Integrating residential energy storage and solar photovoltaic power generation into low-voltage distribution networks is a pathway to energy self-sufficiency. This paper elaborates on designing and implementing a 3 kW single-phase grid-connected battery inverter to integrate a 51.2-V lithium iron phosphate battery pack with a 220 V 50 Hz grid. The prototyped inverter consists of an LCL-filtered voltage source converter (VSC) and a dual active bridge (DAB) DC-DC converter, both operated at a switching frequency of 20 kHz. The VSC adopted a fast DC bus voltage control strategy with a unified current harmonic mitigation. Meanwhile, the DAB DC-DC converter employed a proportional-integral regulator to control the average battery current with a dynamic DC offset mitigation of the medium-frequency transformer’s currents embedded in the single-phase shift modulation scheme. The control schemes of the two converters were implemented on a 32-bit TMS320F280049C microcontroller in the same interrupt service routine. This work presents a synchronization technique between the switching signal generation of the two converters and the sampling of analog signals for the control system. The prototyped inverter had an efficiency better than 90% and a total harmonic distortion in the grid current smaller than 1.5% at the battery power of ±1.5 kW.