How to approach reading sensor data with Radxa

I have a seeed sensor and I want to read the sensor data from a Debian Bullseye Desktop system on an OKdo x Radxa ROCK 4. It is not a raspberry pi, but I hope there is some knowledge here that translates.

What would be the simplest way to access the data from the seeed sensor and is it possible to reuse, at least parts, of the arduino codes for the seeed sensor or would it require a lot of additional work?