Adding driver to ardupilot

hello there ,
i am working on the CAN obstacle avoidance readers for that ardupilot didnt have any driver so i wrote my own driver for that please help me how can i add the driver to ardupilot firmware
actually i got the driver from the sensor manufacturer what i have to change i the driver in order to work with ardupilot
UAV-R21 output data C drive demo[1].pdf (111.5 KB)

First of all, you will have to setup your build environment in order to build custom firmware for Ardupilot:

Then, this can be a good starting point: