diff --git a/dist/tools/openocd/openocd.sh b/dist/tools/openocd/openocd.sh
index ebe73da4f5..5ea5d40722 100755
--- a/dist/tools/openocd/openocd.sh
+++ b/dist/tools/openocd/openocd.sh
@@ -346,6 +346,7 @@ do_flash() {
             -c 'telnet_port 0' \
             -c 'gdb_port 0' \
             -c 'init' \
+            ${OPENOCD_POST_INIT_CMDS} \
             -c 'targets' \
             ${OPENOCD_CMD_RESET_HALT} \
             ${OPENOCD_PRE_FLASH_CMDS} \
diff --git a/makefiles/tools/openocd.inc.mk b/makefiles/tools/openocd.inc.mk
index 4d01fb0174..f3b4599889 100644
--- a/makefiles/tools/openocd.inc.mk
+++ b/makefiles/tools/openocd.inc.mk
@@ -34,6 +34,12 @@ $(call target-export-variables,$(OPENOCD_TARGETS),OPENOCD_CORE)
 # Export OPENOCD_ADAPTER_INIT to required targets
 $(call target-export-variables,$(OPENOCD_TARGETS),OPENOCD_ADAPTER_INIT)
 
+# Export OPENOCD_EXTRA_INIT to required targets
+$(call target-export-variables,$(OPENOCD_TARGETS),OPENOCD_EXTRA_INIT)
+
+# Export OPENOCD_EXTRA_RESET_INIT to required targets
+$(call target-export-variables,$(OPENOCD_TARGETS),OPENOCD_EXTRA_RESET_INIT)
+
 # Export OPENOCD_RESET_USE_CONNECT_ASSERT_SRST to required targets
 $(call target-export-variables,$(OPENOCD_TARGETS),OPENOCD_RESET_USE_CONNECT_ASSERT_SRST)
 
@@ -67,6 +73,11 @@ ifneq (,$(IMAGE_OFFSET))
   $(call target-export-variables,$(OPENOCD_FLASH_TARGETS),IMAGE_OFFSET)
 endif
 
+ifneq (,$(OPENOCD_POST_INIT_CMDS))
+  # Export OPENOCD_POST_INIT_CMDS only to the flash/flash-only target
+  $(call target-export-variables,$(OPENOCD_FLASH_TARGETS),OPENOCD_POST_INIT_CMDS)
+endif
+
 ifneq (,$(OPENOCD_PRE_VERIFY_CMDS))
   # Export OPENOCD_PRE_VERIFY_CMDS only to the flash/flash-only target
   $(call target-export-variables,$(OPENOCD_FLASH_TARGETS),OPENOCD_PRE_VERIFY_CMDS)