I have goofed around with a simple h-bridge design that uses pwm+pwm for input. The latest version has been lightly tested with good luck. Would not take much to make it pwm+dir. (a bit of logic). It uses lowside current limit and blanking. (designed for about 20khz pwm)
Check my *cough* logic - H-bridge design.
Large Brushed servo setup on the cheap (WIP)
(use at your own risk )