Common-mode insensitive current-sensing topology in full-bridge driver with high-side and low-side energy matching calibration

A method, in a Class-D stage comprising a first high-side switch coupled between a supply voltage and a first output terminal of the Class-D stage, a second high-side switch coupled between the supply voltage and a second output terminal of the Class-D stage, a first low-side switch coupled between a ground voltage and the first output terminal, and a second low-side switch coupled between the ground voltage and the second output terminal, comprising:

• measuring a first sense voltage with a first sense resistor coupled between the first low-side switch and the ground voltage, such that an output current through a load coupled between the first output terminal and the second output terminal causes the first sense voltage proportional to the output current across the first sense resistor when the first low-side switch is activated;
• measuring a second sense voltage with a second sense resistor coupled between the second low-side switch and the ground voltage, such that an output current through the load causes the second sense voltage proportional to the output current across the second sense resistor when the second low-side switch is activated;
• determining the output current based on one or both of the first sense voltage and the second sense voltage;
• and
• calibrating for mismatch between common mode phases of the Class-D stage with a calibration subsystem comprising a first calibration resistor and a second calibration resistor and configured to calibrate for mismatch between common mode phases of the Class-D stage.