What is the easiest way to create a C/C++S-function?

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The easiest way to create a C/C++ S-Function is by using the Simulink S-Function Builder. If no hardware access is required, embedded MATLAB functions could work too. For more information, please visit the following The MathWorks™ website:

http://www.mathworks.com/help/simulink/s-function-basics.html
https://www.mathworks.com/help/simulink/sfg/how-to-implement-s-functions.html
http://www.mathworks.com/help/simulink/sfg/s-function-examples.html

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