CANUSB Blockset
In the .zip file, you can find a model , which can be used as a library (I'm lazy to put it as a proper Simulink library, forgive me).
I implemented only Standard CAN, but you could extend it easily.
There are mainly 3 blocks:
CanConfig: Set the speed, mask, etc..
CanRead: Read the data from CANUSB
CanWrite: Write data to CANUSB
You need to install the canusb driver (could be downloaded from canusb website), and, of course, the CANUSB module to use with this blockset.
Have a lot of fun with this!