Info PWM xpid

[astrosimul]

Hello guys,

some days I'm trying to put on paper an H bridge circuit to drive with Arduino.
But I have some doubts about the 3 wires of the signals arriving at the H bridge, (3 wires for each H-bridge)
Take for example, the IBT-2 bridge

My doubt is the following:
for each H bridge, by Arduino out ...

n ° 2 PWM signals + n ° 1 Enable signal?

or

No. 1 + No. 2 PWM signal Enable signals?

LAP MODE o S/M MODE?

Thanks
astrosimul