Linux ERT target controls code generation from Simulink for computer based on MPC5200 and Linux. The target contains support for CANopen via Simulink blockset which integrates the CANopen driver to the generated code.
Parse software messages and transform them into actions. LazyBat has a command line utility which can transform input data, and also a parser generator for C/C++. LazyBat doesn't support recursive parsing, but rather focuses on common parsing jobs.