upgrade ESXi 4.1.0 to ESXi 5.0

I have PowerEdge R610 running ESXI 4.1.0 and I would like to upgrade to ESXI 5.1. My questions is will this hardware support ESXI 5.0?

PowerEdge R610 specs

CPU: 2x intel xeon x5660 @ 2.80 Ghz

Ram: 32GB

HDD: 2 x 146GB 15k

Here is Dell spec sheet that only says ESXI 4.1 but thinking that this is old document?

http://www.dell.com/downloads/global/products/pedge/en/server-poweredge-r610-specs-en.pdf