CCS: reduce EMI in motor design???

Board layout design is critical in a motor drive board for EMI which is not related to instaSPIN s/w algorithm, also input filtering is critical. You may create a good ground plane and keep analog and digital signals from crossing paths, to keep the shield ground from affecting the analog ground, and you may select a right pwm frequency based on your system.

A paper as below on the TI power design training gives a good explanation on how to design an EMI filter which can be also use to motor drive board.
www.ti.com/.../slup298.pdf