The code generation toolboxes are not available for the Home license in R2016a. However, when you use Simulink to generate code for the Raspberry or Arduino, no additional toolboxes are required. Some people have mentioned limitations about not being able to generate code that can remain when the power is turned of (that is, that the code is not saved with the device), but there is at least one Support posting that would seem to indicate that it can be done.
However, if you are using MATLAB as your control instead of Simulink, I am much less certain that you would be able to create code for Raspberry or Arduino without a Coder license.
