Is it possible to interface ODrive with Px4 via UAVCAN?

I need a fairly high power actuator with position control on my drone, and was interested in using an Odrive S1 to ‘retrofit’ a motor I have lying around into a servo motor. The Odrives have a CAN interface, but use the CANSimple standard. Is there any way to write a custom px4 driver to interface with that, or maybe structure UAVCAN messages so that the Odrive can understand them? Or would this better be solved on the Odrive Firmware side?