Thank you @Antun_Skuric,
I suspected this, from where my ??? for 0.4, but at this frequency 40KHz and 0.02, even with 0.05, the DRV8302 heated and the transistors too from 2500-3000rpm…And I noted that it also depended on the velocity of the motor, this gap current/velocity (current jump).
When I reduced my frequency and increased the dead zone the motor worked better and the power supply current was clearly less (i.e from1.8 to 0.5A), but I am going to try to investigate with an oscilloscope.