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);