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DRV8332: Current Sense questions regarding example schematic on page 26 in DRV8332 datasheet.

Part Number: DRV8332

I have 2 Questions regarding the example schematic found on page 26 in the DRV8332 datasheet.  For reference here is a snippet of the current sense circuit:

  1. For differential operation should R28 = R32.  If the difference is correct, please explain the reason for it.
  2. What is the purpose of adding C19 and C25?