diff --git a/boards/ark/cannode/nuttx-config/include/board_dma_map.h b/boards/ark/cannode/nuttx-config/include/board_dma_map.h
index 0eb81fc589d..e598299d5fa 100644
--- a/boards/ark/cannode/nuttx-config/include/board_dma_map.h
+++ b/boards/ark/cannode/nuttx-config/include/board_dma_map.h
@@ -42,3 +42,9 @@
 //--------------------------------------------//---------------------------//----------------
 #define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
 #define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3
+
+// Assigned in timer_config.cpp
+
+// Timer 2                                    /* DMA1, Stream 7, Channel 3 DMAMAP_TIM2_UP_2 */
+// Timer 3                                    /* DMA1, Stream 2, Channel 5 DMAMAP_TIM3_UP   */
+// Timer 4                                    /* DMA1, Stream 6, Channel 2 DMAMAP_TIM4_UP   */
diff --git a/boards/ark/cannode/src/board_config.h b/boards/ark/cannode/src/board_config.h
index bb820a7b66f..03e0137645f 100644
--- a/boards/ark/cannode/src/board_config.h
+++ b/boards/ark/cannode/src/board_config.h
@@ -62,7 +62,8 @@
 #define GPIO_TIM1_CH3         /* PA10 */  (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
 
 /* PWM Outputs */
-#define DIRECT_PWM_OUTPUT_CHANNELS  6 // Actually 8
+#define BOARD_NUM_IO_TIMERS         3
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
 
 #define GPIO_TIM2_CH1_RESET   /* PA0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
 #define GPIO_TIM2_CH2_RESET   /* PA1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
diff --git a/boards/ark/cannode/src/timer_config.cpp b/boards/ark/cannode/src/timer_config.cpp
index bc69d4b7ea1..5f24fea5ad7 100644
--- a/boards/ark/cannode/src/timer_config.cpp
+++ b/boards/ark/cannode/src/timer_config.cpp
@@ -34,9 +34,9 @@
 #include <px4_arch/io_timer_hw_description.h>
 
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer2),
-	initIOTimer(Timer::Timer3),
-	//initIOTimer(Timer::Timer4),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream7, DMA::Channel3}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -46,8 +46,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortB, GPIO::Pin4}),
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
-	//initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
-	//initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =