diff --git a/hw/bsp/rp2040/family.c b/hw/bsp/rp2040/family.c
index aa9d00c23..5ac104688 100644
--- a/hw/bsp/rp2040/family.c
+++ b/hw/bsp/rp2040/family.c
@@ -30,6 +30,7 @@
 #include "pico/unique_id.h"
 #include "hardware/gpio.h"
 #include "hardware/sync.h"
+#include "hardware/resets.h"
 #include "hardware/structs/ioqspi.h"
 #include "hardware/structs/sio.h"
 
@@ -166,6 +167,12 @@ void board_init(void)
 #if CFG_TUH_ENABLED
   // set portfunc to host !!!
 #endif
+
+#if !CFG_TUD_ENABLED && !CFG_TUH_ENABLED
+  // board test exxample, reset usb controller
+  reset_block(RESETS_RESET_USBCTRL_BITS);
+  unreset_block_wait(RESETS_RESET_USBCTRL_BITS);
+#endif
 }
 
 //--------------------------------------------------------------------+
diff --git a/test/hil/hil_test.py b/test/hil/hil_test.py
index 9cb009264..8f8a3aa65 100644
--- a/test/hil/hil_test.py
+++ b/test/hil/hil_test.py
@@ -115,7 +115,7 @@ def flash_jlink(board, firmware):
 
 def flash_openocd(board, firmware):
     ret = subprocess.run(
-        f'openocd -c "adapter serial {board["flasher_sn"]}" {board["flasher_args"]} -c "program {firmware} reset exit"',
+        f'openocd -c "adapter serial {board["flasher_sn"]}" {board["flasher_args"]} -c "program {firmware}" -c "reset init" -c "resume" -c "exit"',
         shell=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
     return ret