I saw various built-in Matlab coders. But I think the most optimal Waijung Blockset.

You can download it for free by link  http://www.aimagin.com/download/

Installation instructions http://waijung.aimagin.com/

Waijung Blockset is a library of the periphery of STM32F4 for Simulink.

This Simulink-library is well-optimized as it is built on the basis of SMSIS.

There is the possibility of writing new Simulink blocks on C.

Some simple simulink blocks (such as a step) can give very heavy code. But this can be circumvented using "Embedded MATLAB Function" that is uniquely interpreted during compilation.

Here  http://www.scadaboard.pro   you can see a board that will allow you to assemble a Motion Module or PLC based on STM32 with full compatibility with Waijung Blockset.

This is the motherboard, which combines different modules. These modules are easy to replace and can always be purchased from an online store.

Click on the link http://www.scadaboard.pro and you will see this board and modules for it. There will be examples created on the Waijung that will allow you to work with each of the modules.

There is a module AD7606, which gives 8 synchronous analog inputs with a resolution of 16 bits;

Four discrete inputs and twelve discrete outputs with optical isolation.

Two analog outputs with a resolution of 16 bits;

Ethernet up to 100 megabit;

USB port;

SD card;, etc.

The topology of the board is a very important delicate thing.

This board is unique in that there all modules can work at high speeds and are well matched.

The role of the CPU is played by the famous STM32F4DISCOVERY module.

On this forum advise where it is possible to buy additional modules

https://www.hackster.io/scada-board/scadaboard-macrocontroller-4bb237#comments

Regards !