diff --git a/LinActuatorTasks.c b/LinActuatorTasks.c
index 42d148a..2119425 100644
--- a/LinActuatorTasks.c
+++ b/LinActuatorTasks.c
@@ -571,7 +571,12 @@ static bool setState20(tLinTaskActuator *env, bool isError, uint8_t index) {
     return false;
 }
 
-static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
+#define IS_LOGGING_ENABLED(numAct) \
+    ( (numAct == 1 && LOG_LIN1_ACTUATOR == 1) || \
+      (numAct == 2 && LOG_LIN2_ACTUATOR == 1) || \
+      (numAct == 3 && LOG_LIN3_ACTUATOR == 1) )
+
+static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env, uint8_t numAct) {
 
     lin_event_id_t ret = LIN_NO_EVENT;
 
@@ -584,28 +589,34 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
         if (env->linCommandActuator[0].COM == LIN_ACT_CFR_MOD) {
 
 #if (LOG_LIN_ACTUATOR == 1)
-            LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                             "Sending a command (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
-                             env->linCommandActuator[0].BUS_ADR,
-                             env->linCommandActuator[0].MODE)
+            if (IS_LOGGING_ENABLED(numAct)) {
+                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                 "Sending a command (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
+                                 env->linCommandActuator[0].BUS_ADR,
+                                 env->linCommandActuator[0].MODE)
+            }
 #endif
             ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[0].BUS_ADR | 0x20,
                             env->linCommandActuator[0].MODE);
 
             if (ret == LIN_TX_COMPLETED) {
 #if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                 "Command completed successfully (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
-                                 env->linCommandActuator[0].BUS_ADR,
-                                 env->linCommandActuator[0].MODE)
+                if (IS_LOGGING_ENABLED(numAct)) {
+                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                     "Command completed successfully (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
+                                     env->linCommandActuator[0].BUS_ADR,
+                                     env->linCommandActuator[0].MODE)
+                }
 #endif
                 setState20(env, false, 0);
             } else {
 #if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                 "Command failed (BROADCAST) [%d]: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
-                                 env->linCommandActuator[0].BUS_ADR,
-                                 env->linCommandActuator[0].MODE)
+                if (IS_LOGGING_ENABLED(numAct)) {
+                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                     "Command failed (BROADCAST) [%d]: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
+                                     env->linCommandActuator[0].BUS_ADR,
+                                     env->linCommandActuator[0].MODE)
+                }
 #endif
                 setState20(env, true, 0);
             }
@@ -615,10 +626,12 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
         if (env->linCommandActuator[0].COM == LIN_ACT_CFR_INI) {
 #if (LOG_LIN_ACTUATOR == 1)
-            LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                             "Sending a command (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
-                             env->linCommandActuator[0].BUS_ADR,
-                             env->linCommandActuator[0].POS)
+            if (IS_LOGGING_ENABLED(numAct)) {
+                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                 "Sending a command (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
+                                 env->linCommandActuator[0].BUS_ADR,
+                                 env->linCommandActuator[0].POS)
+            }
 #endif
             ret = CFR_INI_x(env->linIo, env->linData,
                             env->linCommandActuator[0].BUS_ADR | 0x20,
@@ -626,18 +639,22 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
             if (ret == LIN_TX_COMPLETED) {
 #if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                 "Command completed successfully (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
-                                 env->linCommandActuator[0].BUS_ADR, env->linCommandActuator[0].POS)
+                if (IS_LOGGING_ENABLED(numAct)) {
+                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                     "Command completed successfully (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
+                                     env->linCommandActuator[0].BUS_ADR, env->linCommandActuator[0].POS)
+                }
 #endif
                 setState20(env, false, 0);
 
             } else {
 #if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                 "Command failed (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
-                                 env->linCommandActuator[0].BUS_ADR,
-                                 env->linCommandActuator[0].POS)
+                if (IS_LOGGING_ENABLED(numAct)) {
+                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                     "Command failed (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
+                                     env->linCommandActuator[0].BUS_ADR,
+                                     env->linCommandActuator[0].POS)
+                }
 #endif
                 setState20(env, true, 0);
             }
@@ -648,16 +665,18 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
         if (env->linCommandActuator[0].COM == LIN_ACT_CFR_SET) {
 #if (LOG_LIN_ACTUATOR == 1)
-            LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                             "Sending a command (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
-                             env->linCommandActuator[0].BUS_ADR,
-                             env->linCommandActuator[0].POS,
-                             env->linCommandActuator[0].Stall_SET,
-                             env->linCommandActuator[0].Lnoise_SET,
-                             env->linCommandActuator[0].Autos_SET,
-                             env->linCommandActuator[0].Speed_SET,
-                             env->linCommandActuator[0].Coils_Stop_SET
-            )
+            if (IS_LOGGING_ENABLED(numAct)) {
+                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                 "Sending a command (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
+                                 env->linCommandActuator[0].BUS_ADR,
+                                 env->linCommandActuator[0].POS,
+                                 env->linCommandActuator[0].Stall_SET,
+                                 env->linCommandActuator[0].Lnoise_SET,
+                                 env->linCommandActuator[0].Autos_SET,
+                                 env->linCommandActuator[0].Speed_SET,
+                                 env->linCommandActuator[0].Coils_Stop_SET
+                )
+            }
 #endif
             ret = CFR_SET_x(env->linIo, env->linData,
                             env->linCommandActuator[0].BUS_ADR | 0x20,
@@ -670,30 +689,34 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
             if (ret == LIN_TX_COMPLETED) {
 #if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                 "Command completed successfully (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
-                                 env->linCommandActuator[0].BUS_ADR,
-                                 env->linCommandActuator[0].POS,
-                                 env->linCommandActuator[0].Stall_SET,
-                                 env->linCommandActuator[0].Lnoise_SET,
-                                 env->linCommandActuator[0].Autos_SET,
-                                 env->linCommandActuator[0].Speed_SET,
-                                 env->linCommandActuator[0].Coils_Stop_SET)
+                if (IS_LOGGING_ENABLED(numAct)) {
+                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                     "Command completed successfully (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
+                                     env->linCommandActuator[0].BUS_ADR,
+                                     env->linCommandActuator[0].POS,
+                                     env->linCommandActuator[0].Stall_SET,
+                                     env->linCommandActuator[0].Lnoise_SET,
+                                     env->linCommandActuator[0].Autos_SET,
+                                     env->linCommandActuator[0].Speed_SET,
+                                     env->linCommandActuator[0].Coils_Stop_SET)
+                }
 #endif
                 setState20(env, false, 0);
 
             } else {
 #if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                 "Command failed (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
-                                 env->linCommandActuator[0].BUS_ADR,
-                                 env->linCommandActuator[0].POS,
-                                 env->linCommandActuator[0].Stall_SET,
-                                 env->linCommandActuator[0].Lnoise_SET,
-                                 env->linCommandActuator[0].Autos_SET,
-                                 env->linCommandActuator[0].Speed_SET,
-                                 env->linCommandActuator[0].Coils_Stop_SET
-                )
+                if (IS_LOGGING_ENABLED(numAct)) {
+                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                     "Command failed (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
+                                     env->linCommandActuator[0].BUS_ADR,
+                                     env->linCommandActuator[0].POS,
+                                     env->linCommandActuator[0].Stall_SET,
+                                     env->linCommandActuator[0].Lnoise_SET,
+                                     env->linCommandActuator[0].Autos_SET,
+                                     env->linCommandActuator[0].Speed_SET,
+                                     env->linCommandActuator[0].Coils_Stop_SET
+                    )
+                }
 #endif
                 setState20(env, true, 0);
 
@@ -709,42 +732,51 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
         for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
 
-            if (env->linCommandActuator[i].BUS_ADR == 0) {
-#if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                 "Let's skip the command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
-                                 env->linCommandActuator[i].BUS_ADR, i + 1,
-                                 env->linCommandActuator[i].MODE)
-#endif
-                continue;
-            }
-
             if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) {
 
+                if (env->linCommandActuator[i].BUS_ADR == 0) {
 #if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Sending a command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
-                                 env->linCommandActuator[i].BUS_ADR, i,
-                                 env->linCommandActuator[i].MODE)
+                    if (IS_LOGGING_ENABLED(numAct)) {
+                        LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                         "Let's skip the command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
+                                         env->linCommandActuator[i].BUS_ADR, i + 1,
+                                         env->linCommandActuator[i].MODE)
+                    }
+#endif
+                    continue;
+                }
+
+#if (LOG_LIN_ACTUATOR == 1)
+                if (IS_LOGGING_ENABLED(numAct)) {
+                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                     "Sending a command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
+                                     env->linCommandActuator[i].BUS_ADR, i,
+                                     env->linCommandActuator[i].MODE)
+                }
 #endif
                 ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[i].BUS_ADR | 0x20,
                                 env->linCommandActuator[i].MODE);
 
                 if (ret == LIN_TX_COMPLETED) {
 #if (LOG_LIN_ACTUATOR == 1)
-                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                     "Command completed successfully: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
-                                     env->linCommandActuator[i].BUS_ADR,
-                                     env->linCommandActuator[i].MODE)
+                    if (IS_LOGGING_ENABLED(numAct)) {
+                        LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                         "Command completed successfully: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
+                                         env->linCommandActuator[i].BUS_ADR,
+                                         env->linCommandActuator[i].MODE)
+                    }
 #endif
                     setState20(env, false, i);
 
 
                 } else {
 #if (LOG_LIN_ACTUATOR == 1)
-                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                     "Command failed [%d]: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
-                                     env->linCommandActuator[i].BUS_ADR, i,
-                                     env->linCommandActuator[i].MODE)
+                    if (IS_LOGGING_ENABLED(numAct)) {
+                        LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                         "Command failed [%d]: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
+                                         env->linCommandActuator[i].BUS_ADR, i,
+                                         env->linCommandActuator[i].MODE)
+                    }
 #endif
                     setState20(env, true, i);
                 }
@@ -755,21 +787,26 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
         for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
 
-            if (env->linCommandActuator[i].BUS_ADR == 0) {
-#if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                 "Let's skip the command: LIN_ACT_CFR_INI (ADR = %d (%d) POS = %d)",
-                                 env->linCommandActuator[i].BUS_ADR, i + 1,
-                                 env->linCommandActuator[i].POS)
-#endif
-                continue;
-            }
-
             if (env->linCommandActuator[i].COM == LIN_ACT_CFR_INI) {
+
+                if (env->linCommandActuator[i].BUS_ADR == 0) {
 #if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Sending a command: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
-                                 env->linCommandActuator[i].BUS_ADR,
-                                 env->linCommandActuator[i].POS)
+                    if (IS_LOGGING_ENABLED(numAct)) {
+                        LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                         "Let's skip the command: LIN_ACT_CFR_INI (ADR = %d (%d) POS = %d)",
+                                         env->linCommandActuator[i].BUS_ADR, i + 1,
+                                         env->linCommandActuator[i].POS)
+                    }
+#endif
+                    continue;
+                }
+
+#if (LOG_LIN_ACTUATOR == 1)
+                if (IS_LOGGING_ENABLED(numAct)) {
+                    LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Sending a command: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
+                                     env->linCommandActuator[i].BUS_ADR,
+                                     env->linCommandActuator[i].POS)
+                }
 #endif
                 ret = CFR_INI_x(env->linIo, env->linData,
                                 env->linCommandActuator[i].BUS_ADR | 0x20,
@@ -777,17 +814,21 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
                 if (ret == LIN_TX_COMPLETED) {
 #if (LOG_LIN_ACTUATOR == 1)
-                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                     "Command completed successfully: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
-                                     env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].POS)
+                    if (IS_LOGGING_ENABLED(numAct)) {
+                        LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                         "Command completed successfully: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
+                                         env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].POS)
+                    }
 #endif
                     setState20(env, false, i);
 
                 } else {
 #if (LOG_LIN_ACTUATOR == 1)
-                    LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Command failed: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
-                                     env->linCommandActuator[i].BUS_ADR,
-                                     env->linCommandActuator[i].POS)
+                    if (IS_LOGGING_ENABLED(numAct)) {
+                        LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Command failed: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
+                                         env->linCommandActuator[i].BUS_ADR,
+                                         env->linCommandActuator[i].POS)
+                    }
 #endif
                     setState20(env, true, i);
 
@@ -799,32 +840,37 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
         for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
 
-            if (env->linCommandActuator[i].BUS_ADR == 0) {
-#if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                 "Let's skip the command: LIN_ACT_CFR_SET (ADR = %d POS = %d (%d) STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
-                                 env->linCommandActuator[i].BUS_ADR, i + 1,
-                                 env->linCommandActuator[i].POS,
-                                 env->linCommandActuator[i].Stall_SET,
-                                 env->linCommandActuator[i].Lnoise_SET,
-                                 env->linCommandActuator[i].Autos_SET,
-                                 env->linCommandActuator[i].Speed_SET,
-                                 env->linCommandActuator[i].Coils_Stop_SET)
-#endif
-                continue;
-            }
-
             if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
+
+                if (env->linCommandActuator[i].BUS_ADR == 0) {
 #if (LOG_LIN_ACTUATOR == 1)
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                 "Sending a command: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
-                                 env->linCommandActuator[i].BUS_ADR,
-                                 env->linCommandActuator[i].POS,
-                                 env->linCommandActuator[i].Stall_SET,
-                                 env->linCommandActuator[i].Lnoise_SET,
-                                 env->linCommandActuator[i].Autos_SET,
-                                 env->linCommandActuator[i].Speed_SET,
-                                 env->linCommandActuator[i].Coils_Stop_SET)
+                    if (IS_LOGGING_ENABLED(numAct)) {
+                        LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                         "Let's skip the command: LIN_ACT_CFR_SET (ADR = %d POS = %d (%d) STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
+                                         env->linCommandActuator[i].BUS_ADR, i + 1,
+                                         env->linCommandActuator[i].POS,
+                                         env->linCommandActuator[i].Stall_SET,
+                                         env->linCommandActuator[i].Lnoise_SET,
+                                         env->linCommandActuator[i].Autos_SET,
+                                         env->linCommandActuator[i].Speed_SET,
+                                         env->linCommandActuator[i].Coils_Stop_SET)
+                    }
+#endif
+                    continue;
+                }
+
+#if (LOG_LIN_ACTUATOR == 1)
+                if (IS_LOGGING_ENABLED(numAct)) {
+                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                     "Sending a command: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
+                                     env->linCommandActuator[i].BUS_ADR,
+                                     env->linCommandActuator[i].POS,
+                                     env->linCommandActuator[i].Stall_SET,
+                                     env->linCommandActuator[i].Lnoise_SET,
+                                     env->linCommandActuator[i].Autos_SET,
+                                     env->linCommandActuator[i].Speed_SET,
+                                     env->linCommandActuator[i].Coils_Stop_SET)
+                }
 #endif
                 ret = CFR_SET_x(env->linIo, env->linData,
                                 env->linCommandActuator[i].BUS_ADR | 0x20,
@@ -837,31 +883,35 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
 
                 if (ret == LIN_TX_COMPLETED) {
 #if (LOG_LIN_ACTUATOR == 1)
-                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                     "Command completed successfully: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
-                                     env->linCommandActuator[i].BUS_ADR,
-                                     env->linCommandActuator[i].POS,
-                                     env->linCommandActuator[i].Stall_SET,
-                                     env->linCommandActuator[i].Lnoise_SET,
-                                     env->linCommandActuator[i].Autos_SET,
-                                     env->linCommandActuator[i].Speed_SET,
-                                     env->linCommandActuator[i].Coils_Stop_SET
-                    )
+                    if (IS_LOGGING_ENABLED(numAct)) {
+                        LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                         "Command completed successfully: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
+                                         env->linCommandActuator[i].BUS_ADR,
+                                         env->linCommandActuator[i].POS,
+                                         env->linCommandActuator[i].Stall_SET,
+                                         env->linCommandActuator[i].Lnoise_SET,
+                                         env->linCommandActuator[i].Autos_SET,
+                                         env->linCommandActuator[i].Speed_SET,
+                                         env->linCommandActuator[i].Coils_Stop_SET
+                        )
+                    }
 #endif
                     setState20(env, false, i);
 
                 } else {
 #if (LOG_LIN_ACTUATOR == 1)
-                    LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                     "Command failed: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
-                                     env->linCommandActuator[i].BUS_ADR,
-                                     env->linCommandActuator[i].POS,
-                                     env->linCommandActuator[i].Stall_SET,
-                                     env->linCommandActuator[i].Lnoise_SET,
-                                     env->linCommandActuator[i].Autos_SET,
-                                     env->linCommandActuator[i].Speed_SET,
-                                     env->linCommandActuator[i].Coils_Stop_SET
-                    )
+                    if (IS_LOGGING_ENABLED(numAct)) {
+                        LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                         "Command failed: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
+                                         env->linCommandActuator[i].BUS_ADR,
+                                         env->linCommandActuator[i].POS,
+                                         env->linCommandActuator[i].Stall_SET,
+                                         env->linCommandActuator[i].Lnoise_SET,
+                                         env->linCommandActuator[i].Autos_SET,
+                                         env->linCommandActuator[i].Speed_SET,
+                                         env->linCommandActuator[i].Coils_Stop_SET
+                        )
+                    }
 #endif
                     setState20(env, true, i);
 
@@ -997,19 +1047,21 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
                          Error4_Permanent_Electrical_Slave)
                             ) {
 #if (LOG_LIN_ACTUATOR == 1)
-                        LoggerFormatInfo(LOGGER, env->SIGN_LOG,
-                                         "State: ADR = %d CPOS = %d Stall_Slave = %d Emrf = %d Mode = %d Reset = %d ErrSupply = %d ErrComm = %d ErrTemp = %d ErrElect = %d",
-                                         BUS_ADR + 1,
-                                         CPOS_ALL,
-                                         Stall_Slave,
-                                         Emrf_Slave,
-                                         Mode_Slave,
-                                         Reset_Slave,
-                                         Error1_Supply_Slave,
-                                         Error2_Communication_Slave,
-                                         Error3_Temperature_Slave,
-                                         Error4_Permanent_Electrical_Slave
-                        )
+                        if (IS_LOGGING_ENABLED(numAct)) {
+                            LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                             "State: ADR = %d CPOS = %d Stall_Slave = %d Emrf = %d Mode = %d Reset = %d ErrSupply = %d ErrComm = %d ErrTemp = %d ErrElect = %d",
+                                             BUS_ADR + 1,
+                                             CPOS_ALL,
+                                             Stall_Slave,
+                                             Emrf_Slave,
+                                             Mode_Slave,
+                                             Reset_Slave,
+                                             Error1_Supply_Slave,
+                                             Error2_Communication_Slave,
+                                             Error3_Temperature_Slave,
+                                             Error4_Permanent_Electrical_Slave
+                            )
+                        }
 #endif
                     }
 
@@ -1025,9 +1077,11 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
                     if (Stall_Slave == LIN_STALL_STA_ON) {
                         env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
 #if (LOG_LIN_ACTUATOR == 1)
-                        LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Detect STALL: (ADR = %d POS = %d)",
-                                         BUS_ADR + 1,
-                                         CPOS_ALL)
+                        if (IS_LOGGING_ENABLED(numAct)) {
+                            LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Detect STALL: (ADR = %d POS = %d)",
+                                             BUS_ADR + 1,
+                                             CPOS_ALL)
+                        }
 #endif
 
                     }
@@ -1102,7 +1156,7 @@ static _Noreturn void Lin1_Thread(tLinTaskActuator *env) {
     for (;;) {
 
         if (osMutexAcquire(env->access, 5000) == osOK) {
-            lin_event_id_t res = Lin_Scheduler(env);
+            lin_event_id_t res = Lin_Scheduler(env, 1);
 
             uint8_t isError = 0;
             for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
@@ -1169,7 +1223,7 @@ static _Noreturn void Lin2_Thread(tLinTaskActuator *env) {
     for (;;) {
 
         if (osMutexAcquire(env->access, 5000) == osOK) {
-            lin_event_id_t res = Lin_Scheduler(env);
+            lin_event_id_t res = Lin_Scheduler(env, 2);
 
             uint8_t isError = 0;
             for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
@@ -1236,7 +1290,7 @@ static _Noreturn void Lin3_Thread(tLinTaskActuator *env) {
     for (;;) {
 
         if (osMutexAcquire(env->access, 5000) == osOK) {
-            lin_event_id_t res = Lin_Scheduler(env);
+            lin_event_id_t res = Lin_Scheduler(env, 3);
 
             uint8_t isError = 0;
             for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
diff --git a/LinActuatorTasks.h b/LinActuatorTasks.h
index d99e931..ca2c6e5 100644
--- a/LinActuatorTasks.h
+++ b/LinActuatorTasks.h
@@ -10,7 +10,11 @@
 #include "LinIO.h"
 #include "LoggerInterface.h"
 
-#define LOG_LIN_ACTUATOR 0
+#define LOG_LIN_ACTUATOR 1
+#define LOG_LIN1_ACTUATOR 1
+#define LOG_LIN2_ACTUATOR 0
+#define LOG_LIN3_ACTUATOR 0
+
 
 typedef struct __attribute__ ((packed)) {
     uint8_t BUS_ADR;