diff --git a/.github/workflows/hil_test.yml b/.github/workflows/hil_test.yml
index d5bd9c200..51227d408 100644
--- a/.github/workflows/hil_test.yml
+++ b/.github/workflows/hil_test.yml
@@ -17,6 +17,9 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
+env:
+  HIL_JSON: test/hil/rpi.json
+
 jobs:
   # ---------------------------------------
   # Build Non Espressif
@@ -36,7 +39,7 @@ jobs:
           sudo apt install -y jq
 
           # Non-Espresif boards
-          BOARDS_LIST=$(jq -r '.boards[] | select(.flasher != "esptool") | "-b " + .name' test/hil/pi4.json | tr '\n' ' ')
+          BOARDS_LIST=$(jq -r '.boards[] | select(.flasher != "esptool") | "-b " + .name' ${{ env.HIL_JSON }} | tr '\n' ' ')
           echo "BOARDS_LIST=$BOARDS_LIST"
           echo "BOARDS_LIST=$BOARDS_LIST" >> $GITHUB_ENV
           echo "BOARDS_LIST=$BOARDS_LIST" >> $GITHUB_OUTPUT
@@ -57,7 +60,7 @@ jobs:
       - name: Upload Artifacts for Hardware Testing
         uses: actions/upload-artifact@v4
         with:
-          name: hil_pi4
+          name: hil_rpi
           path: |
             cmake-build/cmake-build-*/*/*/*.elf
             cmake-build/cmake-build-*/*/*/*.bin
@@ -78,7 +81,7 @@ jobs:
         run: |
           sudo apt install -y jq
           # Espressif boards
-          BOARDS_LIST=$(jq -r '.boards[] | select(.flasher == "esptool") | "-b " + .name' test/hil/pi4.json | tr '\n' ' ')
+          BOARDS_LIST=$(jq -r '.boards[] | select(.flasher == "esptool") | "-b " + .name' ${{ env.HIL_JSON }} | tr '\n' ' ')
           echo "BOARDS_LIST=$BOARDS_LIST"
           echo "BOARDS_LIST=$BOARDS_LIST" >> $GITHUB_ENV
           echo "BOARDS_LIST=$BOARDS_LIST" >> $GITHUB_OUTPUT
@@ -102,7 +105,7 @@ jobs:
       - name: Upload Artifacts for Hardware Testing
         uses: actions/upload-artifact@v4
         with:
-          name: hil_pi4_esp
+          name: hil_rpi_esp
           path: |
             cmake-build/cmake-build-*/*/*/*.bin
             cmake-build/cmake-build-*/*/*/bootloader/bootloader.bin
@@ -112,14 +115,14 @@ jobs:
 
   # ---------------------------------------
   # Hardware in the loop (HIL)
-  # Current self-hosted instance is running on an RPI4. For attached hardware checkout test/hil/pi4.json
+  # self-hosted running on an RPI. For attached hardware checkout test/hil/rpi.json
   # ---------------------------------------
-  hil-pi4:
+  hil-rpi:
     if: github.repository_owner == 'hathach'
     needs:
       - build
       - build-esp
-    runs-on: [self-hosted, rp2040, nrf52840, esp32s3, hardware-in-the-loop]
+    runs-on: [self-hosted, ARM64, rpi, hardware-in-the-loop]
     env:
       BOARDS_LIST: "${{ needs.build.outputs.BOARDS_LIST }} ${{ needs.build-esp.outputs.BOARDS_LIST }}"
     steps:
@@ -129,12 +132,12 @@ jobs:
           rm -rf "${{ github.workspace }}"
           mkdir -p "${{ github.workspace }}"
 
-        # USB bus on rpi4 is not stable, reset it before testing
-      - name: Reset USB bus
-        run: |
-          # reset VIA Labs 2.0 hub
-          sudo usbreset 001/002
-          lsusb -t
+        # USB bus on rpi is not stable, reset it before testing
+#      - name: Reset USB bus
+#        run: |
+#          # reset VIA Labs 2.0 hub
+#          sudo usbreset 001/002
+#          lsusb -t
 
       - name: Checkout TinyUSB
         uses: actions/checkout@v4
@@ -144,13 +147,13 @@ jobs:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
         with:
-          name: hil_pi4
+          name: hil_rpi
           path: cmake-build
 
       - name: Download Artifacts
         uses: actions/download-artifact@v4
         with:
-          name: hil_pi4_esp
+          name: hil_rpi_esp
           path: cmake-build
 
       - name: Test on actual hardware
@@ -159,4 +162,4 @@ jobs:
           echo "::group::{cmake-build contents}"
           tree cmake-build
           echo "::endgroup::"
-          python3 test/hil/hil_test.py $BOARDS_LIST pi4.json
+          python3 test/hil/hil_test.py $BOARDS_LIST ${{ env.HIL_JSON }}
diff --git a/test/hil/hil_test.py b/test/hil/hil_test.py
index c2699cc6f..3ba84f881 100644
--- a/test/hil/hil_test.py
+++ b/test/hil/hil_test.py
@@ -330,7 +330,9 @@ def main():
     config_file = args.config_file
     boards = args.board
 
-    config_file = os.path.join(os.path.dirname(__file__), config_file)
+    # if config file is not found, try to find it in the same directory as this script
+    if not os.path.exists(config_file):
+        config_file = os.path.join(os.path.dirname(__file__), config_file)
     with open(config_file) as f:
         config = json.load(f)
 
diff --git a/test/hil/pi4.json b/test/hil/rpi.json
similarity index 100%
rename from test/hil/pi4.json
rename to test/hil/rpi.json