MCF8316A: Torque control mode

Question 1: Is there any workaround to use torque control instead of speed control. The SPEED_LOOP_DIS can be set, but then torque references need to be set with i2c which is problematic since you can't use i2c when a motor is spinning. Is there a way that the SPEED pin can be used to generate torque setpoints

Question 2: We learned that even though FG is an optional open drain output, if there is not pullup then no i2c communications work. Is there any workaround to this?