Simulink model deployed on Raspberry Pi

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I have a Raspberry Pi B+ (RPi) with a CAN-bus interface. I want to send a message to the RPi from an external device through the CAN interface. On the RPi I want to have a Simulink model running which reads the incoming message and (depending on the message) returns another message to the external device over CAN.

Does anyone have an idea how to do this? At this point, I'm able to receive and send messages on the CAN bus from the Linux terminal (e.g. cansend, cansniffer, etc) by means of the tools "can-utils".

I reckon the process involves compiling the Simulink model to C code or some sort of stand-alone executable which takes the incoming CAN message as an input argument and broadcasts the appropriate message back on the CAN bus. Anyway, I'm a bit stuck at this point, and I'd be happy if anyone has some ideas to get me started.

Your comments are appreciated!