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Timer unit initialization

Currently, the spin board (SPIN_v_0_9) can't use timer A and B to generate pwm signals. This PR will allow us to use the correct timer unit according to the hardware version :

  • With O2 v1.1.2 we will use timer A and B.
  • With SPIN V0.9 we will use timer A and C.

This PR will also add some minor functionality :

  • Taking into account the case where the phase is negative in the function for the phase shift.

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