How to shift differential signal to read with single ended adc?
If your current sense resistor is in the 12V to 17V line the easiest way to convert the sense voltage to 0V to 5V is with a current sense amplifier.  If the current flow is uni-directional, you could use INA139, or AD8212 There are many others.  It is also possible to find some that can sense bi-directional currents, like AD8310.  Using something like these mean all you need are the current sense resistor and a small signal resistor to set the gain.

Problems with using a differential amp will be things like being forced to have low gain to keep the input within the common mode range of the Opamp, and having somewhat low input impedance (10 KOhms to 100KOhms) due to the differential resistors that set gain and divide down the input voltage.  Then having to add the gain later (and you are going to need an overall gain like \$\frac{5 V}{I_{\text{senseMax}} R_{\text{cs}}}\$).  Having control of tolerances can also be a challenge.  Getting around these problems become complicated, usually meaning a couple of additional amplifiers and precision resistors.  

You could also use an instrumentation amp like an AD8223, or an INA826 could work.  The nice thing about instrumentation amps is that the manufacturer has take care of the problems you run into when you make your own diff amp. So, you get high input impedance, easily adjustable gain, and don't have to worry about resistor imbalances or offset voltages.