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/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_);
 }