diff --git a/homeassistant/components/firmata/__init__.py b/homeassistant/components/firmata/__init__.py
index cef9db620b8..ffc4d39a89b 100644
--- a/homeassistant/components/firmata/__init__.py
+++ b/homeassistant/components/firmata/__init__.py
@@ -190,7 +190,7 @@ async def async_setup_entry(hass: HomeAssistant, config_entry: ConfigEntry) -> b
     device_registry = dr.async_get(hass)
     device_registry.async_get_or_create(
         config_entry_id=config_entry.entry_id,
-        connections={},
+        connections=set(),
         identifiers={(DOMAIN, board.name)},
         manufacturer=FIRMATA_MANUFACTURER,
         name=board.name,
diff --git a/homeassistant/components/firmata/board.py b/homeassistant/components/firmata/board.py
index 1f0052732ea..002775edb0c 100644
--- a/homeassistant/components/firmata/board.py
+++ b/homeassistant/components/firmata/board.py
@@ -1,6 +1,9 @@
 """Code to handle a Firmata board."""
+from __future__ import annotations
+
+from collections.abc import Mapping
 import logging
-from typing import Union
+from typing import Literal, Union
 
 from pymata_express.pymata_express import PymataExpress
 from pymata_express.pymata_express_serial import serial
@@ -32,18 +35,18 @@ FirmataPinType = Union[int, str]
 class FirmataBoard:
     """Manages a single Firmata board."""
 
-    def __init__(self, config: dict) -> None:
+    def __init__(self, config: Mapping) -> None:
         """Initialize the board."""
         self.config = config
-        self.api = None
-        self.firmware_version = None
+        self.api: PymataExpress = None
+        self.firmware_version: str | None = None
         self.protocol_version = None
         self.name = self.config[CONF_NAME]
         self.switches = []
         self.lights = []
         self.binary_sensors = []
         self.sensors = []
-        self.used_pins = []
+        self.used_pins: list[FirmataPinType] = []
 
         if CONF_SWITCHES in self.config:
             self.switches = self.config[CONF_SWITCHES]
@@ -118,8 +121,10 @@ board %s: %s",
         self.used_pins.append(pin)
         return True
 
-    def get_pin_type(self, pin: FirmataPinType) -> tuple:
+    def get_pin_type(self, pin: FirmataPinType) -> tuple[Literal[0, 1], int]:
         """Return the type and Firmata location of a pin on the board."""
+        pin_type: Literal[0, 1]
+        firmata_pin: int
         if isinstance(pin, str):
             pin_type = PIN_TYPE_ANALOG
             firmata_pin = int(pin[1:])
@@ -130,7 +135,7 @@ board %s: %s",
         return (pin_type, firmata_pin)
 
 
-async def get_board(data: dict) -> PymataExpress:
+async def get_board(data: Mapping) -> PymataExpress:
     """Create a Pymata board object."""
     board_data = {}
 
diff --git a/homeassistant/components/firmata/const.py b/homeassistant/components/firmata/const.py
index 091d724229c..da722b51897 100644
--- a/homeassistant/components/firmata/const.py
+++ b/homeassistant/components/firmata/const.py
@@ -1,4 +1,6 @@
 """Constants for the Firmata component."""
+from typing import Final
+
 from homeassistant.const import (
     CONF_BINARY_SENSORS,
     CONF_LIGHTS,
@@ -19,8 +21,8 @@ PIN_MODE_OUTPUT = "OUTPUT"
 PIN_MODE_PWM = "PWM"
 PIN_MODE_INPUT = "INPUT"
 PIN_MODE_PULLUP = "PULLUP"
-PIN_TYPE_ANALOG = 1
-PIN_TYPE_DIGITAL = 0
+PIN_TYPE_ANALOG: Final = 1
+PIN_TYPE_DIGITAL: Final = 0
 CONF_SAMPLING_INTERVAL = "sampling_interval"
 CONF_SERIAL_BAUD_RATE = "serial_baud_rate"
 CONF_SERIAL_PORT = "serial_port"
diff --git a/homeassistant/components/firmata/entity.py b/homeassistant/components/firmata/entity.py
index 0f248e0b9d7..0e66656421b 100644
--- a/homeassistant/components/firmata/entity.py
+++ b/homeassistant/components/firmata/entity.py
@@ -20,7 +20,7 @@ class FirmataEntity:
     def device_info(self) -> DeviceInfo:
         """Return device info."""
         return DeviceInfo(
-            connections={},
+            connections=set(),
             identifiers={(DOMAIN, self._api.board.name)},
             manufacturer=FIRMATA_MANUFACTURER,
             name=self._api.board.name,
@@ -33,7 +33,7 @@ class FirmataPinEntity(FirmataEntity):
 
     def __init__(
         self,
-        api: type[FirmataBoardPin],
+        api: FirmataBoardPin,
         config_entry: ConfigEntry,
         name: str,
         pin: FirmataPinType,
diff --git a/homeassistant/components/firmata/light.py b/homeassistant/components/firmata/light.py
index d42e72f992a..de511058114 100644
--- a/homeassistant/components/firmata/light.py
+++ b/homeassistant/components/firmata/light.py
@@ -58,7 +58,7 @@ class FirmataLight(FirmataPinEntity, LightEntity):
 
     def __init__(
         self,
-        api: type[FirmataBoardPin],
+        api: FirmataBoardPin,
         config_entry: ConfigEntry,
         name: str,
         pin: FirmataPinType,
diff --git a/homeassistant/components/firmata/pin.py b/homeassistant/components/firmata/pin.py
index 6dadb07fd63..190889914b3 100644
--- a/homeassistant/components/firmata/pin.py
+++ b/homeassistant/components/firmata/pin.py
@@ -3,6 +3,7 @@ from __future__ import annotations
 
 from collections.abc import Callable
 import logging
+from typing import cast
 
 from .board import FirmataBoard, FirmataPinType
 from .const import PIN_MODE_INPUT, PIN_MODE_PULLUP, PIN_TYPE_ANALOG
@@ -23,11 +24,12 @@ class FirmataBoardPin:
         self._pin = pin
         self._pin_mode = pin_mode
         self._pin_type, self._firmata_pin = self.board.get_pin_type(self._pin)
-        self._state = None
+        self._state: bool | int | None = None
+        self._analog_pin: int | None = None
 
         if self._pin_type == PIN_TYPE_ANALOG:
             # Pymata wants the analog pin formatted as the # from "A#"
-            self._analog_pin = int(self._pin[1:])
+            self._analog_pin = int(cast(str, self._pin)[1:])
 
     def setup(self):
         """Set up a pin and make sure it is valid."""
@@ -38,6 +40,8 @@ class FirmataBoardPin:
 class FirmataBinaryDigitalOutput(FirmataBoardPin):
     """Representation of a Firmata Digital Output Pin."""
 
+    _state: bool
+
     def __init__(
         self,
         board: FirmataBoard,
@@ -92,6 +96,8 @@ class FirmataBinaryDigitalOutput(FirmataBoardPin):
 class FirmataPWMOutput(FirmataBoardPin):
     """Representation of a Firmata PWM/analog Output Pin."""
 
+    _state: int
+
     def __init__(
         self,
         board: FirmataBoard,
@@ -139,12 +145,14 @@ class FirmataPWMOutput(FirmataBoardPin):
 class FirmataBinaryDigitalInput(FirmataBoardPin):
     """Representation of a Firmata Digital Input Pin."""
 
+    _state: bool
+
     def __init__(
         self, board: FirmataBoard, pin: FirmataPinType, pin_mode: str, negate: bool
     ) -> None:
         """Initialize the digital input pin."""
         self._negate = negate
-        self._forward_callback = None
+        self._forward_callback: Callable[[], None]
         super().__init__(board, pin, pin_mode)
 
     async def start_pin(self, forward_callback: Callable[[], None]) -> None:
@@ -206,12 +214,15 @@ class FirmataBinaryDigitalInput(FirmataBoardPin):
 class FirmataAnalogInput(FirmataBoardPin):
     """Representation of a Firmata Analog Input Pin."""
 
+    _analog_pin: int
+    _state: int
+
     def __init__(
         self, board: FirmataBoard, pin: FirmataPinType, pin_mode: str, differential: int
     ) -> None:
         """Initialize the analog input pin."""
         self._differential = differential
-        self._forward_callback = None
+        self._forward_callback: Callable[[], None]
         super().__init__(board, pin, pin_mode)
 
     async def start_pin(self, forward_callback: Callable[[], None]) -> None:
diff --git a/mypy.ini b/mypy.ini
index c72dfbee1bd..887a65394b7 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -2273,30 +2273,6 @@ ignore_errors = true
 [mypy-homeassistant.components.fireservicerota.switch]
 ignore_errors = true
 
-[mypy-homeassistant.components.firmata]
-ignore_errors = true
-
-[mypy-homeassistant.components.firmata.binary_sensor]
-ignore_errors = true
-
-[mypy-homeassistant.components.firmata.board]
-ignore_errors = true
-
-[mypy-homeassistant.components.firmata.entity]
-ignore_errors = true
-
-[mypy-homeassistant.components.firmata.light]
-ignore_errors = true
-
-[mypy-homeassistant.components.firmata.pin]
-ignore_errors = true
-
-[mypy-homeassistant.components.firmata.sensor]
-ignore_errors = true
-
-[mypy-homeassistant.components.firmata.switch]
-ignore_errors = true
-
 [mypy-homeassistant.components.geniushub]
 ignore_errors = true
 
diff --git a/script/hassfest/mypy_config.py b/script/hassfest/mypy_config.py
index 53468caa29d..a78e07e057b 100644
--- a/script/hassfest/mypy_config.py
+++ b/script/hassfest/mypy_config.py
@@ -48,14 +48,6 @@ IGNORED_MODULES: Final[list[str]] = [
     "homeassistant.components.fireservicerota.binary_sensor",
     "homeassistant.components.fireservicerota.sensor",
     "homeassistant.components.fireservicerota.switch",
-    "homeassistant.components.firmata",
-    "homeassistant.components.firmata.binary_sensor",
-    "homeassistant.components.firmata.board",
-    "homeassistant.components.firmata.entity",
-    "homeassistant.components.firmata.light",
-    "homeassistant.components.firmata.pin",
-    "homeassistant.components.firmata.sensor",
-    "homeassistant.components.firmata.switch",
     "homeassistant.components.geniushub",
     "homeassistant.components.geniushub.binary_sensor",
     "homeassistant.components.geniushub.climate",