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hal: Update the pid component to 64-bit clean operation - #4773
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This is mostly a straight forward update to run 64-bit clean.
The only exceptions are that the saturation counting has been changed. Accumulation was changed to take account for rounding when adding small values to large values in floating point calculation. And, there is no longer a real danger of overflowing a counter when a 1 millisecond thread would take 292 million years to overflow it. Even the nanoseconds counter will not overflow for at least 292 years and I seriously doubt that any engineer would survive looking at that counter from start until it wraps.