Current regulation of a DC motor

Dear,
I need your professional suggestion how to do a current regulation of a DC motor. I have Delfino TMS320F28377D microcontroller in wich I calculate a motor current reference. Signal from the microcontroller goes to the driver (DRV8833 H-bridge) and then to the electromotor (Faulhaber Coreless DC Motor (2338S006)). To make current regulation I need motor current sensing (measure how much current is motor draining).  As I can see that driver DRV8833 can not sense current, it can only limit it.

My questions are:

1. How to have current sensing of motor armature?

2. Is there some chip which does current regulation? 

3. What do you propose to make current regulation?

Thank you!