diff --git a/.github/workflows/build_arm.yml b/.github/workflows/build_arm.yml
index 42c8eb7ce..3a2daab08 100644
--- a/.github/workflows/build_arm.yml
+++ b/.github/workflows/build_arm.yml
@@ -90,24 +90,11 @@ jobs:
           find ${ex} -name *.map -print -quit | xargs -I % sh -c 'echo "::group::%"; linkermap -v %; echo "::endgroup::"'
         done
 
-    # Upload binaries for rp2040/stm32l412nucleo hardware test with self-hosted
-
-    - name: Prepare rp2040 Artifacts
-      if: contains(matrix.family, 'rp2040') && github.repository_owner == 'hathach'
-      run: find examples/ -name "*.elf" -exec mv {} . \;
-
+    # Upload binaries for hardware test with self-hosted
     - name: Prepare stm32l412nucleo Artifacts
       if: contains(matrix.family, 'stm32l4')
       run: find examples/ -path "*stm32l412nucleo/*.elf" -exec mv {} . \;
 
-    - name: Upload Artifacts for rp2040
-      if: contains(matrix.family,'rp2040') && github.repository_owner == 'hathach'
-      uses: actions/upload-artifact@v3
-      with:
-        name: rp2040
-        path: |
-          *.elf
-
     - name: Upload Artifacts for stm32l412nucleo
       if: contains(matrix.family, 'stm32l4') && github.repository_owner == 'hathach'
       uses: actions/upload-artifact@v3
@@ -116,66 +103,6 @@ jobs:
         path: |
           *.elf
 
-  # ---------------------------------------
-  # Hardware in the loop (HIL)
-  # Current self-hosted instance is running on an RPI4 with
-  # - pico + pico-probe connected via USB
-  # - pico-probe is /dev/ttyACM0
-  # ---------------------------------------
-  hw-rp2040-test:
-    # run only with hathach's commit due to limited resource on RPI4
-    if: github.repository_owner == 'hathach'
-    needs: build-arm
-    runs-on: [self-hosted, Linux, ARM64, rp2040]
-
-    steps:
-    - name: Clean workspace
-      run: |
-        echo "Cleaning up previous run"
-        rm -rf "${{ github.workspace }}"
-        mkdir -p "${{ github.workspace }}"
-
-    - name: Download rp2040 Artifacts
-      uses: actions/download-artifact@v3
-      with:
-        name: rp2040
-
-    - name: Create flash.sh
-      run: |
-        echo > flash.sh 'cmdout=$(openocd -f "interface/cmsis-dap.cfg" -f "target/rp2040.cfg" -c "adapter speed 5000" -c "program $1 reset exit")'
-        echo >> flash.sh 'if (( $? )) ; then echo $cmdout ; fi'
-        chmod +x flash.sh
-
-    - name: Test cdc_dual_ports
-      run: |
-        ./flash.sh cdc_dual_ports.elf
-        while (! ([ -e /dev/ttyACM1 ] && [ -e /dev/ttyACM2 ])) && [ $SECONDS -le 10 ]; do :; done
-        test -e /dev/ttyACM1 && echo "ttyACM1 exists"
-        test -e /dev/ttyACM2 && echo "ttyACM2 exists"
-
-    - name: Test cdc_msc
-      run: |
-        ./flash.sh cdc_msc.elf
-        readme='/media/pi/TinyUSB MSC/README.TXT'
-        while (! ([ -e /dev/ttyACM1 ] && [ -f "$readme" ])) && [ $SECONDS -le 10 ]; do :; done
-        test -e /dev/ttyACM1 && echo "ttyACM1 exists"
-        test -f "$readme" && echo "$readme exists"
-        cat "$readme"
-
-    - name: Test dfu
-      run: |
-        ./flash.sh dfu.elf
-        while (! (dfu-util -l | grep "Found DFU")) && [ $SECONDS -le 10 ]; do :; done
-        dfu-util -d cafe -a 0 -U dfu0
-        dfu-util -d cafe -a 1 -U dfu1
-        grep "TinyUSB DFU! - Partition 0" dfu0
-        grep "TinyUSB DFU! - Partition 1" dfu1
-
-    - name: Test dfu_runtime
-      run: |
-        ./flash.sh dfu_runtime.elf
-        while (! (dfu-util -l | grep "Found Runtime")) && [ $SECONDS -le 10 ]; do :; done
-
   # ---------------------------------------
   # Hardware in the loop (HIL)
   # Current self-hosted instance is running on an EPYC 7232 server hosted by HiFiPhile user
diff --git a/.github/workflows/cmake_arm.yml b/.github/workflows/cmake_arm.yml
index f3989f239..b3f1bd410 100644
--- a/.github/workflows/cmake_arm.yml
+++ b/.github/workflows/cmake_arm.yml
@@ -70,3 +70,76 @@ jobs:
       env:
         # for rp2040, there is no harm if defined for other families
         PICO_SDK_PATH: ${{ github.workspace }}/pico-sdk
+
+    # Upload binaries for hardware test with self-hosted
+    - name: Prepare rp2040 Artifacts
+      if: contains(matrix.family, 'rp2040') && github.repository_owner == 'hathach'
+      run: find examples/ -name "*.elf" -exec mv {} . \;
+
+    - name: Upload Artifacts for rp2040
+      if: contains(matrix.family,'rp2040') && github.repository_owner == 'hathach'
+      uses: actions/upload-artifact@v3
+      with:
+        name: rp2040
+        path: |
+          *.elf
+
+  # ---------------------------------------
+  # Hardware in the loop (HIL)
+  # Current self-hosted instance is running on an RPI4 with
+  # - pico + pico-probe connected via USB
+  # - pico-probe is /dev/ttyACM0
+  # ---------------------------------------
+  hw-rp2040-test:
+    # run only with hathach's commit due to limited resource on RPI4
+    if: github.repository_owner == 'hathach'
+    needs: build-arm
+    runs-on: [self-hosted, Linux, ARM64, rp2040]
+
+    steps:
+      - name: Clean workspace
+        run: |
+          echo "Cleaning up previous run"
+          rm -rf "${{ github.workspace }}"
+          mkdir -p "${{ github.workspace }}"
+
+      - name: Download rp2040 Artifacts
+        uses: actions/download-artifact@v3
+        with:
+          name: rp2040
+
+      - name: Create flash.sh
+        run: |
+          echo > flash.sh 'cmdout=$(openocd -f "interface/cmsis-dap.cfg" -f "target/rp2040.cfg" -c "adapter speed 5000" -c "program $1 reset exit")'
+          echo >> flash.sh 'if (( $? )) ; then echo $cmdout ; fi'
+          chmod +x flash.sh
+
+      - name: Test cdc_dual_ports
+        run: |
+          ./flash.sh cdc_dual_ports.elf
+          while (! ([ -e /dev/ttyACM1 ] && [ -e /dev/ttyACM2 ])) && [ $SECONDS -le 10 ]; do :; done
+          test -e /dev/ttyACM1 && echo "ttyACM1 exists"
+          test -e /dev/ttyACM2 && echo "ttyACM2 exists"
+
+      - name: Test cdc_msc
+        run: |
+          ./flash.sh cdc_msc.elf
+          readme='/media/pi/TinyUSB MSC/README.TXT'
+          while (! ([ -e /dev/ttyACM1 ] && [ -f "$readme" ])) && [ $SECONDS -le 10 ]; do :; done
+          test -e /dev/ttyACM1 && echo "ttyACM1 exists"
+          test -f "$readme" && echo "$readme exists"
+          cat "$readme"
+
+      - name: Test dfu
+        run: |
+          ./flash.sh dfu.elf
+          while (! (dfu-util -l | grep "Found DFU")) && [ $SECONDS -le 10 ]; do :; done
+          dfu-util -d cafe -a 0 -U dfu0
+          dfu-util -d cafe -a 1 -U dfu1
+          grep "TinyUSB DFU! - Partition 0" dfu0
+          grep "TinyUSB DFU! - Partition 1" dfu1
+
+      - name: Test dfu_runtime
+        run: |
+          ./flash.sh dfu_runtime.elf
+          while (! (dfu-util -l | grep "Found Runtime")) && [ $SECONDS -le 10 ]; do :; done