Switching drivers with voltage monitoring

A switching driver for driving a load based on an input signal comprising:

• an output stage for selectively connecting an output node to first and second switching voltages respectively;
• and
• a modulator configured to control a duty cycle of the output stage based on the input signal;
• wherein the modulator comprises a compensator configured to compensate for variations in the first and second voltages based on an indication of a sum of the first and second switching voltages and an indication of a difference between the first and second switching voltages.

A switching driver for driving a load with an output drive signal based on an input signal comprising:

• an output bridge stage comprising first and second switches for selectively connecting an output node to first and second switching voltages respectively to generate said output drive signal at said output node;
• a first analog-to-digital converter configured to receive a voltage which is a sum of the first and second switching voltages and to output a first monitor signal;
• a second analog-to-digital converter configured to receive a voltage which is a difference of the first and second switching voltages and to output a second monitor signal;
• and
• a modulator configured to control a duty cycle of the first and second switches based on the input signal, the first monitor signal and the second monitor signal.