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DRV8320R: DRV8320RH recommended grounding scheme??

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Part Number:DRV8320R

Hello,

In reading through the datasheet for this part (hardware version with the buck regulator) I don't see any recommendations on the overall grounding scheme between AGND, PGND, GND and PAD.  All I've gathered is that AGND is for the DVDD linear in case you need a quiet low current supply?

1. Could someone clarify how I should connect up the AGND, PGND and GND relative to one another?  

1a. should all the ground be connected together if I don't need the DVDD output?

2. Is it correct to connect the thermal pad to the "gnd" net?


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