which document describe about generating c code from simscape model?

I want to generate c code from simscape model based on simulink coder, because maybe these model can be used in hardware in the loop test. I have know all the simulink blockset are built based on s function, when generating code, the s function transfer data to tlc file, and then this file control the code generation. I have read the simscape user guide and simscape language guide. both documents have not described how to generate c code from simscape language. Is there any other document about this? Thank you for your attention or reply firstly.

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