Simulink® Support Package for BeagleBoard Hardware enables you to create and run Simulink models on BeagleBoard hardware. The support package includes a library of Simulink blocks for configuring and accessing I/O peripherals and communication interfaces. It also enables you to interactively monitor and tune algorithms developed in Simulink as they run on BeagleBoard.
This support package is functional for R2013a and beyond.
Please ignore my last comment. I was trying the 2012 version which has that error. This works just fine.
There seems to be a problem when downloading the packages: "Cannot download http://users.ugent.be/~bpuype/cgi-bin/fetch.pl?dl=wget/wget.exe: Error downloading URL. Your network connection may be down or your proxy settings improperly configured..". Is there any fix possible? I'm running R2013a.