Index: firmware/App/Services/StateServices/TubeSetAutoEject.c
===================================================================
diff -u -r05e43e76b6ea947bf51326c43aae77582ad70943 -r5fb66a19c7ed117e6da6f6b28e85ec76abefd4be
--- firmware/App/Services/StateServices/TubeSetAutoEject.c	(.../TubeSetAutoEject.c)	(revision 05e43e76b6ea947bf51326c43aae77582ad70943)
+++ firmware/App/Services/StateServices/TubeSetAutoEject.c	(.../TubeSetAutoEject.c)	(revision 5fb66a19c7ed117e6da6f6b28e85ec76abefd4be)
@@ -38,14 +38,12 @@
 ///< Blood pump flow rate (mL/min) for the ejecting operation
 #define AUTO_EJECT_BLOOD_FLOW_RATE_ML_MIN               100U
 
-/// Blood pump torque threshold (mN.m) above which a tube-set jam is declared
-#define BP_TORQUE_LIMIT_MNM                             9999.0F    // TODO: Replace with lab characterized value
-
 // ********** private data **********
 
 static BOOL autoEjectReqReceived;                                               ///< Flag indicating that user confirmed to eject tubeset
 static U32  autoEjectTimerCounter;                                              ///< Timer counter shared across all auto-eject states
 static BOOL bpLastHome;                                                         ///< Flag for Blood Pump last home (for rising-edge)
+static U32  bpLeftHomeTimerCounter;                                             ///< Timer Counter to measure how long BP has been away from home
 
 static TUBE_SET_AUTO_EJECT_STATE_T currentAutoEjectState;                       ///< Current Tube Set Auto Eject state
 
@@ -69,10 +67,11 @@
 **************************************************************************/
 void initTubeSetAutoEject( void )
 {
-    currentAutoEjectState = TUBE_SET_AUTO_EJECT_STATE_AWAIT_CONFIRMATION;
-    autoEjectReqReceived  = FALSE;
-    autoEjectTimerCounter = 0;
-    bpLastHome            = TRUE;
+    currentAutoEjectState  = TUBE_SET_AUTO_EJECT_STATE_AWAIT_CONFIRMATION;
+    autoEjectReqReceived   = FALSE;
+    autoEjectTimerCounter  = 0;
+    bpLastHome             = TRUE;
+    bpLeftHomeTimerCounter = 0;
 }
 
 /*********************************************************************//**
@@ -236,27 +235,35 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_AUTO_LOAD_EJECT_BP_TIMEOUT, isPeristalticPumpHome(), autoEjectTimerCounter );
     }
     // Torque jam check. If measured torque exceeds the limit, the tubing set is likely jammed in the rotor.
-    else if ( bpTorque > BP_TORQUE_LIMIT_MNM )
+    else if ( ( ( FALSE == bpLastHome ) && ( ++bpLeftHomeTimerCounter >= AUTO_EJECT_OPERATION_TIMEOUT_INTERVAL ) ) ||
+              ( bpTorque > AUTO_LOAD_EJECT_BP_TORQUE_LIMIT ) )
     {
         signalBloodPumpHardStop();
         SET_ALARM_WITH_1_F32_DATA( ALARM_ID_TD_AUTO_LOAD_EJECT_HIGH_BP_TORQUE, bpTorque );
         retractEjector();
-        autoEjectTimerCounter = 0;
-        state                 = TUBE_SET_AUTO_EJECT_STATE_RETRACTING_EJECTOR;
+        autoEjectTimerCounter  = 0;
+        bpLeftHomeTimerCounter = 0;
+        state                  = TUBE_SET_AUTO_EJECT_STATE_RETRACTING_EJECTOR;
     }
     // BP home position check (rising edge: motor must leave home and return)
     else if ( ( TRUE == bpCurrentHome ) && ( FALSE == bpLastHome ) )
     {
         signalBloodPumpHardStop();
         retractEjector();
-        autoEjectTimerCounter = 0;
-        state                 = TUBE_SET_AUTO_EJECT_STATE_RETRACTING_EJECTOR;
+        autoEjectTimerCounter  = 0;
+        bpLeftHomeTimerCounter = 0;
+        state                  = TUBE_SET_AUTO_EJECT_STATE_RETRACTING_EJECTOR;
     }
     else
     {
         // No action required
     }
 
+    if ( TRUE == bpCurrentHome )
+    {
+        bpLeftHomeTimerCounter = 0;
+    }
+
     bpLastHome = bpCurrentHome;
 
     return state;