Connecting MPU92/65 sensor data to simulink

I am trying to develop a program to read the MPU92/65 sensor data connected to the arduino Mega, process them in SIMULINK and command the arduino.

I tried two approaches but so far little sign of success :confused: :
1: run the ARDUINO with the dedicated program to receive the sensor dara (done!!!). Then, somehow at the same time communicate with SIMULINK to read and write data back to arduino. Is it possible?

2- The other approach is to use I2C interface. Does anyone have experience with this?

Unfortunately I am a newbie and I have been struggling to learn both serial communication and I2C interface.