diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index d97e5da3..c4ac2fb3 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -46,7 +46,7 @@ extern double DoubleTime(void);
  * with valid values.
  * \see getDMCSetting
  */
-enum dmcsetting {dmcspeed, dmcacceleration, dmcdeceleration};
+typedef enum report_type {eReportMotion, eReportIdle, eReportFinal} ReportType;
 enum commandtype {CMD_RUN=1, CMD_HALT=2};
 
 typedef struct __MoDriv DMC2280Driv, *pDMC2280Driv;
@@ -1153,28 +1153,52 @@ static void set_lastMotion(pDMC2280Driv self, int steps, int counts) {
   gettimeofday(&(self->time_lastPos_set), NULL);
 }
 
-static bool report_motion(pDMC2280Driv self, bool isIdle) {
-  SConnection *pDumCon;
-  MotCallback sCall;
-  double current_time, skip_time;
-  long lDelta;
+/*
+ * TODO: idle and final reporting
+ * when final, always report MOTDRIVE and MOTEND
+ * when idle, if time and motion > threshold, report MOTDRIVE and MOTEND
+ * when neither, if time and motion > threshold, report MOTDRIVE but not MOTEND
+ */
+static bool report_motion(pDMC2280Driv self, ReportType reportType) {
+  double current_time;
+  bool doMotDrive = false;
+  bool doMotEnd = false;
+
   if (self->pMot == NULL)
     self->pMot = FindMotor(pServ->pSics, self->name);
   assert(self->pMot);
   current_time = DoubleTime();
-  skip_time = 0.001 * getMotorParam(self, "movecount");
-  if (self->lastReportTime + skip_time <= current_time) {
-    if (self->abs_encoder)
-      lDelta = fabs(self->currCounts - self->lastReportedCounts);
-    else
-      lDelta = fabs(self->currSteps - self->lastReportedSteps);
-    if (lDelta > 1) {
-      pDumCon = SCCreateDummyConnection(pServ->pSics);
-      MotorGetSoftPosition(self->pMot, pDumCon, &sCall.fVal);
-      SCDeleteConnection(pDumCon);
-      sCall.pName = self->pMot->name;
+  if (reportType == eReportFinal) {
+    doMotDrive = true;
+    doMotEnd = true;
+  } else {
+    double skip_time;
+    skip_time = 0.001 * getMotorParam(self, "movecount");
+    if (self->lastReportTime + skip_time <= current_time) {
+      long lDelta;
+      if (self->abs_encoder)
+        lDelta = fabs(self->currCounts - self->lastReportedCounts);
+      else
+        lDelta = fabs(self->currSteps - self->lastReportedSteps);
+      if (reportType == eReportIdle) {
+        if (lDelta > 10) {
+          doMotDrive = true;
+          doMotEnd = true;
+        }
+      } else
+        doMotDrive = true;
+    }
+  }
+  if (doMotDrive || doMotEnd) {
+    SConnection *pDumCon;
+    MotCallback sCall;
+    pDumCon = SCCreateDummyConnection(pServ->pSics);
+    MotorGetSoftPosition(self->pMot, pDumCon, &sCall.fVal);
+    SCDeleteConnection(pDumCon);
+    sCall.pName = self->pMot->name;
+    if (doMotDrive) {
       InvokeCallBack(self->pMot->pCall, MOTDRIVE, &sCall);
-      if (isIdle)
+      if (doMotEnd)
         InvokeCallBack(self->pMot->pCall, MOTEND, &sCall);
       self->lastReportedCounts = self->currCounts;
       self->lastReportedSteps = self->currSteps;
@@ -2361,8 +2385,12 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
             return;
           }
           /* if the motor moved, update any observers */
-          if (report_motion(self, true))
-            set_lastMotion(self, self->currSteps, self->currCounts);
+          if (self->doReportMotion) {
+            (void) report_motion(self, eReportFinal);
+            self->doReportMotion = false;
+          } else {
+            (void) report_motion(self, eReportIdle);
+          }
           if (trace_switches || self->debug)
             DMC_SetTimer(self, self->motorPollFast);
           else
@@ -3172,6 +3200,7 @@ static void DMCState_Oscillate(pDMC2280Driv self, pEvtEvent event) {
       if (self->oscillate_count > 0 && self->oscillate_counter >= self->oscillate_count)
         self->doOscillate = false;
       if (!self->doOscillate) {
+        (void) report_motion(self, eReportFinal);
         change_state(self, DMCState_OffTimer); /* TODO: check this is OK */
         return;
       }
@@ -3325,7 +3354,7 @@ static void DMCState_StepMove(pDMC2280Driv self, pEvtEvent event) {
             }
           }
           if (self->doReportMotion)
-            (void) report_motion(self, false);
+            (void) report_motion(self, eReportMotion);
           /* if the status response can be handled here, return */
           if (motorHandleStatus(self))
             return;