DRV8353: Measuring speed and revolutions

Part Number:DRV8353

Hi,

I am designing a board to control a BLDC motor.

The motor needs to rotate at a certain constant speed and slow down until halting from a certain point in its track.

The point is determined by external sensors and the MCU will change it's PWM accordingly to slow down the motor.

For simplicity, I would like to use 1 PWM mode. In that mode the hall effect sensors are connected to the DRV.

My questions are:

Is there way to extract that information from the DRV? (The revolutions and/or speed)?

If not, can I tap the Hall effect sensors? (connect them to the MCU in parallel to the DRV)

I can use either version if the DRV5353 if it matters.

Thanks,

Tomer