diff --git a/Firmware/Tupfile.lua b/Firmware/Tupfile.lua
index f3f28c31..4158616c 100644
--- a/Firmware/Tupfile.lua
+++ b/Firmware/Tupfile.lua
@@ -328,9 +328,16 @@ boards = {
 
 -- Toolchain setup -------------------------------------------------------------
 
-CC='arm-none-eabi-gcc -std=c99'
-CXX='arm-none-eabi-g++ -std=c++17 -Wno-register'
-LINKER='arm-none-eabi-g++'
+CCPATH = tup.getconfig('ARM_COMPILER_PATH')
+if CCPATH == "" then
+    CCPATH=''
+else
+    CCPATH = CCPATH..'/'
+end
+
+CC=CCPATH..'arm-none-eabi-gcc -std=c99'
+CXX=CCPATH..'arm-none-eabi-g++ -std=c++17 -Wno-register'
+LINKER=CCPATH..'arm-none-eabi-g++'
 
 -- C-specific flags
 CFLAGS += '-D__weak="__attribute__((weak))"'
@@ -440,13 +447,13 @@ tup.frule{
     outputs={'build/ODriveFirmware.elf', extra_outputs={'build/ODriveFirmware.map'}}
 }
 -- display the size
-tup.frule{inputs={'build/ODriveFirmware.elf'}, command='arm-none-eabi-size %f'}
+tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-size %f'}
 -- create *.hex and *.bin output formats
-tup.frule{inputs={'build/ODriveFirmware.elf'}, command='arm-none-eabi-objcopy -O ihex %f %o', outputs={'build/ODriveFirmware.hex'}}
-tup.frule{inputs={'build/ODriveFirmware.elf'}, command='arm-none-eabi-objcopy -O binary -S %f %o', outputs={'build/ODriveFirmware.bin'}}
+tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-objcopy -O ihex %f %o', outputs={'build/ODriveFirmware.hex'}}
+tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-objcopy -O binary -S %f %o', outputs={'build/ODriveFirmware.bin'}}
 
 if tup.getconfig('ENABLE_DISASM') == 'true' then
-    tup.frule{inputs={'build/ODriveFirmware.elf'}, command='arm-none-eabi-objdump %f -dSC > %o', outputs={'build/ODriveFirmware.asm'}}
+    tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-objdump %f -dSC > %o', outputs={'build/ODriveFirmware.asm'}}
 end
 
 if tup.getconfig('DOCTEST') == 'true' then
diff --git a/Firmware/tup.config.default b/Firmware/tup.config.default
index a4deb780..0ac01bd5 100644
--- a/Firmware/tup.config.default
+++ b/Firmware/tup.config.default
@@ -1,9 +1,12 @@
 # Copy this file to tup.config and adapt it to your needs
 # make sure this fits your board
-#CONFIG_BOARD_VERSION=v3.5-24V
+#CONFIG_BOARD_VERSION=v3.6-56V
 CONFIG_DEBUG=false
 CONFIG_DOCTEST=false
 CONFIG_USE_LTO=false
 
+# Path to the ARM compiler /bin folder (optional)
+#CONFIG_ARM_COMPILER_PATH=C:/Tools/ARM/9-2019-q4-major/bin
+
 # Uncomment this to error on compilation warnings
 #CONFIG_STRICT=true