introduce timestamp_t as uint64_t to manage Ticker; reimplement nRF51 us_ticker using RTC

These changes allow us to re-implement us-Ticker using the RTC for the nRF51822. There are two major themes here:

* timestamp_t as an abstraction for time values managed by Ticker. Using uint64_t for timestamp_t allows a wraparound-free Ticker. This change forces us to update the definitions of usTicker for all platforms; but the changes beyond nRF51822 aren't major.
* reduce power consumption on the nRF51822 by removing the need for the high-frequency processor timer; and reimplementing it using the RTC.