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Make time provider independent of PWM abstraction (#141)

* Make time provider independent of PWM abstraction

move time providing function to separate class

Since a platform can have multiple PWM-HALs (e.g. the one provided by
the platform, and additional ones like e.g. a PCA9685 HAL), but only
a single time provider, the code was split.

Each platform now has it's own time providing class, like e.g.
`class ArduinoClock`. An implementation consists of a
single static method: `static uint32_t millis()` that returns the
current time in millis.

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