diff --git a/boards/arm/stm32/b-g431b-esc1/README.txt b/boards/arm/stm32/b-g431b-esc1/README.txt
index 4b846366bc1..6dc45e77650 100644
--- a/boards/arm/stm32/b-g431b-esc1/README.txt
+++ b/boards/arm/stm32/b-g431b-esc1/README.txt
@@ -43,9 +43,9 @@ Configuration Sub-directories
     VBUS             ADC1_IN1           PA0
     POT              ADC1_IN11          PB12
     LED              GPIO_PC6           PC6
-    ENCO_A/HALL_H1                      PB6
-    ENCO_B/HALL_H2                      PB7
-    ENCO_Z/HALL_H3                      PB8
+    ENCO_A/HALL_H1   TIM4_CH1           PB6
+    ENCO_B/HALL_H2   TIM4_CH2           PB7
+    ENCO_Z/HALL_H3   TIM4_CH3           PB8
     BUTTON           GPIO_PC10          PC10
     PWM                                 PA15
 
diff --git a/boards/arm/stm32/b-g431b-esc1/include/board.h b/boards/arm/stm32/b-g431b-esc1/include/board.h
index 67946a45992..872c00c658c 100644
--- a/boards/arm/stm32/b-g431b-esc1/include/board.h
+++ b/boards/arm/stm32/b-g431b-esc1/include/board.h
@@ -229,6 +229,11 @@
 #define GPIO_TIM1_CH2NOUT  GPIO_TIM1_CH2NOUT_1 /* TIM1 CH2N - PA12 - V low */
 #define GPIO_TIM1_CH3NOUT  GPIO_TIM1_CH3NOUT_3 /* TIM1 CH3N - PB15 - W low */
 
+/* TIM4 QE configuration ****************************************************/
+
+#define GPIO_TIM4_CH1IN  GPIO_TIM4_CH1IN_2 /* TIM4 CH1 - PB6 */
+#define GPIO_TIM4_CH2IN  GPIO_TIM4_CH2IN_2 /* TIM4 CH2 - PB7 */
+
 /* DMA channels *************************************************************/
 
 /* ADC */
diff --git a/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h b/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h
index 450ba85a38b..46e139efb84 100644
--- a/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h
+++ b/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h
@@ -70,6 +70,17 @@
 
 #define GPIO_BTN_USER  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN10)
 
+#ifdef CONFIG_SENSORS_HALL3PHASE
+/* GPIO pins used by the 3-phase Hall effect sensor */
+
+#  define GPIO_HALL_PHA (GPIO_INPUT | GPIO_SPEED_5MHz | \
+                         GPIO_PORTB | GPIO_PIN6)
+#  define GPIO_HALL_PHB (GPIO_INPUT | GPIO_SPEED_5MHz | \
+                         GPIO_PORTB | GPIO_PIN7)
+#  define GPIO_HALL_PHC (GPIO_INPUT | GPIO_SPEED_5MHz | \
+                         GPIO_PORTB | GPIO_PIN8)
+#endif
+
 /****************************************************************************
  * Public Data
  ****************************************************************************/
diff --git a/boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c b/boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c
index 166e3e3ed2c..044e5355e93 100644
--- a/boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c
+++ b/boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c
@@ -29,6 +29,8 @@
 
 #include <nuttx/board.h>
 
+#include <stm32.h>
+
 #ifdef CONFIG_USERLED
 #  include <nuttx/leds/userled.h>
 #endif
@@ -37,6 +39,14 @@
 #  include <nuttx/input/buttons.h>
 #endif
 
+#ifdef CONFIG_SENSORS_QENCODER
+#  include "board_qencoder.h"
+#endif
+
+#ifdef CONFIG_SENSORS_HALL3PHASE
+#  include "board_hall3ph.h"
+#endif
+
 #include "b-g431b-esc1.h"
 
 /****************************************************************************
@@ -112,6 +122,33 @@ int stm32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_SENSORS_QENCODER
+  /* Initialize and register the qencoder driver - TIM4 */
+
+  ret = board_qencoder_initialize(0, 4);
+  if (ret != OK)
+    {
+      syslog(LOG_ERR,
+             "ERROR: Failed to register the qencoder: %d\n",
+             ret);
+      return ret;
+    }
+#endif
+
+#ifdef CONFIG_SENSORS_HALL3PHASE
+  /* Initialize and register the 3-phase Hall effect sensor driver */
+
+  ret = board_hall3ph_initialize(0, GPIO_HALL_PHA, GPIO_HALL_PHB,
+                                 GPIO_HALL_PHC);
+  if (ret != OK)
+    {
+      syslog(LOG_ERR,
+             "ERROR: Failed to register the hall : %d\n",
+             ret);
+      return ret;
+    }
+#endif
+
   UNUSED(ret);
   return OK;
 }
diff --git a/boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c b/boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c
index 4d1c8bd5157..0dc8d1532d8 100644
--- a/boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c
+++ b/boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c
@@ -34,6 +34,10 @@
 
 #include "hardware/stm32g4xxxx_opamp.h"
 
+#if defined(CONFIG_SENSORS_QENCODER) || defined(CONFIG_SENSORS_HALL3PHASE)
+#  include "hardware/stm32g4xxxx_pwr.h"
+#endif
+
 #include "stm32_foc.h"
 
 #include "arm_arch.h"
@@ -169,6 +173,17 @@
 #  error
 #endif
 
+/* Qenco configuration - only TIM4 */
+
+#ifdef CONFIG_SENSORS_QENCODER
+#  ifndef CONFIG_STM32_TIM4_QE
+#    error
+#  endif
+#  if CONFIG_STM32_TIM4_QEPSC != 0
+#    error
+#  endif
+#endif
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -569,6 +584,12 @@ int stm32_adc_setup(void)
 
   if (initialized == false)
     {
+#if defined(CONFIG_SENSORS_QENCODER) || defined(CONFIG_SENSORS_HALL3PHASE)
+      /* Disable USB Type-C and Power Delivery Dead Battery */
+
+      modifyreg32(STM32_PWR_CR3, 0, PWR_CR3_UCPD1_DBDIS);
+#endif
+
       if (g_foc_dev == NULL)
         {
           mtrerr("Failed to get g_foc_dev device\n");