Change the code that flight stack get the data from CANbus instead of other peripherals such as SPI, USART,

hi
I am new to PX4 and I’ve been trying to understand the code, my plan is to use the CANbus protocol for every sensor and actuator(input, output servos), I was looking for a document or links to similar projects that teach how to change the code that flight stack get the data from CANbus instead of other peripherals such as SPI, USART,…

any tips appreciate it