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/rtk/osal.c

@@ -0,0 +1,145 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#include <osal.h>
+#include <kern.h>
+#include <time.h>
+#include <sys/time.h>
+#include <config.h>
+
+#define  timercmp(a, b, CMP)                                \
+  (((a)->tv_sec == (b)->tv_sec) ?                           \
+   ((a)->tv_usec CMP (b)->tv_usec) :                        \
+   ((a)->tv_sec CMP (b)->tv_sec))
+#define  timeradd(a, b, result)                             \
+  do {                                                      \
+    (result)->tv_sec = (a)->tv_sec + (b)->tv_sec;           \
+    (result)->tv_usec = (a)->tv_usec + (b)->tv_usec;        \
+    if ((result)->tv_usec >= 1000000)                       \
+    {                                                       \
+       ++(result)->tv_sec;                                  \
+       (result)->tv_usec -= 1000000;                        \
+    }                                                       \
+  } while (0)
+#define  timersub(a, b, result)                             \
+  do {                                                      \
+    (result)->tv_sec = (a)->tv_sec - (b)->tv_sec;           \
+    (result)->tv_usec = (a)->tv_usec - (b)->tv_usec;        \
+    if ((result)->tv_usec < 0) {                            \
+      --(result)->tv_sec;                                   \
+      (result)->tv_usec += 1000000;                         \
+    }                                                       \
+  } while (0)
+
+#define USECS_PER_SEC   1000000
+#define USECS_PER_TICK  (USECS_PER_SEC / CFG_TICKS_PER_SECOND)
+
+
+/* Workaround for rt-labs defect 776.
+ * Default implementation of udelay() didn't work correctly when tick was
+ * shorter than one millisecond.
+ */
+void udelay (uint32_t us)
+{
+   tick_t ticks = (us / USECS_PER_TICK) + 1;
+   task_delay (ticks);
+}
+
+int gettimeofday(struct timeval *tp, void *tzp)
+{
+   tick_t tick = tick_get();
+   tick_t ticks_left;
+
+   ASSERT (tp != NULL);
+
+   tp->tv_sec = tick / CFG_TICKS_PER_SECOND;
+
+   ticks_left = tick % CFG_TICKS_PER_SECOND;
+   tp->tv_usec = ticks_left * USECS_PER_TICK;
+   ASSERT (tp->tv_usec < USECS_PER_SEC);
+
+   return 0;
+}
+
+int osal_usleep (uint32 usec)
+{
+   udelay(usec);
+   return 0;
+}
+
+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;
+
+   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;
+
+   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;
+
+   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;
+}
+
+void *osal_malloc(size_t size)
+{
+   return malloc(size);
+}
+
+void osal_free(void *ptr)
+{
+   free(ptr);
+}
+
+int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
+{
+   thandle = task_spawn ("worker", func, 6,stacksize, param);
+   if(!thandle)
+   {
+      return 0;
+   }
+   return 1;
+}
+
+int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
+{
+   thandle = task_spawn ("worker_rt", func, 15 ,stacksize, param);
+   if(!thandle)
+   {
+      return 0;
+   }
+   return 1;
+}

soem-src/osal/rtk/osal_defs.h

@@ -0,0 +1,37 @@
+/*
+ * 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
+#define PACKED_BEGIN
+#define PACKED  __attribute__((__packed__))
+#define PACKED_END
+#endif
+
+#define OSAL_THREAD_HANDLE task_t *
+#define OSAL_THREAD_FUNC void
+#define OSAL_THREAD_FUNC_RT void
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif