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		(title "EX-ESP32-CS")
		(date "2024-07-01")
		(rev "RevB")
		(company "semify-eda.com")
		(comment 1 "Engineer: Fred Decker")
		(comment 2 "Lead Engineer: Erwin Peterlin")
		(comment 3 "CERN-OHL-W v2 or later")
		(comment 4 "Licensed under")
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	(text "Strapping Pins:\nMTDI aka IO12 - pulldown @boot\nGPIO0 - controlled via USB @boot\nGPIO2 - dont care?! it has pullup enabled\nMTDO aka IO15 - pullup @boot\nGPIO5 - pullup @boot"
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	(text "GPIO 34 GPIO 35 GPIO 36 GPIO 39 these 4 are ADC 1 and input only. So use for the 4 sense lines\n \nThen there are 12 pins in the range 16 to 33 that do not have any restrictions I think\n \n4,5,14,15 are candidates for fault pins\n \n5, 14, 15 give pwm during boot\n \n8 digital in range 2 to 16 plus 36,39\n \n5 can be DIR\n \nThe 9 digital 17 to 27 go to the digital side and 32 to 35 to A0 to A3"
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	(text "DRV8874 Motor Drivers A and B"
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	(text "DRV8874 (max 6A) Current Sensing: \nV_prop is limited to VRef inside DRV8874\n\n---------\ncandidate values:\n2k+1k              3.63/1.65 1%\n1k8+(680+220)  4.0/1.83 1%\n1k5+(680+100)  4.8/2.2  0.2%\n1k43+732(extend.) 5.08 0.1%\n(1k2+120)+680  5.5/2.5  0.0%   \n1k2+(470+180)  5.9/2.7  2%\n1k2+620(extend.) 5.9/2.7  0.1%\n1k1+560 (0603) 6.6/3.0   0.4%\n"
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	(text "DRV8874 control logic:\n\nPH/EN Mode (PMODE Low)\nnSleep/EN/PH  out1/2\n0 X X         ZZ\n1 0 X         00\n1 1 0         01\n1 1 1         10\n\nnSleep = high / pwm\nEN     = not brake / pwm\nPH     = dir\n\nPWM Mode (PMODE High)\nnSleep/in1/2  out1/2\n      O X X       ZZ\n      1 0 0       ZZ\n      1 0 1       01\n      1 1 0       10\n      1 1 1       00\n\nnSleep = high\nin1 = pwm and (    dir or brake)\nin2 = pwm and (not dir or brake)"
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