Hi Lixing,
About your question about the output filter, as Alex explained above, you have to reserve two inductor+capacitor filters for the OUT+ and OUT-. OUT- ouptut is still switching in 1spw mode for small input/output signal. But the common capacitor can't be remove. As the following picture showing, L1, L2, C11 and C13 can NOT be removed. But C12 can be removed.
For the power supply decoupling capacitor, you can use 220uF+0.1uF+1nF paralleled for PVCC. It works well on our EVM. For the hardware SCH&PCB design, please refer to our DRV595 EVM design http://www.ti.com/lit/ug/slau479/slau479.pdf It's a pretty good example.
Best regards,
Shawn Zheng