[riot-notifications] [RIOT-OS/RIOT] sys/ztimer: add ZTIMER_SEC, improve auto_init (#16172)

Francisco notifications at github.com
Thu Apr 1 15:00:59 CEST 2021

Ran all ztimer tests on 30 BOARDS, all passing https://ci.inria.fr/ci-riot-tribe/job/build-pipeline.jk/260/artifact/. Please squash (but don't rebase)

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