h bridge circuit diagram
The are schematics in the datasheet
[url]https://focus.ti.com/lit/ds/symlink/l293.pdf[/url]
I used TMS320LF2407 EVM before. Like TMS320LF280 series, which is much more powerful than 2407, is optimized for motion control. My colleague used TMS320C6711, but he used it for signal processing. As 2407 is optimized for motion control, it has many built-in features for motor control, e.g. many PWM channels, on-chip position encoder interface circuitry, deadband generator, etc. But, if I'm not mistaken, in term of computational power, TM320C6000 series is a lot more higher than TMS320C2000 series.
It's quite straight forward to control H-bridge (shown in figure not really a H-bridge). As shown in the circuit, you can control (pin 1A and 2A) the motor in bi-directional. I also used L293 before for line following project, which was controlled by 8051 ucontroller. However, at the beginning, we're not successful because our motor always halted 'halfway'. After troubleshooting, we found out that the circuit was very noisy when motor was running (especially accelaration). So, we added optocoupler to isolated the ground of the digital circuit from the ground of the motor driver circuit, and after that it worked very nice. It depends on your motor power and your PCB layout technique. If the motor power is low and PCB layout is good, then probably you do not need to have optocoupler. Regarding the encoder circuit, I think TMS320C6000 series does not have onboard encoder interface circuitry. You can connect to any capture-I/O (not sure 6000 series got or not). If no, then you have to keep polling general I/O. Since 6000 series is so powerful, it should not be a problem to control a dc motor.