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/soem/ethercatconfig.h

@@ -0,0 +1,47 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * Headerfile for ethercatconfig.c
+ */
+
+#ifndef _ethercatconfig_
+#define _ethercatconfig_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define EC_NODEOFFSET      0x1000
+#define EC_TEMPNODE        0xffff
+
+#ifdef EC_VER1
+int ec_config_init(uint8 usetable);
+int ec_config_map(void *pIOmap);
+int ec_config_overlap_map(void *pIOmap);
+int ec_config_map_aligned(void *pIOmap);
+int ec_config_map_group(void *pIOmap, uint8 group);
+int ec_config_overlap_map_group(void *pIOmap, uint8 group);
+int ec_config_map_group_aligned(void *pIOmap, uint8 group);
+int ec_config(uint8 usetable, void *pIOmap);
+int ec_config_overlap(uint8 usetable, void *pIOmap);
+int ec_recover_slave(uint16 slave, int timeout);
+int ec_reconfig_slave(uint16 slave, int timeout);
+#endif
+
+int ecx_config_init(ecx_contextt *context, uint8 usetable);
+int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group);
+int ecx_config_overlap_map_group(ecx_contextt *context, void *pIOmap, uint8 group);
+int ecx_config_map_group_aligned(ecx_contextt *context, void *pIOmap, uint8 group);
+int ecx_recover_slave(ecx_contextt *context, uint16 slave, int timeout);
+int ecx_reconfig_slave(ecx_contextt *context, uint16 slave, int timeout);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif