How a P-Channel Mosfet works with a pull-up resistor
It is kind of hard to tell with only a portion of the schematic, but I think they are just pull up resistors that shut the PFETs (Q1 and Q2) off when Q9 or Q10 are not conducting.  They are essentially open drain outputs to operate the higher voltage of the H-Bridge supply from a lower logic level.



The NMOS followed by the PMOS is a common way to create a "high side switch" with the higher supply voltage then your logic power supplies would be able to drive directly.