diff --git a/firmware/src/firmware.ino b/firmware/src/firmware.ino
index cd9239de..ca8394ab 100644
--- a/firmware/src/firmware.ino
+++ b/firmware/src/firmware.ino
@@ -145,6 +145,9 @@ void setup()
     Wire.begin();
 #endif
     Wire.setClock(400000);
+#ifdef BOARD_INIT // board specific setup
+    BOARD_INIT
+#endif
     initWifis();
     initOta();
 
@@ -163,6 +166,9 @@ void setup()
 #else
     set_microros_serial_transports(Serial);
 #endif
+#ifdef BOARD_INIT_LATE // board specific setup
+    BOARD_INIT_LATE
+#endif
 }
 
 void loop() {