I2C to CAN conversion in STM32f4 Discovery with expansion board

I want to convert (OMRON ELECTRONIC COMPONENTS D6T-8L-06) Heat Sensor's output which is in I2C format via STM32f4 to CAN. And i want to do this conversion in Matlab Simulink. i am able to read the sensor but there is no conversion technique available for STM32f4. This CAN message will be further utilized in XPC target PC. I need to know the protocols or technique to convert I2C to CAN