Hi wangxuan,
I'm not sure if this question is related with Model-Based Design Toolbox.
As far as i can understand you wish to implement the motor control with IAR IDE.
In that case, the most important part you need to pay attention is the peripherals initialization. There is a specialized software called processor expert that might help you to migrate easy from one board to the other. Here is a tutorial how to use it with IAR IDE: Tutorial: IAR + FreeRTOS + Freedom Board | MCU on Eclipse
Hope this helps!
Daniel