feat(motor): 自适应 PDO 窗口与通道活动指示，新增原生 SOEM 时序诊断

后端 PDO 循环改为按在线槽收缩状态窗口，稀疏总线下单槽每周期都能刷新，
并补上尾部槽的发现扫描游标；新增自旋节拍源（阈值/显式覆盖）、P 核识别
与线程级钉核，自旋期间释放 GIL 以免 HTTP 线程被饿死；启动时先关停旧实例，
避免两个进程争用 Npcap 适配器。

记录每拍完整时间线、GC stop-the-world 事件与网格跳拍数，经 /api/motor/dbg
导出用于归因固定频率的超时；配

soem-src/osal/intime/osal.c

@@ -0,0 +1,88 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#include <rt.h>
+#include <sys/time.h>
+#include <osal.h>
+
+static int64_t sysfrequency;
+static double qpc2usec;
+
+#define USECS_PER_SEC     1000000
+
+int osal_gettimeofday (struct timeval *tv, struct timezone *tz)
+{
+   return gettimeofday (tv, tz);
+}
+
+ec_timet osal_current_time (void)
+{
+   struct timeval current_time;
+   ec_timet return_value;
+
+   osal_gettimeofday (&current_time, 0);
+   return_value.sec = current_time.tv_sec;
+   return_value.usec = current_time.tv_usec;
+   return return_value;
+}
+
+void osal_timer_start (osal_timert * self, uint32 timeout_usec)
+{
+   struct timeval start_time;
+   struct timeval timeout;
+   struct timeval stop_time;
+
+   osal_gettimeofday (&start_time, 0);
+   timeout.tv_sec = timeout_usec / USECS_PER_SEC;
+   timeout.tv_usec = timeout_usec % USECS_PER_SEC;
+   timeradd (&start_time, &timeout, &stop_time);
+
+   self->stop_time.sec = stop_time.tv_sec;
+   self->stop_time.usec = stop_time.tv_usec;
+}
+
+boolean osal_timer_is_expired (osal_timert * self)
+{
+   struct timeval current_time;
+   struct timeval stop_time;
+   int is_not_yet_expired;
+
+   osal_gettimeofday (&current_time, 0);
+   stop_time.tv_sec = self->stop_time.sec;
+   stop_time.tv_usec = self->stop_time.usec;
+   is_not_yet_expired = timercmp (&current_time, &stop_time, <);
+
+   return is_not_yet_expired == FALSE;
+}
+
+int osal_usleep(uint32 usec)
+{
+   RtSleepEx (usec / 1000);
+   return 1;
+}
+
+/* Mutex is not needed when running single threaded */
+
+void osal_mtx_lock(osal_mutex_t * mtx)
+{
+        /* RtWaitForSingleObject((HANDLE)mtx, INFINITE); */
+}
+
+void osal_mtx_unlock(osal_mutex_t * mtx)
+{
+        /* RtReleaseMutex((HANDLE)mtx); */
+}
+
+int osal_mtx_lock_timeout(osal_mutex_t * mtx, uint32_t time_ms)
+{
+        /* return RtWaitForSingleObject((HANDLE)mtx, time_ms); */
+        return 0;
+}
+
+osal_mutex_t * osal_mtx_create(void)
+{
+        /* return (void*)RtCreateMutex(NULL, FALSE, NULL); */
+        return (void *)0;
+}

soem-src/osal/intime/osal_defs.h

@@ -0,0 +1,43 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#ifndef _osal_defs_
+#define _osal_defs_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// define if debug printf is needed
+//#define EC_DEBUG
+
+#ifdef EC_DEBUG
+#define EC_PRINT printf
+#else
+#define EC_PRINT(...) do {} while (0)
+#endif
+
+#ifndef PACKED
+    #ifdef _MSC_VER
+    #define PACKED_BEGIN __pragma(pack(push, 1))
+    #define PACKED
+    #define PACKED_END __pragma(pack(pop))
+    #elif defined(__GNUC__)
+    #define PACKED_BEGIN
+    #define PACKED  __attribute__((__packed__))
+    #define PACKED_END
+    #endif
+#endif
+
+#define OSAL_THREAD_HANDLE   RTHANDLE
+#define OSAL_THREAD_FUNC     void
+#define OSAL_THREAD_FUNC_RT  void
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif