Hi fra_rio
NXP's Model-Based Design Toolbox allows you to read any raw data that is transmitted via CAN/CAN-FD to a particular node. If you wish to convert the data to a human readable format you can use any standard Simulink library block (no additional toolbox required) or if you have the C-source code that performs such conversion you can call it directly in Simulink alongside the NXP MBDT.
Here is a good resource that explains the conversion mechanism if you wish to implement it.
Hope it helps!
Daniel