assert cmd == 0xBF
+        assert r[0] == CtapError.ERR.TIMEOUT
+
+    def test_check_busy_interleaved(self, device):
+        cid1 = b"\x11\x22\x33\x44"
+        cid2 = b"\x01\x22\x33\x44"
+        device.set_cid(cid2)
+        device.send_data(CTAPHID.INIT, "\x11\x22\x33\x44\x55\x66\x77\x88")
+        device.set_cid(cid1)
+        device.send_data(CTAPHID.INIT, "\x11\x22\x33\x44\x55\x66\x77\x88")
+        device.send_raw("\x81\x00\x63")  # echo 99 bytes first channel
+
+        device.set_cid(cid2)  # send ping on 2nd channel
+        device.send_raw("\x81\x00\x39")
+        time.sleep(0.1)
+        device.send_raw("\x00")
+
+        cmd, r = device.recv_raw()  # busy response
+
+        device.set_cid(cid1)  # finish 1st channel ping
+        device.send_raw("\x00")
+
+        device.set_cid(cid2)
+
+        assert cmd == 0xBF
+        assert r[0] == CtapError.ERR.CHANNEL_BUSY
+
+        device.set_cid(cid1)
+        cmd, r = device.recv_raw()  # ping response
+        assert cmd == 0x81
+        assert len(r) == 0x39
+
+    def test_cid_0(self, device):
+        device.set_cid("\x00\x00\x00\x00")
+        device.send_raw(
+            "\x86\x00\x08\x11\x22\x33\x44\x55\x66\x77\x88", cid="\x00\x00\x00\x00"
+        )
+        cmd, r = device.recv_raw()  # timeout
+        assert cmd == 0xBF
+        assert r[0] == CtapError.ERR.INVALID_CHANNEL
+        device.set_cid("\x05\x04\x03\x02")
+
+    def test_cid_ffffffff(self, device):
+
+        device.set_cid("\xff\xff\xff\xff")
+        device.send_raw(
+            "\x81\x00\x08\x11\x22\x33\x44\x55\x66\x77\x88", cid="\xff\xff\xff\xff"
+        )
+        cmd, r = device.recv_raw()  # timeout
+        assert cmd == 0xBF
+        assert r[0] == CtapError.ERR.INVALID_CHANNEL
+        device.set_cid("\x05\x04\x03\x02")
+
+    def test_keep_alive(self, device, check_timeouts=False):
+
+        precanned_make_credential = unhexlify(
+            '01a401582031323334353637383961626364656630313233343536373'\
+            '8396162636465663002a26269646b6578616d706c652e6f7267646e61'\
+            '6d65694578616d706c65525003a462696446cc2abaf119f26469636f6'\
+            'e781f68747470733a2f2f7777772e77332e6f72672f54522f77656261'\
+            '7574686e2f646e616d657256696e204f6c696d7069612047657272696'\
+            '56b646973706c61794e616d65781c446973706c617965642056696e20'\
+            '4f6c696d706961204765727269650481a263616c672664747970656a7'\
+            '075626c69632d6b6579')
+
+        count = 0
+        def count_keepalive(_x):
+            nonlocal count
+            count += 1
+
+        # We should get a keepalive within .5s
+        try:
+            r = device.send_data(CTAPHID.CBOR, precanned_make_credential, timeout = .50, on_keepalive = count_keepalive)
+        except CtapError as e:
+            assert e.code == CtapError.ERR.KEEPALIVE_CANCEL
+        assert count > 0
+
+        # wait for authnr to get UP or timeout
+        while True:
+            try:
+                r = device.send_data(CTAPHID.CBOR, '\x04') # getInfo
+                break
+            except CtapError as e:
+                assert e.code == CtapError.ERR.CHANNEL_BUSY
diff --git a/tests/utils.py b/tests/utils.py
index f0e729b..925f402 100644
--- a/tests/utils.py
+++ b/tests/utils.py
@@ -3,6 +3,9 @@ import random
 import string
 import secrets
 import math
+from threading import Event, Timer
+from numbers import Number
+
 
 def verify(MC, GA, client_data_hash):
     credential_data = AttestedCredentialData(MC.auth_data.credential_data)
@@ -56,3 +59,59 @@ def shannon_entropy(data):
             s -= p * math.log2(p)
     return s
 
+
+# Timeout from:
+#   https://github.com/Yubico/python-fido2/blob/f1dc028d6158e1d6d51558f72055c65717519b9b/fido2/utils.py
+# Copyright (c) 2013 Yubico AB
+# All rights reserved.
+#
+#   Redistribution and use in source and binary forms, with or
+#   without modification, are permitted provided that the following
+#   conditions are met:
+#
+#    1. Redistributions of source code must retain the above copyright
+#       notice, this list of conditions and the following disclaimer.
+#    2. Redistributions in binary form must reproduce the above
+#       copyright notice, this list of conditions and the following
+#       disclaimer in the documentation and/or other materials provided
+#       with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+class Timeout(object):
+    """Utility class for adding a timeout to an event.
+    :param time_or_event: A number, in seconds, or a threading.Event object.
+    :ivar event: The Event associated with the Timeout.
+    :ivar timer: The Timer associated with the Timeout, if any.
+    """
+
+    def __init__(self, time_or_event):
+
+        if isinstance(time_or_event, Number):
+            self.event = Event()
+            self.timer = Timer(time_or_event, self.event.set)
+        else:
+            self.event = time_or_event
+            self.timer = None
+
+    def __enter__(self):
+        if self.timer:
+            self.timer.start()
+        return self.event
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        if self.timer:
+            self.timer.cancel()
+            self.timer.join()