Somethings about Infineon BTN8962
INH pin , should be tied to Vcc via a pull-up resistor.

The PWM should be supplied on the IN pin . you can also add a pull down here , to ensure the that incase of any failure in PWM , the input stays low .

Now in order to make a complete H bridge you would need 2 BTN8962 IC. 

you have 3 options to drive them:


Use 2 PWM signals . Any driving method is possible in software.
Use 1 PWM signal and a NOT gate to generate the opposite in what is called locked antipahse.
Use 1 PWM signal and 2 direction signals , use 2 AND gates to connect the in what is called Sign magnitude drive.


choose depending on the availability of Pins in the micro-controller.