Read sensor data

[caiodasilva2005]

Added functions for reading msb data and created RTOS tasks in main.c

[evanlombardo]

Great job so far, I made some changes to the structure a bit and fixed some compiling errors. By the way install the C/C++ extension on VSCode and you can see all of the errors (but main.c shows some errors that don't really exist). I will drop a review for additional features shortly