The automatic generation of executable code from models allows for rapid prototyping and development of controller software at a high level of abstraction. Here mathematical and logical techniques, as well as simulation tools, can be employed to analyse and validate models of control software, leaving the implementation to the simple push of a button. With the INTO-CPS tool chain, designers have the ability to automatically generate controller implementations in the C language for embedded platforms such as Raspberry Pi and severely resource-constrained PIC and AVR microcontrollers.