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timer: Fix undefined behavior when capturing expiry time
The timer was calling xTimerGetExpiryTime() after the FreeRTOS timer had
expired, which results in undefined behavior according to the FreeRTOS
documentation.
This change captures the expiry time in the TimerCallback when the timer
expires, using xTaskGetTickCount() instead of the undefined
xTimerGetExpiryTime() on a stopped timer. The expiry time is now
captured before the timer stops running.
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