Adopting CAN in our ESCs

We are developing ESCs for drone motors, we have already developed ESCs which can be controlled using standard servo based PWM signals.

We are looking to implement CAN, this will be a requirement in the future as and when the drones start getting commercially available.

Since Pixhawk is a widely used flight controller, we would like to adopt the CAN protocol it supports.

It will be great if someone could share documents, tutorials, literally anything for that matter and point us in the right direction.

Thanks in advance.

Consider starting here: