MathWorks tools generate ANSI / ISO C Code, which you can use in your IDE of choice.
The generic work flow is to use MATLAB & Simulink to design and simulate your algorithm. Next you generate the C code fro your algorithm. And then you import that C code into your existing project in your IDE of choice.
You can also use the STM32 MAT Target - this will help configure the peripherals and works with Atolic / ST IDE, Keil, and Embedded Workbench IDE's.
Thanks for your fast answer. I'm thinking to PIL simulation, and to free tools that support this. As, from your response, I can utilize Atolic / ST ide, i.e. STM32Cube IDE, I think that I can perform PIL simulation with the support of free tool (on the microcontroller part). Is it OK?