DRV8718-Q1: DRV8718 configuration

Hi Expert,

Our customer would like to use our DRV8718 and have some question.

1. how to configurate DRV8718 into four H-bridge? I read this e2e post but didn't get a clear view. To get four H-bridge, we can only configurate each half bridge as high side or low side, right? If so, how to control the speed and how to control the dead time? Do you have a guide for that?

2. You mention that PMW mapping. In four H-bridge configuration, if I want to drive four motor at the same time with different direction or speed, how to realize that? 

3. There is only two shunt amp. But if I wan to use four H-bridge and each has a shunt current sense, how to do with that? Thanks.

BR,

Elec Cheng