```rust
    pub fn read_all(&mut self) -> SensorData {
        let mut sensor_data = SensorData::default();
        let mut self_clone = self.clone(); // Clone sel

        let adc_handle = std::thread::spawn(move || self.read_adc_all());
        let temperature_handle = std::thread::spawn(|| self.read_temperature());
        let pressure_handle = std::thread::spawn(|| self.read_pressure());
        let accel_handle = std::thread::spawn(|| self.read_accel());
        let mag_handle = std::thread::spawn(|| self.read_mag());
        let gyro_handle = std::thread::spawn(|| self.read_gyro());

        sensor_data.adc = adc_handle.join().unwrap();
        sensor_data.temperature = temperature_handle.join().unwrap();
        sensor_data.pressure = pressure_handle.join().unwrap();
        sensor_data.accelerometer = accel_handle.join().unwrap();
        sensor_data.magnetometer = mag_handle.join().unwrap();
        sensor_data.gyro = gyro_handle.join().unwrap();

        sensor_data
    }
```