Index: firmware/App/Services/StateServices/TubeSetAutoEject.c
===================================================================
diff -u -racc8c3eb9d40711058bd214251d7554ab50b3836 -rb314f68347ca0720d370fd5ace385a2d8d92fabe
--- firmware/App/Services/StateServices/TubeSetAutoEject.c	(.../TubeSetAutoEject.c)	(revision acc8c3eb9d40711058bd214251d7554ab50b3836)
+++ firmware/App/Services/StateServices/TubeSetAutoEject.c	(.../TubeSetAutoEject.c)	(revision b314f68347ca0720d370fd5ace385a2d8d92fabe)
@@ -15,6 +15,7 @@
 *
 ***************************************************************************/
 
+#include "AlarmMgmtTD.h"
 #include "BloodFlow.h"
 #include "Ejector.h"
 #include "Messaging.h"
@@ -37,6 +38,9 @@
 ///< 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
@@ -51,6 +55,7 @@
 static TUBE_SET_AUTO_EJECT_STATE_T handleAutoEjectHomingState( void );
 static TUBE_SET_AUTO_EJECT_STATE_T handleAutoEjectExtendingEjectorState( void );
 static TUBE_SET_AUTO_EJECT_STATE_T handleAutoEjectEjectingState( void );
+static TUBE_SET_AUTO_EJECT_STATE_T handleAutoEjectBackOffState( void );
 static TUBE_SET_AUTO_EJECT_STATE_T handleAutoEjectRetractingEjectorState( void );
 static TUBE_SET_AUTO_EJECT_STATE_T handleAutoEjectCompleteState( void );
 
@@ -72,7 +77,7 @@
 
 /*********************************************************************//**
  * @brief
- * The execTubeSetEject function executes the Tube Set Eject
+ * The execTubeSetAutoEject function executes the Tube Set Eject
  * state machine.
  * @details \b Inputs: currentAutoEjectState
  * @details \b Outputs: currentAutoEjectState. Advances the
@@ -99,6 +104,10 @@
             currentAutoEjectState = handleAutoEjectEjectingState();
             break;
 
+        case TUBE_SET_AUTO_EJECT_STATE_BACK_OFF:
+            currentAutoEjectState = handleAutoEjectBackOffState();
+            break;
+
         case TUBE_SET_AUTO_EJECT_STATE_RETRACTING_EJECTOR:
             currentAutoEjectState = handleAutoEjectRetractingEjectorState();
             break;
@@ -142,7 +151,7 @@
  * The handleAutoEjectHomingState function handles the Homing state
  * of the Tube Set Eject state machine.
  * Homes the blood pump (H4)
- * @details \b Inputs: autoEjectTimerCounter, isPeristalticPumpHome()
+ * @details \b Inputs: autoEjectTimerCounter
  * @details \b Outputs: autoEjectTimerCounter
  * @return next Auto-Eject state
  *************************************************************************/
@@ -176,7 +185,7 @@
  * The handleAutoEjectExtendingEjectorState function handles the
  * Extending Ejector state of the Tube Set Eject Service
  * state machine. Extends the ejector pin (H5) to engage the tubeset.
- * @details \b Inputs: autoEjectTimerCounter, getEjectorState()
+ * @details \b Inputs: autoEjectTimerCounter
  * @details \b Outputs: autoEjectTimerCounter
  * @return next Auto-Eject state
  *************************************************************************/
@@ -209,20 +218,30 @@
  * of the Tube Set Eject state machine. Rotates the blood pump (H4)
  * forward at 100 mL/min with the ejector extended to push the tubeset
  * out of the rotor.
- * @details \b Inputs: autoEjectTimerCounter, isPeristalticPumpHome()
- * @details \b Outputs: autoEjectTimerCounter
+ * @details \b Inputs: autoEjectTimerCounter, bpLastHome
+ * @details \b Outputs: autoEjectTimerCounter, bpLastHome
  * @return next Auto-Eject state
  *************************************************************************/
 static TUBE_SET_AUTO_EJECT_STATE_T handleAutoEjectEjectingState( void )
 {
     TUBE_SET_AUTO_EJECT_STATE_T state = TUBE_SET_AUTO_EJECT_STATE_EJECTING;
     BOOL bpCurrentHome                = isPeristalticPumpHome();
+    F32  bpTorque                     = getMeasuredBloodPumpTorque();
 
     if ( ++autoEjectTimerCounter >= AUTO_EJECT_OPERATION_TIMEOUT_INTERVAL )
     {
         signalBloodPumpHardStop();
         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 )
+    {
+        signalBloodPumpHardStop();
+        SET_ALARM_WITH_1_F32_DATA( ALARM_ID_TD_AUTO_LOAD_EJECT_BLOOD_TUBE_SET_FAILURE, bpTorque );
+        setBloodPumpTargetFlowRate( AUTO_EJECT_BLOOD_FLOW_RATE_ML_MIN, MOTOR_DIR_REVERSE, PUMP_CONTROL_MODE_OPEN_LOOP );
+        autoEjectTimerCounter = 0;
+        state                 = TUBE_SET_AUTO_EJECT_STATE_BACK_OFF;
+    }
     // BP home position check (rising edge: motor must leave home and return)
     else if ( ( TRUE == bpCurrentHome ) && ( FALSE == bpLastHome ) )
     {
@@ -243,10 +262,46 @@
 
 /*********************************************************************//**
  * @brief
+ * The handleAutoEjectBackOffState function handles the Auto-Eject Back-Off
+ * state of Tube Set Eject state machine.
+ * @details \b Inputs: autoEjectTimerCounter
+ * @details \b Outputs: autoEjectTimerCounter
+ * @return next Auto-Eject state
+ *************************************************************************/
+static TUBE_SET_AUTO_EJECT_STATE_T handleAutoEjectBackOffState( void )
+{
+    TUBE_SET_AUTO_EJECT_STATE_T state = TUBE_SET_AUTO_EJECT_STATE_BACK_OFF;
+
+    if ( ++autoEjectTimerCounter >= AUTO_EJECT_OPERATION_TIMEOUT_INTERVAL )
+    {
+        signalBloodPumpHardStop();
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_AUTO_LOAD_EJECT_BP_TIMEOUT, isPeristalticPumpHome(), autoEjectTimerCounter );
+    }
+    else if ( TRUE == isPeristalticPumpHome() )
+    {
+        signalBloodPumpHardStop();
+        clearAlarmTD( ALARM_ID_TD_AUTO_LOAD_EJECT_BLOOD_TUBE_SET_FAILURE );
+
+        if ( FALSE == isAlarmActive( ALARM_ID_TD_AUTO_LOAD_EJECT_BLOOD_TUBE_SET_FAILURE ) )
+        {
+            autoEjectTimerCounter = 0;
+            state                 = TUBE_SET_AUTO_EJECT_STATE_AWAIT_CONFIRMATION;
+        }
+    }
+    else
+    {
+        // No action required
+    }
+
+    return state;
+}
+
+/*********************************************************************//**
+ * @brief
  * The handleAutoEjectRetractingEjectorState function handles the
- * Retracting Ejector state of the Tube Set Eject state
- * machine. Retracts the ejector pin (H5) after the tubeset has been ejected.
- * @details \b Inputs: autoEjectTimerCounter, getEjectorState()
+ * Retracting Ejector state of the Tube Set Eject state machine.
+ * Retracts the ejector pin (H5) after the tubeset has been ejected.
+ * @details \b Inputs: autoEjectTimerCounter
  * @details \b Outputs: autoEjectTimerCounter
  * @return next Auto-Eject state
  *************************************************************************/
@@ -307,7 +362,7 @@
  * The handleAutoEjectRequest function handles a UI request to remove the
  * disposable tubeset.
  * @details \b Message \b Sent: MSG_ID_TD_ADJUST_DISPOSABLES_REMOVAL_CONFIRM_RESPONSE
- * @details \b Inputs: currentAutoEjectState, getCurrentOperationMode()
+ * @details \b Inputs: currentAutoEjectState
  * @details \b Outputs: autoEjectReqReceived
  * @param message UI message which includes the user confirmation to
  * eject the tubeset