Implement "virtualization" of 16 bits timer to 32 bits timer in hal-mc4plus.

[valegagge]

In ordet to read a quand_enc, HAL libary reads conuter of timer connected to the motor.
In mc4plus there are two 16-bits timer (TIM3 and TIM4) and two 32-bits timer(TIM2 and TIM5).

In some cases, like pronosupination of icub, 16 bits are not enought. hance, the need to implement this improvement.

The implementation could use the interrupt on overflow of timer counter register.