Look for Codeigniter equivalent of CakePhp Bake

I've seen a couple around over the years, but the newest one that I've seen is Combustor. To be fair, I haven't tried it yet and don't know by the docs whether it does it like you're looking for or not, but it's worth a look.

And, to pimp my own stuff, I have one built into SprintPHP (based on CI 3) that I think does exactly what you're looking for. Only drawback (if you don't want to use Sprint as a whole) is that it's pretty built into the system and cannot be easily pulled out of it. Documentation for Sprint Forge can be found in the GitHub repo.

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