How do I interface my model with a software data queue fed from a custom hardware driver?

I am using Liunx with the Xenomai OS extension. I have written a custom hardware driver that posts received messages to a software queue created with Xenomai. The contents of the message need to be fed into a Simulink processing model that I was provided. The driver receives messages about every 2-milliseconds and then posts the contents to the queue.

I have written a C-code module that pends on the queue and transfers the contents to a shared buffer. This process is asynchronous to the model processing. The receiving C-module is currently an infinite loop that pends on a queue. In otherwords, it repeatly suspends execution until an queue entry is available.

How do I incorporate this asynchrous data receiving processing into the existing model?