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DRV8243-Q1: Current modification for TEC Control

Part Number: DRV8243-Q1


I am trying to use the listed H-Bridge (DRV8243) with a PWM input for TEC Control. At the moment, the output current is reflecting the input duty cycle of the PWM ; however, I need it to be continuous during the runtime of the device. The PWM input is 1kHz Ideally, the current will be a constant 2 amps (+/-) depending on the direction pin. 

Most filtering for this application seems to be an LC filter, would an RC filter be sufficient? What kind of filter would you recommend?  If the solution is not a filter, how would you suggest I achieve this?  

The image below shows the circuit where the 5ohm resistor represents the TEC control.