Kaspar Schleiser a719e7d61f sys: xtimer: some updates
- more robust underflow protection in xtimer_usleep_until()
- use relative target in xtimer_spin()
- honour reference in isr when spinning until timer target
- add XTIMER_BACKOFF to xtimer_spin_until() target when backing off in
  _timer_set_absolute()
- doxygen updates
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