#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_MPU6050.h>

#define MPU6050_ADDR 0x68 // I2C address of the MPU6050
#define DEVICE_MASS 0.35   // device mass in kilograms
#define GRAVITY 9.81       // gravitational acceleration in m/s^2

Adafruit_MPU6050 mpu;

void setup() {
  Serial.begin(9600);
  Wire.begin();

  if (!mpu.begin(MPU6050_ADDR)) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }

  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
}

void loop() {
  sensors_event_t accel, gyro, temp;
  mpu.getEvent(&accel, &gyro, &temp);

  float z_acceleration = -accel.acceleration.z;  // acceleration along negative z-axis in m/s^2

  float fall_acceleration = z_acceleration - (DEVICE_MASS * GRAVITY);

  Serial.print("Fall acceleration: ");
  Serial.print(fall_acceleration);
  Serial.println(" m/s^2");

  delay(100);
}