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/win32/osal_win32.h

@@ -0,0 +1,36 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#ifndef _osal_win32_
+#define _osal_win32_
+
+/* Convenience macros for operations on timevals.
+   NOTE: `timercmp' does not work for >= or <=.  */
+# define timerisset(tvp)        ((tvp)->tv_sec || (tvp)->tv_usec)
+# 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)
+
+struct timezone;
+// currently the tz parameter is ignored in the win32 implmentation.
+int osal_gettimeofday (struct timeval *tv, struct timezone *tz);
+
+#endif