From 866814e94e8192f50b3e6a64df525114722eb194 Mon Sep 17 00:00:00 2001
From: chuan <haeer98@outlook.com>
Date: Thu, 28 May 2026 12:20:10 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E6=A0=B9=E6=8D=AEv1.2=E7=9A=84?=
 =?UTF-8?q?=E6=96=87=E6=A1=A3=E5=AE=8C=E6=88=90=E4=BB=A3=E7=A0=81=E8=BF=81?=
 =?UTF-8?q?=E7=A7=BB?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 README.md                          |  6 +--
 TODO.md                            |  2 +-
 config.toml                        |  4 +-
 src/line_laser_modbus/__init__.py  |  3 +-
 src/line_laser_modbus/client.py    | 41 +++++++++++++++----
 src/line_laser_modbus/codec.py     | 63 +++++++++++++++++++++++++++---
 src/line_laser_modbus/config.py    |  3 +-
 src/line_laser_modbus/constants.py | 24 +++++++++---
 src/line_laser_modbus/models.py    | 17 +++++++-
 src/line_laser_modbus/runner.py    |  9 +++--
 src/line_laser_modbus/simulator.py |  6 +--
 tests/test_client_simulator.py     | 33 +++++++++++++++-
 tests/test_codec.py                | 28 ++++++++++++-
 tests/test_config.py               |  6 +++
 tests/test_constants.py            | 39 ++++++++++++++++--
 tests/test_runner.py               |  1 +
 16 files changed, 245 insertions(+), 40 deletions(-)

diff --git a/README.md b/README.md
index 92c0496..e756a3f 100644
--- a/README.md
+++ b/README.md
@@ -7,9 +7,9 @@
 ## 功能
 
 - 基于 `pymodbus` 的 Modbus RTU 串口客户端
-- 按协议实现 uint16、float32、XYZABC 位姿和 CRC16 编解码
+- 按协议实现 uint16、uint32 时间戳、float32、XYZABC 位姿和 CRC16 编解码
 - 提供无硬件内存模拟器用于测试
-- 提供模式状态机校验和 20ms 轮询运行器
+- 提供模式状态机校验和 50ms 轮询运行器
 - 使用 TOML 作为运行配置入口
 
 ## 安装与测试
@@ -52,7 +52,7 @@ python -m uv run python examples/real_serial_read_status.py
 python -m uv run line-laser-modbus read-status
 ```
 
-配置文件包含 `[serial]` 和 `[polling]` 两段，其中 `[polling]` 用于配置 20ms 轮询周期和连续超时判定次数。
+配置文件包含 `[serial]` 和 `[polling]` 两段，其中 `[polling]` 用于配置 50ms 轮询周期和连续超时判定次数。
 
 ## 类型标记
 
diff --git a/TODO.md b/TODO.md
index ea1a2c7..a5bda5b 100644
--- a/TODO.md
+++ b/TODO.md
@@ -6,7 +6,7 @@
 - [ ] 增加 CLI 模拟模式测试，覆盖常用命令输出和参数校验。
 - [ ] 增加轮询异常测试，覆盖连续超时、恢复计数和不可恢复错误。
 - [ ] 增加真实串口硬件联调记录，确认状态字、当前位姿、模式写入、目标位姿和纠偏量读写。
-- [ ] 验证 20ms 轮询稳定性，记录实际通信耗时、超时次数和重试表现。
+- [ ] 验证 50ms 轮询稳定性，记录实际通信耗时、超时次数和重试表现。
 - [ ] 完善发布元数据，包括 license、authors、classifiers 和 project URLs。
 - [ ] 评估是否加入类型检查和覆盖率统计。
 - [ ] 根据现场设备参数更新或补充配置示例。
diff --git a/config.toml b/config.toml
index bc8045e..1607c62 100644
--- a/config.toml
+++ b/config.toml
@@ -5,9 +5,9 @@ baudrate = 115200
 bytesize = 8
 parity = "N"
 stopbits = 1
-timeout = 0.05
+timeout = 0.15
 retries = 3
 
 [polling]
-interval_seconds = 0.02
+interval_seconds = 0.05
 max_timeouts = 3
diff --git a/src/line_laser_modbus/__init__.py b/src/line_laser_modbus/__init__.py
index ce2595c..c1adac8 100644
--- a/src/line_laser_modbus/__init__.py
+++ b/src/line_laser_modbus/__init__.py
@@ -2,7 +2,7 @@
 
 from line_laser_modbus.client import LineLaserClient
 from line_laser_modbus.config import AppConfig, PollingConfig, SerialConfig
-from line_laser_modbus.models import DeviceSnapshot, DeviceStatus, ModeCommand, Pose6D
+from line_laser_modbus.models import DeviceSnapshot, DeviceStatus, ModeCommand, Pose6D, TimedPose6D
 from line_laser_modbus.runner import PollingRunner
 
 # 公开库调用时最常用的类型和入口。
@@ -16,4 +16,5 @@ __all__ = [
     "PollingRunner",
     "Pose6D",
     "SerialConfig",
+    "TimedPose6D",
 ]
diff --git a/src/line_laser_modbus/client.py b/src/line_laser_modbus/client.py
index 24d85b7..5df3d06 100644
--- a/src/line_laser_modbus/client.py
+++ b/src/line_laser_modbus/client.py
@@ -8,7 +8,12 @@ from typing import Protocol, Self
 from pymodbus import ModbusException
 from pymodbus.client import ModbusSerialClient
 
-from line_laser_modbus.codec import decode_pose, decode_u16, encode_pose, encode_u16
+from line_laser_modbus.codec import (
+    decode_timed_pose,
+    decode_u16,
+    encode_timed_pose,
+    encode_u16,
+)
 from line_laser_modbus.config import SerialConfig
 from line_laser_modbus.constants import (
     ADDR_CORRECTION,
@@ -23,6 +28,7 @@ from line_laser_modbus.models import (
     DeviceStatus,
     ModeCommand,
     Pose6D,
+    TimedPose6D,
     ensure_mode,
     ensure_status,
     validate_mode_switch,
@@ -120,24 +126,45 @@ class LineLaserClient:
     def read_current_pose(self) -> Pose6D:
         """读取控制器当前 XYZABC 位姿"""
 
+        return self.read_current_timed_pose().pose
+
+    def read_current_timed_pose(self) -> TimedPose6D:
+        """读取控制器当前时间戳和 XYZABC 位姿"""
+
         registers = self._read_registers(ADDR_CURRENT_POSE, REGISTER_COUNT_POSE)
-        return decode_pose(registers)
+        return decode_timed_pose(registers)
 
     def read_snapshot(self) -> DeviceSnapshot:
         """读取模式状态和当前位姿组成一次逻辑快照"""
 
         # 快照按协议关键字段顺序读取避免上层重复拼装状态
-        return DeviceSnapshot(self.read_mode(), self.read_status(), self.read_current_pose())
+        timed_pose = self.read_current_timed_pose()
+        return DeviceSnapshot(
+            self.read_mode(),
+            self.read_status(),
+            timed_pose.pose,
+            timed_pose.timestamp,
+        )
 
-    def write_target_pose(self, pose: Pose6D) -> None:
+    def write_target_pose(self, pose: Pose6D, *, timestamp: int = 0) -> None:
         """写入示教目标 XYZABC 位姿"""
 
-        self._write_registers(ADDR_TARGET_POSE, encode_pose(pose))
+        self.write_target_timed_pose(TimedPose6D.from_pose(pose, timestamp))
 
-    def write_correction(self, pose: Pose6D) -> None:
+    def write_target_timed_pose(self, data: TimedPose6D) -> None:
+        """写入示教目标时间戳和 XYZABC 位姿"""
+
+        self._write_registers(ADDR_TARGET_POSE, encode_timed_pose(data))
+
+    def write_correction(self, pose: Pose6D, *, timestamp: int = 0) -> None:
         """写入实时 XYZABC 纠偏量"""
 
-        self._write_registers(ADDR_CORRECTION, encode_pose(pose))
+        self.write_timed_correction(TimedPose6D.from_pose(pose, timestamp))
+
+    def write_timed_correction(self, data: TimedPose6D) -> None:
+        """写入实时时间戳和 XYZABC 纠偏量"""
+
+        self._write_registers(ADDR_CORRECTION, encode_timed_pose(data))
 
     def _read_word(self, address: int) -> int:
         """从绝对地址读取单个 uint16 寄存器"""
diff --git a/src/line_laser_modbus/codec.py b/src/line_laser_modbus/codec.py
index 86924b9..e708eb4 100644
--- a/src/line_laser_modbus/codec.py
+++ b/src/line_laser_modbus/codec.py
@@ -8,10 +8,12 @@ from line_laser_modbus.constants import (
     AXIS_NAMES,
     FUNC_READ_HOLDING_REGISTERS,
     FUNC_WRITE_MULTIPLE_REGISTERS,
+    REGISTER_COUNT_AXES,
     REGISTER_COUNT_POSE,
+    REGISTER_COUNT_TIMESTAMP,
     SLAVE_ID,
 )
-from line_laser_modbus.models import Pose6D
+from line_laser_modbus.models import Pose6D, TimedPose6D
 
 
 def encode_u16(value: int) -> int:
@@ -29,6 +31,26 @@ def decode_u16(register: int) -> int:
     return encode_u16(register)
 
 
+def encode_u32(value: int) -> list[int]:
+    """将一个 uint32 编码为两个大端寄存器"""
+
+    if not 0 <= value <= 0xFFFFFFFF:
+        msg = f"Value out of uint32 range: {value}"
+        raise ValueError(msg)
+    high, low = struct.unpack(">HH", struct.pack(">I", value))
+    return [high, low]
+
+
+def decode_u32(registers: list[int] | tuple[int, int]) -> int:
+    """将两个大端寄存器解析为一个 uint32"""
+
+    if len(registers) != REGISTER_COUNT_TIMESTAMP:
+        msg = f"uint32 requires 2 registers, got {len(registers)}"
+        raise ValueError(msg)
+    raw = struct.pack(">HH", encode_u16(registers[0]), encode_u16(registers[1]))
+    return struct.unpack(">I", raw)[0]
+
+
 def encode_f32(value: float) -> list[int]:
     """将一个 float32 编码为两个大端寄存器"""
 
@@ -49,7 +71,13 @@ def decode_f32(registers: list[int] | tuple[int, int]) -> float:
 
 
 def encode_pose(pose: Pose6D) -> list[int]:
-    """将 XYZABC 位姿编码为十二个保持寄存器"""
+    """将 XYZABC 数据按 V1.2 编码为时间戳 0 加十二个轴寄存器"""
+
+    return encode_timed_pose(TimedPose6D.from_pose(pose))
+
+
+def encode_axes(pose: Pose6D) -> list[int]:
+    """将 XYZABC 六轴数据编码为十二个保持寄存器"""
 
     registers: list[int] = []
     for value in pose.as_tuple():
@@ -57,16 +85,39 @@ def encode_pose(pose: Pose6D) -> list[int]:
     return registers
 
 
-def decode_pose(registers: list[int] | tuple[int, ...]) -> Pose6D:
-    """将十二个保持寄存器解析为 XYZABC 位姿"""
+def decode_axes(registers: list[int] | tuple[int, ...]) -> Pose6D:
+    """将十二个轴寄存器解析为 XYZABC 数据"""
 
-    if len(registers) != REGISTER_COUNT_POSE:
-        msg = f"Pose requires {REGISTER_COUNT_POSE} registers, got {len(registers)}"
+    if len(registers) != REGISTER_COUNT_AXES:
+        msg = f"Pose axes require {REGISTER_COUNT_AXES} registers, got {len(registers)}"
         raise ValueError(msg)
     values = [decode_f32(registers[index : index + 2]) for index in range(0, len(registers), 2)]
     return Pose6D(**dict(zip(AXIS_NAMES, values, strict=True)))
 
 
+def encode_timed_pose(data: TimedPose6D) -> list[int]:
+    """将时间戳和 XYZABC 编码为十四个保持寄存器"""
+
+    return [*encode_u32(data.timestamp), *encode_axes(data.pose)]
+
+
+def decode_timed_pose(registers: list[int] | tuple[int, ...]) -> TimedPose6D:
+    """将十四个保持寄存器解析为时间戳和 XYZABC 数据"""
+
+    if len(registers) != REGISTER_COUNT_POSE:
+        msg = f"Timed pose requires {REGISTER_COUNT_POSE} registers, got {len(registers)}"
+        raise ValueError(msg)
+    timestamp = decode_u32(registers[:REGISTER_COUNT_TIMESTAMP])
+    pose = decode_axes(registers[REGISTER_COUNT_TIMESTAMP:])
+    return TimedPose6D(timestamp, pose)
+
+
+def decode_pose(registers: list[int] | tuple[int, ...]) -> Pose6D:
+    """将 V1.2 时间戳加六轴数据块解析为 XYZABC 数据"""
+
+    return decode_timed_pose(registers).pose
+
+
 def crc16(data: bytes) -> int:
     """计算原始帧字节的 Modbus RTU CRC16"""
 
diff --git a/src/line_laser_modbus/config.py b/src/line_laser_modbus/config.py
index 0e07481..0d006ac 100644
--- a/src/line_laser_modbus/config.py
+++ b/src/line_laser_modbus/config.py
@@ -10,6 +10,7 @@ from line_laser_modbus.constants import (
     DEFAULT_BAUDRATE,
     DEFAULT_BYTESIZE,
     DEFAULT_PARITY,
+    DEFAULT_POLLING_INTERVAL_SECONDS,
     DEFAULT_RETRIES,
     DEFAULT_STOPBITS,
     DEFAULT_TIMEOUT_SECONDS,
@@ -44,7 +45,7 @@ class SerialConfig:
 class PollingConfig:
     """轮询运行配置"""
 
-    interval_seconds: float = 0.02
+    interval_seconds: float = DEFAULT_POLLING_INTERVAL_SECONDS
     max_timeouts: int = 3
 
 
diff --git a/src/line_laser_modbus/constants.py b/src/line_laser_modbus/constants.py
index e1ba588..88e2668 100644
--- a/src/line_laser_modbus/constants.py
+++ b/src/line_laser_modbus/constants.py
@@ -9,15 +9,26 @@ FUNC_WRITE_MULTIPLE_REGISTERS = 0x10
 # 保持寄存器绝对地址。
 ADDR_MODE_COMMAND = 0xD000
 ADDR_DEVICE_STATUS = 0xD001
+ADDR_EXTENSION_RESERVED_1_START = 0xD002
+ADDR_EXTENSION_RESERVED_1_END = 0xD009
 ADDR_CURRENT_POSE = 0xD00A
-ADDR_TARGET_POSE = 0xD016
-ADDR_CORRECTION = 0xD022
-ADDR_CALIBRATION_RESERVED_START = 0xD02E
-ADDR_CALIBRATION_RESERVED_END = 0xD04D
+ADDR_EXTENSION_RESERVED_2_START = 0xD018
+ADDR_EXTENSION_RESERVED_2_END = 0xD01F
+ADDR_TARGET_POSE = 0xD020
+ADDR_EXTENSION_RESERVED_3_START = 0xD02E
+ADDR_EXTENSION_RESERVED_3_END = 0xD035
+ADDR_CORRECTION = 0xD036
+ADDR_EXTENSION_RESERVED_4_START = 0xD044
+ADDR_EXTENSION_RESERVED_4_END = 0xD04B
+ADDR_CALIBRATION_RESERVED_START = 0xD04C
+ADDR_CALIBRATION_RESERVED_END = 0xD06B
 
 # 协议数据宽度和位姿字段顺序。
 REGISTER_COUNT_WORD = 1
-REGISTER_COUNT_POSE = 12
+REGISTER_COUNT_TIMESTAMP = 2
+REGISTER_COUNT_AXES = 12
+REGISTER_COUNT_POSE = 14
+REGISTER_COUNT_EXTENSION_RESERVED = 8
 REGISTER_COUNT_CALIBRATION_RESERVED = 32
 AXIS_NAMES = ("x", "y", "z", "a", "b", "c")
 
@@ -26,5 +37,6 @@ DEFAULT_BAUDRATE = 115200
 DEFAULT_BYTESIZE = 8
 DEFAULT_PARITY = "N"
 DEFAULT_STOPBITS = 1
-DEFAULT_TIMEOUT_SECONDS = 0.05
+DEFAULT_TIMEOUT_SECONDS = 0.15
 DEFAULT_RETRIES = 3
+DEFAULT_POLLING_INTERVAL_SECONDS = 0.05
diff --git a/src/line_laser_modbus/models.py b/src/line_laser_modbus/models.py
index 33964bd..42b995e 100644
--- a/src/line_laser_modbus/models.py
+++ b/src/line_laser_modbus/models.py
@@ -37,6 +37,7 @@ class DeviceSnapshot:
     mode: ModeCommand
     status: DeviceStatus
     pose: Pose6D
+    timestamp: int = 0
 
 
 @dataclass(frozen=True, slots=True)
@@ -71,6 +72,20 @@ class Pose6D:
         return (self.x, self.y, self.z, self.a, self.b, self.c)
 
 
+@dataclass(frozen=True, slots=True)
+class TimedPose6D:
+    """V1.2 协议中的时间戳加 XYZABC 数据块"""
+
+    timestamp: int
+    pose: Pose6D
+
+    @classmethod
+    def from_pose(cls, pose: Pose6D, timestamp: int = 0) -> Self:
+        """从普通六轴数据创建带时间戳数据块"""
+
+        return cls(timestamp, pose)
+
+
 def ensure_mode(value: int | ModeCommand) -> ModeCommand:
     """校验并转换模式命令字"""
 
@@ -107,7 +122,7 @@ def can_switch_mode(
     if current_mode is ModeCommand.EMERGENCY_STOP:
         return False
     if current_status is DeviceStatus.CALIBRATION_DONE:
-        # 标定完成后由控制器内部回待机，不直接进入运行模式。
+        # V1.2 状态机要求标定完成后回待机，不直接进入运行模式。
         return False
     if current_status is DeviceStatus.TEACHING_DONE:
         # 示教完成后可进入依赖标准轨迹的运行模式。
diff --git a/src/line_laser_modbus/runner.py b/src/line_laser_modbus/runner.py
index a8eb684..6eb9658 100644
--- a/src/line_laser_modbus/runner.py
+++ b/src/line_laser_modbus/runner.py
@@ -7,7 +7,7 @@ from collections.abc import Callable
 
 from line_laser_modbus.client import LineLaserClient
 from line_laser_modbus.config import PollingConfig
-from line_laser_modbus.constants import DEFAULT_TIMEOUT_SECONDS
+from line_laser_modbus.constants import DEFAULT_POLLING_INTERVAL_SECONDS, DEFAULT_TIMEOUT_SECONDS
 from line_laser_modbus.models import DeviceSnapshot, ModeCommand, Pose6D
 
 CorrectionProvider = Callable[[DeviceSnapshot], Pose6D]
@@ -82,5 +82,8 @@ class PollingRunner:
 def default_polling_config() -> PollingConfig:
     """按协议默认超时时间生成轮询配置"""
 
-    max_timeouts = max(1, round(DEFAULT_TIMEOUT_SECONDS / 0.02))
-    return PollingConfig(interval_seconds=0.02, max_timeouts=max_timeouts)
+    max_timeouts = max(1, round(DEFAULT_TIMEOUT_SECONDS / DEFAULT_POLLING_INTERVAL_SECONDS))
+    return PollingConfig(
+        interval_seconds=DEFAULT_POLLING_INTERVAL_SECONDS,
+        max_timeouts=max_timeouts,
+    )
diff --git a/src/line_laser_modbus/simulator.py b/src/line_laser_modbus/simulator.py
index 0d155c9..92f203c 100644
--- a/src/line_laser_modbus/simulator.py
+++ b/src/line_laser_modbus/simulator.py
@@ -4,7 +4,7 @@ from __future__ import annotations
 
 from dataclasses import dataclass
 
-from line_laser_modbus.codec import encode_pose
+from line_laser_modbus.codec import decode_pose, encode_pose
 from line_laser_modbus.constants import (
     ADDR_CORRECTION,
     ADDR_CURRENT_POSE,
@@ -105,9 +105,7 @@ class SimulatedModbusBackend:
     def _read_pose(self, address: int) -> Pose6D:
         """从指定地址读取一组模拟位姿寄存器"""
 
-        from line_laser_modbus.codec import decode_pose
-
-        return decode_pose([self.registers.get(address + offset, 0) for offset in range(12)])
+        return decode_pose([self.registers.get(address + offset, 0) for offset in range(14)])
 
     def _ensure_ready(self, device_id: int) -> None:
         """检查连接状态和从站地址"""
diff --git a/tests/test_client_simulator.py b/tests/test_client_simulator.py
index 0b1cd9f..ad9ff4f 100644
--- a/tests/test_client_simulator.py
+++ b/tests/test_client_simulator.py
@@ -2,7 +2,11 @@ import pytest
 
 from line_laser_modbus.client import LineLaserClient
 from line_laser_modbus.config import SerialConfig
-from line_laser_modbus.models import DeviceStatus, ModeCommand, Pose6D
+from line_laser_modbus.constants import (
+    ADDR_CORRECTION,
+    ADDR_TARGET_POSE,
+)
+from line_laser_modbus.models import DeviceStatus, ModeCommand, Pose6D, TimedPose6D
 from line_laser_modbus.simulator import SimulatedModbusBackend
 
 
@@ -16,6 +20,9 @@ def test_client_reads_seeded_status_and_pose_from_simulator() -> None:
     with LineLaserClient(SerialConfig(port="SIM"), backend=backend) as client:
         assert client.read_status() is DeviceStatus.TRACKING_OK
         assert client.read_current_pose() == pose
+        timed_pose = client.read_current_timed_pose()
+        assert timed_pose.timestamp == 0
+        assert timed_pose.pose == pose
 
 
 def test_client_writes_mode_and_correction_to_simulator() -> None:
@@ -30,6 +37,30 @@ def test_client_writes_mode_and_correction_to_simulator() -> None:
         assert backend.correction() == correction
 
 
+def test_client_writes_timed_target_pose_to_simulator() -> None:
+    backend = SimulatedModbusBackend()
+    target = TimedPose6D(1234, Pose6D(1.0, 2.0, 3.0, 4.0, 5.0, 6.0))
+
+    with LineLaserClient(SerialConfig(port="SIM"), backend=backend) as client:
+        client.write_target_timed_pose(target)
+
+    assert backend.target_pose() == target.pose
+    assert backend.registers[ADDR_TARGET_POSE] == 0x0000
+    assert backend.registers[ADDR_TARGET_POSE + 1] == 0x04D2
+
+
+def test_client_writes_timed_correction_to_simulator() -> None:
+    backend = SimulatedModbusBackend()
+    correction = TimedPose6D(1000, Pose6D(1.0, 2.0, 3.0, 0.0, 1.0, 2.0))
+
+    with LineLaserClient(SerialConfig(port="SIM"), backend=backend) as client:
+        client.write_timed_correction(correction)
+
+    assert backend.correction() == correction.pose
+    assert backend.registers[ADDR_CORRECTION] == 0x0000
+    assert backend.registers[ADDR_CORRECTION + 1] == 0x03E8
+
+
 def test_simulator_rejects_wrong_slave_id() -> None:
     backend = SimulatedModbusBackend()
 
diff --git a/tests/test_codec.py b/tests/test_codec.py
index ccd88dc..78122ed 100644
--- a/tests/test_codec.py
+++ b/tests/test_codec.py
@@ -2,9 +2,11 @@ from line_laser_modbus.codec import (
     build_read_frame,
     build_write_frame,
     decode_pose,
+    decode_timed_pose,
     encode_pose,
+    encode_timed_pose,
 )
-from line_laser_modbus.models import Pose6D
+from line_laser_modbus.models import Pose6D, TimedPose6D
 
 
 def test_read_frame_matches_readme_example() -> None:
@@ -20,3 +22,27 @@ def test_mode_write_frame_matches_readme_example() -> None:
 def test_pose_float_register_roundtrip() -> None:
     pose = Pose6D(1.25, -2.5, 3.0, 0.0, 45.5, -90.0)
     assert decode_pose(encode_pose(pose)) == pose
+
+
+def test_timed_pose_register_roundtrip() -> None:
+    data = TimedPose6D(1000, Pose6D(1.25, -2.5, 3.0, 0.0, 45.5, -90.0))
+    registers = encode_timed_pose(data)
+
+    assert len(registers) == 14
+    assert decode_timed_pose(registers) == data
+
+
+def test_current_pose_read_frame_matches_v12_example() -> None:
+    frame = build_read_frame(0xD00A, 14)
+    assert frame.hex(" ").upper() == "08 03 D0 0A 00 0E DC 55"
+
+
+def test_correction_write_frame_matches_v12_docx_example() -> None:
+    data = TimedPose6D(1000, Pose6D(1.0, 2.0, 3.0, 0.0, 1.0, 2.0))
+    frame = build_write_frame(0xD036, encode_timed_pose(data), slave_id=0x01)
+
+    assert (
+        frame.hex(" ").upper()
+        == "01 10 D0 36 00 0E 1C 00 00 03 E8 3F 80 00 00 40 00 00 00 "
+        "40 40 00 00 00 00 00 00 3F 80 00 00 40 00 00 00 D0 72"
+    )
diff --git a/tests/test_config.py b/tests/test_config.py
index 2acb98c..4b2f14d 100644
--- a/tests/test_config.py
+++ b/tests/test_config.py
@@ -23,3 +23,9 @@ max_timeouts = 5
     assert config.serial.port == "COM9"
     assert config.polling.interval_seconds == 0.01
     assert config.polling.max_timeouts == 5
+
+
+def test_default_config_matches_v12_timing() -> None:
+    config = AppConfig()
+    assert config.serial.timeout == 0.15
+    assert config.polling.interval_seconds == 0.05
diff --git a/tests/test_constants.py b/tests/test_constants.py
index 8239d27..6c23c13 100644
--- a/tests/test_constants.py
+++ b/tests/test_constants.py
@@ -1,11 +1,44 @@
 from line_laser_modbus.constants import (
     ADDR_CALIBRATION_RESERVED_END,
     ADDR_CALIBRATION_RESERVED_START,
+    ADDR_CORRECTION,
+    ADDR_CURRENT_POSE,
+    ADDR_EXTENSION_RESERVED_1_END,
+    ADDR_EXTENSION_RESERVED_1_START,
+    ADDR_EXTENSION_RESERVED_2_END,
+    ADDR_EXTENSION_RESERVED_2_START,
+    ADDR_EXTENSION_RESERVED_3_END,
+    ADDR_EXTENSION_RESERVED_3_START,
+    ADDR_EXTENSION_RESERVED_4_END,
+    ADDR_EXTENSION_RESERVED_4_START,
+    ADDR_TARGET_POSE,
     REGISTER_COUNT_CALIBRATION_RESERVED,
+    REGISTER_COUNT_EXTENSION_RESERVED,
+    REGISTER_COUNT_POSE,
 )
 
 
 def test_calibration_reserved_range_matches_protocol() -> None:
-    assert ADDR_CALIBRATION_RESERVED_START == 0xD02E
-    assert ADDR_CALIBRATION_RESERVED_END == 0xD04D
-    assert ADDR_CALIBRATION_RESERVED_START + REGISTER_COUNT_CALIBRATION_RESERVED - 1 == 0xD04D
+    assert ADDR_CALIBRATION_RESERVED_START == 0xD04C
+    assert ADDR_CALIBRATION_RESERVED_END == 0xD06B
+    assert ADDR_CALIBRATION_RESERVED_START + REGISTER_COUNT_CALIBRATION_RESERVED - 1 == 0xD06B
+
+
+def test_v12_pose_ranges_match_protocol() -> None:
+    assert ADDR_CURRENT_POSE == 0xD00A
+    assert ADDR_TARGET_POSE == 0xD020
+    assert ADDR_CORRECTION == 0xD036
+    assert REGISTER_COUNT_POSE == 14
+
+
+def test_v12_extension_reserved_ranges_match_protocol() -> None:
+    ranges = [
+        (ADDR_EXTENSION_RESERVED_1_START, ADDR_EXTENSION_RESERVED_1_END, 0xD002, 0xD009),
+        (ADDR_EXTENSION_RESERVED_2_START, ADDR_EXTENSION_RESERVED_2_END, 0xD018, 0xD01F),
+        (ADDR_EXTENSION_RESERVED_3_START, ADDR_EXTENSION_RESERVED_3_END, 0xD02E, 0xD035),
+        (ADDR_EXTENSION_RESERVED_4_START, ADDR_EXTENSION_RESERVED_4_END, 0xD044, 0xD04B),
+    ]
+    for start, end, expected_start, expected_end in ranges:
+        assert start == expected_start
+        assert end == expected_end
+        assert end - start + 1 == REGISTER_COUNT_EXTENSION_RESERVED
diff --git a/tests/test_runner.py b/tests/test_runner.py
index 3360b43..3658f1d 100644
--- a/tests/test_runner.py
+++ b/tests/test_runner.py
@@ -17,6 +17,7 @@ def test_polling_runner_writes_tracking_correction() -> None:
         snapshot = PollingRunner(client, correction_provider=pose_delta(target)).run_once()
 
     assert snapshot.status is DeviceStatus.TRACKING_OK
+    assert snapshot.timestamp == 0
     assert backend.correction() == Pose6D(1.0, 2.0, 3.0, 0.0, -1.0, 3.0)