This PR adds Quadrature Encoder and Pulse Counter classes based on the Encoder hardware of the mimxrt MCUs. The base methods are as simple as possible, with options to make use of the hardware features supporting fast encoder sensors, like index pulses.

Tested with a slow manual encoder and a simulation of fast encoder/counter signals up to a input frequency of 25 MHz.

The PR is a re-submit of PR #7911, which could not be reopened. The conversation at that PR applies here as well (except for the UART part).