ARDUINO UNO INTERACTION IN MATLAB through custom simulink functions

Hello everyone,

Can I create function in matlab to take the raw values from mpu6050 sensor connected which is connected to the arduino then later use it in the simulink with other blocks which are interfacing with arduino ......

(what i want to achieve is that I want to read the value from an i2c device which is connected to arduino( I want to write this code in matlab as a function) then based on this I want to drive the motor of arduino...

Then can I run the whole model in external mode...?

I have tried to get the i2c values by using (s function builder) but i failed .....Then i make a function in matlab to get the values from i2c device which is now i am getting now i want to use this function in smulink with other blocks..

Is it possible to do so?

also what are the other ways to interact with arduino other that of using s builder function?