diff --git a/prot_cmd/cmd_pc.cpp b/prot_cmd/cmd_pc.cpp
index 2510a2a..2d7c669 100644
--- a/prot_cmd/cmd_pc.cpp
+++ b/prot_cmd/cmd_pc.cpp
@@ -809,3 +809,57 @@ protpc_export(0x41, get_selfdev_set_rescv);
 
 
 
+
+
+// 执行任务
+int selfdev_runtask::dolater(int cmd, myarray data)
+{
+  prot_slave *slave=protSlave();
+  mycfg *cfg_=syscfg();
+  busy=1;
+  // 这里开始检测
+  qDebug("set_rescv.");
+  emit send_data_signal(cmd,myarray(1,0));
+  HandleBoardCast *b=new slave_cmd();
+  bool ack=slave->set_boardcast_handle(cfg_->calc_slave_addrs(),b);
+  if(ack==false){
+    qWarning("handle is busy.");
+    busy=0;
+  }else{
+    connect(b,&HandleBoardCast::end_signal,this,&selfdev_runtask::slave_end_slot);
+    // 广播设置校准值，需使用新增命令
+    b->cmd=0x13;
+    b->start(data);
+  }
+  slave_acked.clear();
+  for(int i=0;i<cfg_->slave_num;i++){
+    slave_acked.append(myarray());
+  }
+  slave_acked_num=0;
+  return 0;
+}
+
+void selfdev_runtask::timeout()
+{
+  busy=0;
+}
+
+void selfdev_runtask::slave_end_slot(int addr,int ack, slave_data data)
+{
+  qDebug("selfdev set_rescv end.");
+  myarray r;
+  r.append(char(0));
+  emit send_data_signal(0x50,r);
+  busy=0;
+}
+
+static HandlePc *get_selfdev_runtask(){
+  return new selfdev_runtask();
+}
+protpc_export(0x50, get_selfdev_runtask);
+
+
+
+
+
+
diff --git a/prot_cmd/cmd_pc.h b/prot_cmd/cmd_pc.h
index 4368c42..2556c58 100644
--- a/prot_cmd/cmd_pc.h
+++ b/prot_cmd/cmd_pc.h
@@ -251,4 +251,32 @@ signals:
 
 
 
+
+
+
+// 执行任务
+class selfdev_runtask : public HandlePc
+{
+  Q_OBJECT
+public:
+  selfdev_runtask() : HandlePc() {
+    slave_acked_num=0;
+  }
+  ~selfdev_runtask() {
+  }
+  int dolater(int cmd, myarray data);
+  void timeout();
+public slots:
+  void slave_end_slot(int addr,int ack, slave_data data);
+protected:
+  QList<myarray> slave_acked;
+  int slave_acked_num;
+signals:
+  void send_to_m4_signal(myarray data);
+};
+
+
+
+
+
 #endif