openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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// ACCEL1 = ADC10
// ACCEL2 = ADC11
// VOLT_S = ADC12
// CURR_S = ADC13
#define ADCCHAN_ACCEL0 10
#define ADCCHAN_ACCEL1 11
#define ADCCHAN_VOLTAGE 12
#define ADCCHAN_CURRENT 13
void adc_init(void) {
// global setup
ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
//ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;
ADC1->CR2 = ADC_CR2_ADON;
// long
//ADC1->SMPR1 = ADC_SMPR1_SMP10 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
ADC1->SMPR1 = ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
}
uint32_t adc_get(int channel) {
// includes length
//ADC1->SQR1 = 0;
// select channel
ADC1->JSQR = channel << 15;
//ADC1->CR1 = ADC_CR1_DISCNUM_0;
//ADC1->CR1 = ADC_CR1_EOCIE;
ADC1->SR &= ~(ADC_SR_JEOC);
ADC1->CR2 |= ADC_CR2_JSWSTART;
while (!(ADC1->SR & ADC_SR_JEOC));
return ADC1->JDR1;
}