32.2.3.1 Direction Change in Full Bridge Mode

In Full Bridge mode, changing the MODE[0] bit controls the forward/reverse direction. Direction changes occur on the next rising edge of the modulated input. The sequence, described as follows, is illustrated in Figure 32-8.

1. The associated active output CWGxA and the inactive output CWGxC are switched to drive in the opposite direction.
2. The previously modulated output CWGxD is switched to the Inactive state, and the previously inactive output CWGxB begins to modulate.
3. CWG modulation resumes after the direction-switch dead band has elapsed.