diff --git a/Inc/targets.h b/Inc/targets.h
index 6563a122..1d5516a0 100644
--- a/Inc/targets.h
+++ b/Inc/targets.h
@@ -1169,6 +1169,27 @@
 #define TARGET_STALL_PROTECTION_INTERVAL 9000
 #endif
 
+#ifdef ARK_4IN1_F051
+#define FILE_NAME "ARK_4IN1_F051"
+#define FIRMWARE_NAME "ARK 4IN1"
+#define DEAD_TIME 45
+#define HARDWARE_GROUP_F0_B
+#define MILLIVOLT_PER_AMP 10
+#define CURRENT_OFFSET 25 // millivolts
+#define TARGET_VOLTAGE_DIVIDER 210
+#define VOLTAGE_ADC_CHANNEL LL_ADC_CHANNEL_6
+#define VOLTAGE_ADC_PIN LL_GPIO_PIN_6
+#define CURRENT_ADC_CHANNEL LL_ADC_CHANNEL_3
+#define CURRENT_ADC_PIN LL_GPIO_PIN_3
+#define USE_SERIAL_TELEMETRY
+#define USE_DRV8328_NSLEEP
+#define NSLEEP_PORT GPIOA
+#define NSLEEP_PIN LL_GPIO_PIN_15
+#define USE_DRV8328_NFAULT
+#define NFAULT_PORT GPIOB
+#define NFAULT_PIN LL_GPIO_PIN_5
+#endif
+
 #ifdef RHINO80A_F051
 #define FILE_NAME "RHINO80A_F051"
 #define FIRMWARE_NAME "RHINO80A_F0 "
diff --git a/Mcu/f051/Src/peripherals.c b/Mcu/f051/Src/peripherals.c
index fb3fd66d..f0ec5ad7 100644
--- a/Mcu/f051/Src/peripherals.c
+++ b/Mcu/f051/Src/peripherals.c
@@ -495,6 +495,31 @@ void initLed()
 }
 #endif
 
+#ifdef USE_DRV8328_NSLEEP // Disable gate driver when disarmed
+void initnSleep()
+{
+    LL_GPIO_InitTypeDef GPIO_InitStruct = { 0 };
+    GPIO_InitStruct.Pin = NSLEEP_PIN;
+    GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
+    GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
+    GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
+    LL_GPIO_Init(NSLEEP_PORT, &GPIO_InitStruct);
+    NSLEEP_PORT->BSRR = NSLEEP_PIN;
+}
+#endif
+
+#ifdef USE_DRV8328_NFAULT
+void initnFault()
+{
+    LL_GPIO_InitTypeDef GPIO_InitStruct = { 0 };
+    GPIO_InitStruct.Pin = NFAULT_PIN;
+    GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
+    GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
+    LL_GPIO_Init(NFAULT_PORT, &GPIO_InitStruct);
+}
+#endif
+
 void reloadWatchDogCounter()
 {
     LL_IWDG_ReloadCounter(IWDG);
@@ -585,6 +610,18 @@ void enableCorePeripherals()
     initLed();
 #endif
 
+#ifdef USE_DRV8328_NSLEEP
+    initnSleep();
+#endif
+
+#ifdef USE_DRV8328_NFAULT
+    initnFault();
+#endif
+
+#ifdef USE_DRVOFF
+    initDrvoff();
+#endif
+
 #ifndef BRUSHED_MODE
     LL_TIM_EnableCounter(COM_TIMER); // commutation_timer priority 0
     LL_TIM_GenerateEvent_UPDATE(COM_TIMER);