Ok so this is the bare minimum support for having multiple motors run at stm32 boards with low-side current sensing.

• Each motor has to go on their own ADC!
• There are no any other additional checks than the one ADC per motor
• The code should be completely backward compatible (no change in the API)

I think this is a big improvement for people wanting to run multiple motors.

There are still a lot of complexities and sub-cases to consider, but at least this makes it possible to do it at all... from my point of view I would merge it...

Yes, this is really the bare minimum. I'll merge it and we can iterate on it later.