version 4.1.0

maybe fix hang on PIEthernet::interrupt()
replace piLetobe with piChangeEndian:
 * piChangeEndianBinary
 * piChangeBinary
 * piChangedBinary
PIDiagnostics::start now accept PISystemTime instead of number
add PITimer::start(PISystemTime, std::function<void()>) overload

libs/main/io_utils/pibasetransfer.cpp

@@ -19,6 +19,7 @@
 
 #include "pibasetransfer.h"
 
+#include "piliterals_time.h"
 #include "pitime.h"
 
 const uint PIBaseTransfer::signature = 0x54424950;
@@ -37,7 +38,7 @@ PIBaseTransfer::PIBaseTransfer(): crc(standardCRC_16()), diag(false) {
 	timeout_              = 10.;
 	diag.setDisconnectTimeout(PISystemTime::fromSeconds(timeout_ / 10.));
 	diag.setName("PIBaseTransfer");
-	diag.start(50);
+	diag.start(20_Hz);
 	packets_count = 10;
 #ifdef MICRO_PIP
 	setPacketSize(512);

libs/main/io_utils/pidiagnostics.cpp

@@ -94,16 +94,14 @@ PIString PIDiagnostics::sendSpeed() const {
 
 
 void PIDiagnostics::start() {
-	PITimer::start(10_Hz);
-	changeDisconnectTimeout(disconn_);
+	PIDiagnostics::start(10_Hz);
 }
 
 
-void PIDiagnostics::start(double msecs) {
-	if (msecs > 0.) {
-		PITimer::start(PISystemTime::fromMilliseconds(msecs));
-		changeDisconnectTimeout(disconn_);
-	}
+void PIDiagnostics::start(PISystemTime interval) {
+	if (interval.isNull()) return;
+	PITimer::start(interval);
+	changeDisconnectTimeout(disconn_);
 }
 
 

libs/main/io_utils/pidiagnostics.h

@@ -96,7 +96,7 @@ public:
 
 
 	EVENT_HANDLER0(void, start);
-	EVENT_HANDLER1(void, start, double, msecs);
+	EVENT_HANDLER1(void, start, PISystemTime, interval);
 	EVENT_HANDLER0(void, reset);
 
 	EVENT_HANDLER1(void, received, int, size) { received(size, true); }