The best resource I can point you for example code are the following TI designs:
The firmware for these projects are posted there and they have examples of how to write and…
1) You can choose a motor driver that meets your needs through this link. www.ti.com/.../products.html .
Here is an example filter results page: www.ti.com/.../products.html
2) Like you said, DRV10975 provides constant duty cycle/torque control, but…