Hi Darrin,
I have been reading some INSTASPIN labs and found a solution section for MOTION. Now, the example projects found for these solutions, which can be seen in the images attached, are all for driver solutions with external FETs, as all these labs are example projects with the INSTASPIN-MOTION code implemented for them. The User Guide for MotorWare can be found in this directory after it has been installed:
C:\ti\motorware\motorware_1_01_00_15\docs\labs\instaspin_labs.pdf
For finding out more information on adapting INSTASPIN-MOTION control for a solution that utilizes a driver with internal FETs, I suggest finding out more information on the INSTASPIN e2e:
https://e2e.ti.com/support/microcontrollers/c2000/f/902
Now, for a solution that meets your power requirements, here is low cost, and utilizes small board space I suggest the DRV10873:
http://www.ti.com/lit/ds/symlink/drv11873.pdf
For your encoder configuration, I recommend a C2000 MCU, as it provides the eQEP and eCAP for controlling speed and direction in a quadrature encoder setup. In total component count and size, we can take the DRV11873 EVM, found below, change the timer IC to a C2000 MCU, and add the quadrature encoder interface.
The C2000 MCUs that include these features can be seen below and in the following link:
http://www.ti.com/lit/ml/sprv067/sprv067.pdf
Does this example conform to the functional requirements and size desirables?
Here is the evaluation module:
http://www.ti.com/lit/ug/slwu083a/slwu083a.pdf
A description of how eCAP functions work is found in Section 3.3.5, while an eQEP description is found in Section 3.3.7 of the C2000 Peripheral Description document found below: