I would like to interconnect Raspberry Pi and Arduino over I2C.

RPi will act as MASTER while Arduino is SLAVE.

I understand that I2C is designed that only master can send messages to slaves and then wait for responses.

I have sensor connected to Arduino, Arduino check periodically sensor value. My intent is, when sensor value exceed defined limit, inform RPi - send message to it. I want RPi as MASTER, because it also can query Arduino anytime. Can I start communication as SLAVE device?

Is it possible somehow? Do I need to use different bus than I2C?